The invention relates to the technical field of vehicles, and discloses a vehicle trajectory tracking control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a state compensation value of a vehicle at a current moment based on a state prediction value and a state actual value of the vehicle at the current moment; wherein the state prediction value is data obtained by predicting the state of the current moment at the target historical moment; predicting a target state prediction value of the vehicle in a control time domain after the current moment based on the state compensation value; and performing trajectory tracking control on the vehicle based on the target state prediction value and the information of the road on which the vehicle travels. According to the invention, the safety and accuracy of vehicle trajectory tracking control can be improved.

    本申请涉及车辆技术领域,公开了一种车辆轨迹跟踪控制方法、装置、电子设备及存储介质,方法包括:基于车辆在当前时刻的状态预测值以及状态实际值获取车辆在当前时刻的状态补偿值;其中,状态预测值为目标历史时刻对当前时刻的状态进行预测所得到的数据;基于状态补偿值预测车辆在当前时刻后的控制时域内的目标状态预测值;基于目标状态预测值以及车辆所行驶的道路信息对车辆进行轨迹跟踪控制。本申请可提高车辆轨迹跟踪控制的安全性和准确性。


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    Title :

    Vehicle trajectory tracking control method and device, electronic equipment and storage medium


    Additional title:

    一种车辆轨迹跟踪控制方法、装置、电子设备及存储介质


    Contributors:
    XIE BO (author) / ZHANG CAO (author) / SU XINGYI (author)

    Publication date :

    2024-05-03


    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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