The invention discloses a trajectory tracking control method, device and equipment, a medium and a product. The method comprises the steps that a vehicle transverse track planning function is constructed according to vehicle starting point displacement and vehicle lane changing time, and vehicle transverse displacement is determined based on pre-constructed lane changing track constraint conditions according to the vehicle transverse track planning function; according to vehicle driving information observed by different types of sensors, road adhesion coefficient estimation is carried out based on a vehicle dynamics model, and a road adhesion coefficient is obtained; constructing a trajectory tracking control target constraint condition, and constructing a trajectory tracking control target function; according to the transverse position of the vehicle, under the condition that the trajectory tracking control target constraint condition is met, the function value of the trajectory tracking control target function is controlled to meet the vehicle stability and trajectory tracking accuracy conditions. According to the technical scheme, accurate track tracking control in a vehicle driving environment is realized.

    本发明公开了一种轨迹跟踪控制方法、装置、设备、介质及产品。该方法包括:根据车辆起始点位移和车辆换道时间,构建车辆横向轨迹规划函数,并根据车辆横向轨迹规划函数,基于预先构建的换道轨迹约束条件,确定车辆横向位移;根据由不同类型传感器观测得到的车辆行驶信息,基于车辆动力学模型进行路面附着系数估计,得到路面附着系数;构建轨迹跟踪控制目标约束条件,以及构建轨迹跟踪控制目标函数;根据车辆横向位置,在满足轨迹跟踪控制目标约束条件下,控制轨迹跟踪控制目标函数的函数值满足车辆稳定性和轨迹跟踪准确性条件。上述技术方案实现了对车辆行驶环境下的轨迹精准跟踪控制。


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    Title :

    Trajectory tracking control method, device, equipment, medium and product


    Additional title:

    轨迹跟踪控制方法、装置、设备、介质及产品


    Contributors:
    WANG RUI (author) / ZHANG JIAN (author) / WANG YU (author) / HAN YANING (author) / WANG SHAN (author) / LYU SIWEN (author) / FENG ZHE (author)

    Publication date :

    2025-02-18


    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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