The embodiment of the invention discloses a vehicle trajectory tracking method, device and equipment and a storage medium. The method comprises the following steps: acquiring driving information of avehicle, wherein the driving information comprises a current pose and control delay; determining a virtual pose of the vehicle according to the current pose and the control delay; determining an expected speed and a first steering wheel angle of the vehicle based on a preset planned route and the virtual pose of the vehicle; and controlling vehicle displacement according to the expected speed andthe first steering wheel angle. The method not only can meet the requirements of real-time performance and accuracy of trajectory tracking, but also has the characteristic of high control precision.

    本发明实施例公开了一种车辆轨迹跟踪方法、装置、设备及存储介质。该方法包括:获取车辆的行驶信息,行驶信息包括当前位姿和控制延时;根据当前位姿和控制延时确定车辆的虚拟位姿;基于车辆的预设规划路线和虚拟位姿确定车辆的期望速度和第一方向盘转角;根据期望速度和第一方向盘转角控制车辆位移。该方法既能够满足轨迹跟踪的实时性与准确性要求,又具有控制精度高的特点。


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    Title :

    Vehicle trajectory tracking method, device and equipment and storage medium


    Additional title:

    车辆轨迹跟踪方法、装置、设备及存储介质


    Contributors:
    WANG JUNLEI (author) / LI JIANMING (author) / WU XUEYI (author) / GUO SHAOJIE (author)

    Publication date :

    2020-08-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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