Research on Parking Control of Bus Based on Improved Pure Pursuit Algorithms
Hao Li, Jie Luo, Shu Yan, Min Zhu, Qianyang Hu, Zhennan Liu · 2019
Compared with small vehicles, the bus body is longer and the parking path is relatively shorter. If there are some errors in the path tracking process, there will be the risk of crossing the parking line. Therefore, the parking system of bus needs a high precision path tracking algorithm. Pure pursuit algorithm is widely used in vehicle or robot path tracking problem, but its performance depends on the selection of look-ahead distance which needs to be determined by scene in practical application. Aiming at the performance requirement of bus parking system, this paper improves the pure pursuit algorithm by analyzing the stability and error sources of the pure pursuit algorithm. In the improvement of the algorithm, speed is used as one of the parameters in the calculation of look-ahead distance to improve the stability of the system, and PI (Proportion Integration) control is added to the calculation of steering angle of pure pursuit algorithm to improve the tracking accuracy of the algorithm in the curve stage. The results of experiments show that the proposed algorithm can effectively improve the parking accuracy and stability of buses.