The invention provides a trajectory tracking control method, a trajectory tracking control device, trajectory tracking control equipment and mechanical equipment. The trajectory tracking control method comprises the following steps: acquiring first state information of the mechanical equipment; according to the first state information and a preset target driving path, first control parameters and second control parameters are determined with the purpose that the mechanical equipment drives according to the target driving path, the first control parameters comprise parameters for controlling the driving speed of the mechanical equipment, and the second control parameters comprise parameters for controlling the driving speed of the mechanical equipment; the second control parameter comprises a parameter for controlling a steering angle of the mechanical equipment; and controlling the mechanical equipment to run according to the first control parameter and the second control parameter. The technical scheme provided by the invention is suitable for a loading machine which is provided with a front vehicle body and a rear vehicle body and is movably connected between the two vehicle bodies, and high-precision, high-stability and low-cost real-time trajectory tracking control can be performed on the mechanical equipment, so that the mechanical equipment can run according to the target running trajectory.

    本申请提供一种轨迹跟踪控制方法、装置、设备以及机械设备,所述方法包括:获取所述机械设备的第一状态信息;根据所述第一状态信息以及预设的目标行驶路径,以使得所述机械设备按照所述目标行驶路径行驶为目的,确定第一控制参数以及第二控制参数,所述第一控制参数包括控制所述机械设备的行驶速度的参数,所述第二控制参数包括控制所述机械设备的转向角的参数;根据所述第一控制参数以及所述第二控制参数,控制所述机械设备行驶。本申请提出的技术方案,适用于设置有前后两个车体,且两个车体之间活动连接的装载机械,能够对此类机械设备进行高精度、高稳定性、低成本的实时轨迹跟踪控制,使得此类机械设备能够按照目标行驶轨迹行驶。


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    Titel :

    Trajectory tracking control method, device and equipment and mechanical equipment


    Weitere Titelangaben:

    一种轨迹跟踪控制方法、装置、设备以及机械设备


    Beteiligte:
    SHI JIANFENG (Autor:in) / XIONG YAN (Autor:in) / WANG NING (Autor:in)

    Erscheinungsdatum :

    2024-01-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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