In order for autonomous vehicles to be successfully integrated into the transportation system, they must be able to handle the variety of environments and driving scenarios that a human driver is able to. One such scenario is the use of a double lane change for obstacle avoidance with an unexpected change of friction coefficient present with below-freezing temperatures. A low-friction surface that is not detected by the vehicle could result in a vehicle running off the road during this maneuver. This article presents a modification to the commonly used pure pursuit control method that stabilizes the vehicle during this maneuver by dynamically changing the look-ahead distance based on cross-track error and vehicle velocity. Hardware results on an autonomous vehicle platform show an elimination of off-road occurrences for double lane change and a 46% reduction of off-road occurrences for single lane changes. The overall stability of the autonomous vehicle is also improved, decreasing oscillations around the planned path during maneuver execution.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Cross-Track-Compensated Pure Pursuit Control of an Autonomous Vehicle on Low-Friction Surfaces


    Additional title:

    Sae Intl. J Cav


    Contributors:


    Publication date :

    2021-04-19


    Size :

    12 pages




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    An Improved Pure Pursuit Algorithm for Four-Wheel-Steering Autonomous Driving Vehicle

    Quan, Miao Miao ;Zhai, Yong ;Jiang, Yan | Trans Tech Publications | 2014


    The Effect of Receding Horizon Pure Pursuit Control on Passenger Comfort in Autonomous Vehicles

    Elbanhawi, Mohamed / Simic, Milan / Jazar, Reza | Springer Verlag | 2016


    Adaptive Pure-Pursuit Controller Based on Particle Swarm Optimization (PSO-Pure-Pursuit)

    AbdElmoniem, Ahmed / Afif, Youssef T. / Maged, Shady A. et al. | IEEE | 2021


    Optimal pure-pursuit missile guidance

    Rusnak, Ilan | Springer Verlag | 2024


    Sideslip compensated control method for autonomous vehicles

    KONG QI / ZHU FAN / YANG GUANG et al. | European Patent Office | 2018

    Free access