【Matlab源码】基于纯粹追踪控制器的车辆路径跟踪.zip

Vehicle Path Tracking using Pure Pursuit Controller This submission contains a set of models to show the implementation of a Pure Pursuit controller on a vehicle under different scenarios. --------------------------------------------------------------------------------------------------------------------------------------------------- About the models: These models show a workflow to implement a Pure Pursuit controller to track a planned path. Steps below describe the workflow: 1. Generating waypoints 2. Formulating required steering angle for lateral control 3. Implementing a longitudinal controller to track the path at higher velocity 4. Visualizing vehicle final path in Bird's-Eye Scope and a 3D simulation environment. # Models ## 1_Curved_Low_Velocity ### purePursuitCurveLowVel Contains a model to implement a Pure Pursuit controller for a vehicle moving at low velocity ## 2_Curved_High_Velocity ### purePursuitCurveHighVel Contains a model to implement a Pure Pursuit along with a PI longitudinal controller for a vehicle moving at high velocity ## 3_USCity ### purePursuitUSCity It contains a model to drive the vehicle through the US City scene. PRODUCT REQUIREMENTS: The models use the following MathWorks products, all from R2020a release: 1)MATLAB 2)Simulink 3)Vehicle Dynamics Blockset 4)Automated Driving Toolbox 5)Navigation Toolbox 6)Aerospace Blockset 7)Aerospace Toolbox Note: The Aerospace Blockset and Aerospace Toolbox are only required for the "purePursuitUSCity" model to convert from rad/s to degree/s. In case of the absence of these two toolboxes, define the conversion factor from rad/s to degree/s using a gain block and use the model. Minimum Hardware Requirements for Running Models in 3D Simulation Environment: 1. Graphics card (GPU) — Virtual Reality-ready with 8 GB of onboard RAM 2. Processor (CPU) — 2.60 GHz 3. Memory (RAM) — 12 GB For more information please visit this web page: https://www.mathworks.com/help/driving/ug/3d-visualization-engine-requirements.html --------------------------------------------------------------------------------------------------------------------------------------------------- Copyright 2020 The MathWorks, Inc.