Verfahren zur Fahrbahnverfolgung eines autonomen Fahr- zeugs mittels „Pure Pursuit“ und „Follow-the-carrot“


An autonomous vehicle was equipped in the FAUST project of the University of Ap- plied Sciences Hamburg in order to participate in the Carolo Cup at the Technical University of Braunschweig. The main purpose of this work is to develop a lane track- ing method. This method continuously determines a goal point based on the lane de- tection system, calculates the steering angle using the algorithms “Follow-the-carrot” or “Pure Pursuit” and finally corrects the direction of the vehicle.