Positioning Control Algorithm of Vehicle Navigation System Based on Wireless Tracking Technology

Table 2

Comparison of lane departure algorithms.

Algorithm	Definition	Characteristic
Algorithm based on vehicle current position	According to the distance between the vehicle tire and the left and right lane lines, it can judge whether the vehicle deviates	The advantages are high precision; the disadvantage is that the reserved reaction time is short
Algorithm based on future preview offset	By comparing the lateral position of the vehicle in the forward-looking time with the virtual boundary, the deviation problem can be judged	The advantage is that the structure of the algorithm is simple; the disadvantage is that the virtual lane is difficult to determine
Algorithm based on vehicle crossing lane time	According to the time of the vehicle crossing the lane line to judge whether the vehicle touches the boundary	The advantages are simple algorithm, easy parameter measurement, low false alarm rate, long reserved reaction time, and low accuracy.
Algorithm based on prediction trajectory	The evaluation is based on the deviation between the predicted trajectory and the target trajectory after a period of time	The advantage is that the algorithm is easy to implement; the disadvantage is that it is more suitable for straight deviation judgment