Automatic Driving Control Method Based on Time Delay Dynamic Prediction

Because of the delay and the front sight distance and other factors in the driving process, self-driving cars can not accurately tracking the path. This paper presents an automatic driving control method based on prediction of the dynamic delay. The vehicle kinematics model to predict the vehicle motion direction and position information of 't' seconds delay time after. And according to deviation value between driving direction and track direction selection the optimal front sight distance. Matlab simulation results show that improved algorithm can track the path at 7 m/s, the average error is controlled within 0.3 M, tracking performance is better than traditional pure pursuit method.