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

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

doi:10.1109/CPSNA.2016.10

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

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

Green Computing Systems Research Organization

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

22 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 language	English
Title of host publication	Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7-12
Number of pages	6
ISBN (Electronic)	9781509044030
DOIs	https://doi.org/10.1109/CPSNA.2016.10
Publication status	Published - 2016 Dec 22
Event	4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016 - Nagoya, Japan Duration: 2016 Oct 6 → 2016 Oct 7

Publication series

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

Conference

Conference	4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016
Country/Territory	Japan
City	Nagoya
Period	16/10/6 → 16/10/7

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

Access to Document

10.1109/CPSNA.2016.10

Cite this

Ohta, H., Akai, N., Takeuchi, E., Kato, S., & Edahiro, M. (2016). Pure pursuit revisited: Field testing of autonomous vehicles in urban areas. In Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016 (pp. 7-12). [7796574] (Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CPSNA.2016.10

Pure pursuit revisited : Field testing of autonomous vehicles in urban areas. / Ohta, Hiroki; Akai, Naoki; Takeuchi, Eijiro et al.

Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 7-12 7796574 (Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ohta, H, Akai, N, Takeuchi, E, Kato, S & Edahiro, M 2016, Pure pursuit revisited: Field testing of autonomous vehicles in urban areas. in Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016., 7796574, Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016, Institute of Electrical and Electronics Engineers Inc., pp. 7-12, 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016, Nagoya, Japan, 16/10/6. https://doi.org/10.1109/CPSNA.2016.10

Ohta H, Akai N, Takeuchi E, Kato S, Edahiro M. Pure pursuit revisited: Field testing of autonomous vehicles in urban areas. In Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 7-12. 7796574. (Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016). doi: 10.1109/CPSNA.2016.10

Ohta, Hiroki ; Akai, Naoki ; Takeuchi, Eijiro et al. / Pure pursuit revisited : Field testing of autonomous vehicles in urban areas. Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 7-12 (Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016).

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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.",

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author = "Hiroki Ohta and Naoki Akai and Eijiro Takeuchi and Shinpei Kato and Masato Edahiro",

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AB - 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.

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

Abstract

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Keywords

ASJC Scopus subject areas

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