A vehicle trajectory tracking method, system and device and a computer readable storage medium belong to the field of automatic driving, and the method comprises the steps: collecting a plurality of groups of vehicle historical driving records, including a rear axle axis distance difference, a yaw angle difference, a rear axle axis speed and a yaw angle speed between a front moment and a rear moment; dividing all the rear axle center distance differences, the yaw angle differences, the rear axle center speeds and the yaw angle speeds into a plurality of grades according to numerical values to obtain a plurality of distance difference grades, angle difference grades, speed grades and angular speed grades; and obtaining a vehicle trajectory tracking model based on the level training, and performing vehicle trajectory tracking. When the rear axle axis speed and the yaw angle speed are controlled according to the rear axle axis distance difference and the yaw angle difference, the control model is trained after all the data are divided according to the grades, so that fuzzy control is achieved, frequent change of the control quantity caused by frequent change of the state quantity is avoided, and driving safety and comfort are improved.
一种车辆轨迹跟踪方法、系统、设备及计算机可读存储介质,属于自动驾驶领域,包括采集多组车辆历史行驶记录,包括前后时刻之间的后轴轴心距离差、横摆角角度差、后轴轴心速度、横摆角角速度;将所有后轴轴心距离差、横摆角角度差、后轴轴心速度、以及横摆角角速度均按照数值大小划分成多个等级后,得到多个距离差等级、角度差等级、速度等级、以及角速度等级;基于前述等级训练得到车辆轨迹跟踪模型,并进行车辆轨迹跟踪。本申请在根据后轴轴心距离差和横摆角角度差控制后轴轴心速度和横摆角角速度时,将各个数据均按照等级进行划分后,训练控制模型,从而实现模糊控制,避免状态量频繁变化导致控制量频繁变化,提高驾驶安全和舒适性。
Vehicle trajectory tracking method, system and device and computer readable storage medium
车辆轨迹跟踪方法、系统、设备及计算机可读存储介质
14.03.2025
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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