The invention discloses a vehicle tracking control method and device, electronic equipment and a storage medium, and belongs to the technical field of automatic control, and the control method comprises the steps: obtaining a current position point, a current vehicle speed, a current wheel rotation angle and execution duration of a current control period of a vehicle; determining a temporary position point where the vehicle arrives based on the current position point, the current vehicle speed, the current wheel turning angle and the execution duration; acquiring modulation parameters of a first wheel turning angle and a temporary position point of the vehicle in a previous control period; modulating the temporary position point based on the first wheel angle, the current wheel angle and the modulation parameter to obtain a modulated position point; acquiring a target position point of the vehicle; and determining a steering wheel angle of the vehicle based on the current position point, the target position point and the modulation position point, and controlling the operation of the vehicle according to the steering wheel angle. According to the method, the temporary position points are added, and the wheel turning angle caused by special working conditions is corrected, so that the precision of vehicle tracking control can be improved.

    本发明公开一种车辆的循迹控制方法、装置、电子设备和存储介质,属于自动控制技术领域,控制方法包括:获取车辆当前控制周期的当前位置点、当前车速、当前车轮转角和执行时长;基于当前位置点、当前车速、当前车轮转角和执行时长确定车辆到达的临时位置点;获取车辆前一控制周期内的第一车轮转角和临时位置点的调制参数;基于第一车轮转角、当前车轮转角和调制参数调制临时位置点,以获得调制位置点;获取车辆的目标位置点;基于当前位置点、目标位置点和调制位置点确定车辆的方向盘转角,并以方向盘转角控制车辆运行。本申请通过增加临时位置点,并针对特殊工况造成的车轮转角进行调正,能提高车辆循迹控制的精度。


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    Title :

    Tracking control method and device of vehicle, electronic equipment and storage medium


    Additional title:

    车辆的循迹控制方法、装置、电子设备和存储介质


    Contributors:
    LIANG YUMING (author) / QI QIQI (author) / GUO XIAOYU (author) / WANG LEI (author)

    Publication date :

    2023-03-31


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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