The invention discloses a path tracking method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring actual driving parameters of a vehicle; path information of the planned path is obtained, the path information comprises the curvature of a target path point in the planned path, and the target path point is determined based on the current position of the vehicle; determining a first reference point based on the actual driving parameter and the curvature of the target path point; searching p second reference points in the planned path based on the first reference points; determining a transverse control parameter and a longitudinal control parameter based on the first reference point and the p second reference points; and controlling the vehicle to run based on the transverse control parameters and the longitudinal control parameters so as to track the planned path. According to the technical scheme provided by the embodiment of the invention, the curvature item is introduced when the reference point is selected, so that the selection of the reference point is matched with the actual working condition of the road, the path tracking effect is optimized, and the riding comfort is improved.
本申请公开了一种路径跟踪方法、装置、车辆以及存储介质。该方法包括:获取车辆的实际行驶参数;获取规划路径的路径信息,路径信息包括规划路径中目标路径点的曲率,目标路径点基于车辆的当前位置确定;基于实际行驶参数和目标路径点的曲率确定第一参考点;基于第一参考点在规划路径中查找p个第二参考点;基于第一参考点和p个第二参考点确定横向控制参数和纵向控制参数;基于横向控制参数和纵向控制参数控制车辆行驶,以实现对规划路径的跟踪。本申请实施例提供的技术方案,通过在选择参考点的时候引入曲率项,使得参考点的选择与道路的实际工况匹配,优化路径跟踪效果,提升乘坐的舒适性。
Path tracking method and device, vehicle and storage medium
路径跟踪方法、装置、车辆以及存储介质
2024-02-20
Patent
Elektronische Ressource
Chinesisch
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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