Application of Pure Pursuit Algorithm for Automatic Parking System

In order to realize the path tracking function of the automatic parking system and solve the problems of steering wheel shaking and tracking accuracy decrease due to select look-ahead distance improperly for the pure pursuit algorithm, an improved pure pursuit algorithm was proposed in this paper. Based on the calculation results of the traditional pure pursuit algorithm, a steering wheel angle correction algorithm with memory parameters was designed. The real vehicle experiments show that the method is suitable for automatic parking system, and a small look-ahead distance can be selected under applicable working conditions, and the steering wheel shaking problem can be solved for pure pursuit algorithm under small look-ahead distance, while ensuring the tracking accuracy.