Pure pursuit revisited: Field testing of autonomous vehicles in urban areas

Hiroki Ohta, Naoki Akai, Eijiro Takeuchi, Shinpei Kato, Masato Edahiro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

In this paper, we aim to explore path following. We implement a path following component by referring to the existing Pure Pursuit algorithm. Using the simulation and field operational test, we identified the problem in the path following component. The main problems identified were with respect to vehicles meandering off the path, turning a corner, and the instability of steering control. Therefore, we apply some modifications to the Pure Pursuit[1] algorithm. We have also conducted the simulation and field operational tests again to evaluate these modifications.

Original languageEnglish
Title of host publicationProceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7-12
Number of pages6
ISBN (Electronic)9781509044030
DOIs
Publication statusPublished - 2016 Dec 22
Event4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016 - Nagoya, Japan
Duration: 2016 Oct 62016 Oct 7

Publication series

NameProceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016

Conference

Conference4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016
CountryJapan
CityNagoya
Period16/10/616/10/7

Keywords

  • autonomous driving
  • field testing
  • pure pursuit

ASJC Scopus subject areas

  • Computer Science Applications
  • Computer Networks and Communications
  • Hardware and Architecture
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition

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