File Exchange

image thumbnail

Vehicle Path Tracking Using Pure Pursuit Controller

version 1.1.1 (757 KB) by MathWorks Student Competitions Team
This submission contains a set of models to show the implementation of a pure pursuit controller on a vehicle under different scenarios.

49 Downloads

Updated 13 Oct 2020

From GitHub

View Version History

View license on GitHub

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.

To learn more about the workflow, watch this video: https://www.youtube.com/watch?v=zMdoLO4kRKg

Contact:
Please write to racinglounge@mathworks.com with any questions or suggestions.

For R2020b: Click on "Download from GitHub" button above.
For R2020a: https://github.com/mathworks/vehicle-pure-pursuit/archive/v1.0.1.zip

Cite As

MathWorks Student Competitions Team (2021). Vehicle Path Tracking Using Pure Pursuit Controller (https://github.com/mathworks/vehicle-pure-pursuit/releases/tag/v1.1.1), GitHub. Retrieved .

Comments and Ratings (8)

立钊 冯

Thank u so much for giving me the solution.Now the question is solved.

立钊 冯, thank you for your feedback. With R2020b version, 'velNorm' has been added in the 'Vehicle XY Plotter.' We have updated the files. Please try running the updated models and let us know if you have face any issues.

立钊 冯

立钊 冯

the 2D Visualization can't work...could u please give me the solution.Thanks.
reason:the velNorm doesn't exist.

Lucas Sousa

thanks for the support, now it is working well.. Well done

Hi Lucas,

Thanks for reaching out.

There was an issue with the USCity.mat file location in the “Scenario Reader” block. We have resolved the issue and updated the files. Please download the updated version and let us know if you encounter any issues.

Lucas Sousa

Hi, when simulating in Matlab R2020a I have encountered an error:
"Expression 'BusActorsActors' for type of data 'egoActor' did not evaluate to a valid type." in purePursuitUSCity simulink model. How can I solve this?

Thanks

Mustafa Saraoglu

Nice work!

MATLAB Release Compatibility
Created with R2020a
Compatible with any release
Platform Compatibility
Windows macOS Linux

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Models/1_Curved_Low_Velocity

Models/2_Curved_High_Velocity

Models/3_USCity

Models/1_Curved_Low_Velocity

Models/2_Curved_High_Velocity

Models/3_USCity