The invention provides a vehicle path tracking control method and device, relates to the technical field of unmanned vehicles, and mainly aims to improve the stability of a path tracking effect of an unmanned vehicle. According to the main technical scheme, the method comprises the steps that the ground type of the current running ground of the vehicle is detected, wherein the ground type at least comprises the horizontal ground and the bumpy ground; determining a corresponding preset path tracking control strategy according to the ground type, wherein different ground types correspond to different preset path tracking control strategies; judging whether the current path tracking control strategy is consistent with a preset path tracking control strategy or not; if yes, the current path tracking control strategy is kept, and if not, the current path tracking control strategy is switched to the preset path tracking control strategy. The method is used for controlling the unmanned vehicle to track the path.

    本发明提供一种车辆路径跟踪控制方法及装置,涉及无人驾驶车辆技术领域,主要目的在于提高无人驾驶车辆路径跟踪效果的稳定性。本发明主要的技术方案为:检测车辆当前行驶地面的地面类型,地面类型至少包括水平地面和颠簸地面;根据地面类型确定对应的预设路径跟踪控制策略,不同的地面类型对应不同的预设路径跟踪控制策略;判断当前路径跟踪控制策略是否与预设路径跟踪控制策略一致;若一致,则保持当前路径跟踪控制策略,若不一致,则将当前路径跟踪控制策略切换至预设路径跟踪控制策略。本发明用于控制无人驾驶车辆进行路径跟踪。


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    Title :

    Vehicle path tracking control method and device


    Additional title:

    一种车辆路径跟踪控制方法及装置


    Contributors:
    WEN HAOJUN (author) / MA XIAODONG (author) / QIN CHENJIAN (author) / LIU XINYUE (author) / TAN MINGCHONG (author)

    Publication date :

    2024-06-07


    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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