Differential Steering Control Method for Autonomous Vehicles Based on Pure-Pursuit Algorithm

As an important innovation in the automotive industry, self-driving cars are essentially wheeled robots with a variety of car models. The core of its function is the control system. The two-wheel differential drive can achieve accurate trajectory tracking and body posture control during the movement. In order to ensure accurate navigation, stability and safety, differential steering drive vehicles have been widely used in various fields. This paper proposes an automatic control scheme for differential steering vehicles based on a pure-pursuit algorithm composed of a speed loop and a steering loop. In this paper, modifying the pure following algorithm formula, a solution method of integral component integration is further proposed to solve the steady-state error problem in the automatic path tracking of small lateral error differential steering vehicles. In this method, not only eliminates the steady-state path tracking error with the minimum lateral error, but also reduces the lateral error. This research can further integrate dynamics and kinematics to achieve more accurate vehicle control.