The invention discloses a preview point determining method based on a Pure Pursuit algorithm. The preview point determining method comprises the following steps: firstly, converting space-earth coordinate information provided by a GPS into UTM orthogonal coordinate information, and transmitting the UTM orthogonal coordinate information to a decision-making upper computer; determining preview distance according to the current running speed of a vehicle; drawing a circle by using a current position provided by the GPS, of the vehicle, as the center of the circle, and using the preview distance as a radius, and determining the preview point according to the position relationship between the circle and a planned route; calculating an intelligent vehicle corner controlling amount by utilizing the Pure Pursuit algorithm so as to enable the vehicle to track the planned route. According to the preview point determining method disclosed by the invention, and aiming at a tracking experiment of an unmanned intelligent vehicle on the planned route, preview points are determined by judging the position relationship between the planned route and the preview circle; the sieving algorithm is unique, the calculated amount is small, the calculating efficiency is high, the preview point determining method is liable to realize by computer programming, and the accuracy and the reliability of the algorithm are improved.
Preview point determining method based on Pure Pursuit algorithm
2015-10-07
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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