The embodiment of the invention discloses a vehicle control method, system and device based on trajectory tracking, equipment and a storage medium. The method comprises the following steps: acquiring driving data and reference trajectory related data of a vehicle at the current moment; determining an initial front wheel steering angle according to the driving data and the reference trajectory related data; determining a front wheel steering angle compensation amount according to the expected transverse displacement and the actual transverse displacement; a target front wheel turning angle is determined according to the initial front wheel turning angle and the front wheel turning angle compensation amount, and the vehicle is controlled to run along the reference track according to the target front wheel turning angle. The target front wheel turning angle is obtained based on the initial front wheel turning angle and the front wheel turning angle compensation amount, the vehicle is controlled to run along the reference trajectory according to the target front wheel turning angle, trajectory tracking precision can be improved, and the problems that traditional model prediction control trajectory tracking is not high in precision and not high in robustness are solved.

    本发明实施例公开了一种基于轨迹跟踪的车辆控制方法、系统、装置、设备及存储介质。该方法包括:获取车辆在当前时刻的行驶数据及参考轨迹相关数据;根据所述行驶数据及参考轨迹相关数据确定初始前轮转角;根据所述期望横向位移及所述实际横向位移确定前轮转角补偿量;根据所述初始前轮转角和所述前轮转角补偿量确定目标前轮转角,并根据所述目标前轮转角控制车辆沿所述参考轨迹行驶。基于初始前轮转角和前轮转角补偿量获得目标前轮转角,根据目标前轮转角控制车辆沿参考轨迹行驶,能够改善轨迹跟踪精度,解决传统模型预测控制轨迹跟踪精度不高、鲁棒性不强的问题。


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    Title :

    Vehicle control method, system, device and equipment based on trajectory tracking and storage medium


    Additional title:

    基于轨迹跟踪的车辆控制方法、系统、装置、设备及存储介质


    Contributors:
    WANG XINZHI (author) / LIU JINBO (author) / WANG YU (author) / ZHANG JIAN (author) / GAO YUAN (author) / LI BO (author)

    Publication date :

    2023-12-29


    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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