The embodiment of the invention provides a trajectory tracking method based on trajectory prediction, a medium and vehicle-mounted equipment. The method comprises the following steps: when the positioning information of the vehicle at the sampling moment tp + 1 needs to be obtained, obtaining N pieces of historical positioning information and a reference path information sequence, wherein the N pieces of historical positioning information is positioning information of the vehicle at N sampling moments before the sampling moment tp + 1, the reference path information sequence is a coordinate sequence of a track point on a to-be-tracked predetermined track, N is a positive integer greater than 1, and p + 1 is a positive integer greater than N; and predicting the positioning information of the vehicle at the sampling moment tp + 1 based on the N pieces of historical positioning information and the reference path information sequence. Therefore, when the positioning information of the vehicle needs to be acquired, the positioning information of the vehicle can be accurately predicted so that the accuracy of trajectory tracking control can be improved.
本申请实施例提供一种基于轨迹预测的轨迹跟踪方法、介质和车载设备,所述方法包括:当需要获取所述车辆在采样时刻t的定位信息时,获取N个历史定位信息和参考路径信息序列,其中,所述N个历史定位信息为所述车辆在采样时刻t之前的N个采样时刻的定位信息,所述参考路径信息序列为待跟踪的预定轨迹上的轨迹点的坐标序列,N为大于1的正整数,p+1为大于N的正整数;基于所述N个历史定位信息和参考路径信息序列,预测所述车辆在采样时刻t的定位信息。如此,能够在需要获取车辆的定位信息时,精确预测出车辆的定位信息,从而,能够提高轨迹跟踪控制的精确度。
Trajectory tracking method based on trajectory prediction, medium and vehicle-mounted equipment
一种基于轨迹预测的轨迹跟踪方法、介质和车载设备
2020-06-09
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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