Traveling path tracking algorithm in virtual coordinate system for intelligent vehicle

This paper proposes a real-time traveling path tracking algorithm for intelligent vehicle. Two encoders are installed on the left and right wheels to measure the rolling distances of the wheels. A virtual coordinate system fixed to the ground is constructed. The calculating algorithm of vehicle position and heading angle in the virtual coordinate system based on the recorded data from encoders is presented. The proposed algorithm is independent on external reference object or the global positioning system and unaffected by culverts, tall buildings, illumination, fog, rain etc. The experimental results show the efficiency of the proposed algorithm.