The embodiment of the invention provides a vehicle track following control method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining an expected track of a vehicle; determining the pose of the starting point according to the motion state information at the current moment; the starting point represents the estimated position of the vehicle after the preset time; determining the pose of the end point according to the expected trajectory; the terminal point represents an estimated position after the vehicle travels for a preset longitudinal distance; determining an estimated steering angle based on the pose of the starting point and the pose of the end point; and controlling the vehicle to run according to the estimated steering angle. According to the vehicle track following control method provided by the embodiment of the invention, the driving parameters after a period of time can be planned, and the problem of slow system response is avoided.

    本公开实施例提供的一种车辆轨迹跟随控制方法、装置、电子设备及存储介质,方法包括:获取车辆的期望轨迹;根据当前时刻的运动状态信息,确定起点的位姿;起点表征预设时间后车辆的预估位置;根据期望轨迹,确定终点的位姿;终点表征车辆行驶预设纵向距离后的预估位置;基于起点的位姿和终点的位姿,确定预估转向角;根据预估转向角,控制车辆行驶。通过本公开实施例的一种车辆轨迹跟随控制方法,可以规划一段时间后的驾驶参数,避免系统响应慢的问题。


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    Title :

    Vehicle track following control method and device, electronic equipment and storage medium


    Additional title:

    一种车辆轨迹跟随控制方法、装置、电子设备及存储介质


    Contributors:
    HUANG FANG (author) / HOU FAWEI (author) / LEI PENG (author) / ZHOU GUANGJUN (author)

    Publication date :

    2022-08-02


    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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