The invention relates to the field of trajectory tracking, in particular to a trajectory tracking method and device for an unmanned vehicle, and the method comprises the steps: obtaining a to-be-tracked trajectory of the unmanned vehicle, and enabling the to-be-tracked trajectory to be provided with a plurality of identification segments; obtaining the trajectory complexity of the trajectory corresponding to any identification segment; acquiring real-time position information of the unmanned vehicle, and determining a distance difference value between the current position and the identification section; adjusting the transverse deviation range of the unmanned vehicle and the to-be-tracked trajectory according to the distance difference and the trajectory complexity; and track evaluation is carried out on the identification section according to the adjusted transverse deviation range. The transverse deviation range of the unmanned vehicle and the to-be-tracked trajectory is adjusted according to the distance difference and the trajectory complexity, so that an adjustment strategy is determined for the position of the unmanned vehicle, the transverse deviation range of the to-be-tracked trajectory conforms to expectation, and the tracking control accuracy of the unmanned vehicle is improved.

    本发明涉及轨迹跟踪领域,尤其涉及一种无人驾驶车辆的轨迹跟踪方法及装置,该方法包括:获取无人驾驶车辆的待跟踪轨迹,所述待跟踪轨迹上设置有若干标识段;获取任意标识段对应轨迹的轨迹复杂度;获取无人驾驶车辆的实时位置信息,确定当前的位置与标识段的距离差值;根据所述距离差值和轨迹复杂度调整无人驾驶车辆与待跟踪轨迹的横向偏离范围;在所述标识段段按照调整后的横向偏离范围内进行轨迹评估。通过根据所述距离差值和轨迹复杂度调整无人驾驶车辆与待跟踪轨迹的横向偏离范围,使得对于无人驾驶车辆的位置确定调整策略,使得与待跟踪轨迹的横向偏离范围符合预期,提高对于无人驾驶车辆的跟踪控制准确性。


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    Title :

    Trajectory tracking method and device for unmanned vehicle


    Additional title:

    无人驾驶车辆的轨迹跟踪方法及装置


    Contributors:
    PEI WENHUI (author) / MA HAO (author) / QUAN WEI (author) / ZHANG MIN (author)

    Publication date :

    2023-01-06


    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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