Trajectory tracking method and device for unmanned vehicle

Abstract

The present application relates to the field of trajectory tracking, and particularly relates to a trajectory tracking method and device for an unmanned vehicle, the method comprising: obtaining a to-be-tracked trajectory of the unmanned vehicle, wherein a plurality of identification segments are arranged on the to-be-tracked trajectory; obtaining a trajectory complexity of an arbitrary identification segment; obtaining real-time position information of the unmanned vehicle, and determining a distance difference between a current position and the identification segment; adjusting a lateral deviation range of the unmanned vehicle from the to-be-tracked trajectory according to the distance difference and the trajectory complexity; and performing trajectory evaluation within the adjusted lateral deviation range at the identification segment. By adjusting the lateral deviation range of the unmanned vehicle from the to-be-tracked trajectory according to the distance difference and the trajectory complexity, the position determination adjustment strategy for the unmanned vehicle is adjusted, so that the lateral deviation range from the to-be-tracked trajectory meets the expectation, and the tracking control accuracy for the unmanned vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned driving, in particular to a trajectory tracking method and device of an unmanned vehicle. BACKGROUND

[0002] In the unmanned vehicle, a vehicle-mounted sensor is used to perceive the environment around the vehicle, and the road, vehicle position and obstacle information obtained by perception are used to control the steering and speed of the vehicle, so that the vehicle can safely and reliably travel on the road. Trajectory tracking refers to tracking the reference trajectory defined or given by the trajectory planner, and is one of the three basic problems of the unmanned system, and is an important problem for the vehicle to finally safely and reasonably meet the requirements of travel.

[0003] The patent document with publication number CN112519882A discloses a vehicle reference trajectory tracking method, which includes obtaining the current vehicle speed, vehicle yaw rate, curvature of the reference trajectory, relative heading angle deviation and relative lateral position deviation of the vehicle and the reference trajectory, and desired performance index of the vehicle motion controller in real time; calculating the desired yaw rate according to the current vehicle speed, the vehicle yaw rate, the curvature, the relative heading angle deviation, the relative lateral position deviation and the desired performance index; calculating the final steering wheel angle of the vehicle according to the desired yaw rate, and controlling the vehicle to output the final steering wheel angle. The mathematical characteristics of the reference trajectory are analyzed to adjust the operating parameters of the vehicle, so that the control accuracy of the vehicle is low. SUMMARY

[0004] To this end, the present application provides a trajectory tracking method and device of an unmanned vehicle, which can solve the problem of low vehicle control accuracy.

[0005] To achieve the above-mentioned purpose, in one aspect, the present application provides a trajectory tracking method of an unmanned vehicle, which comprises:

[0006] Obtaining a to-be-tracked trajectory of an unmanned vehicle, wherein the to-be-tracked trajectory is provided with a plurality of identification segments;

[0007] Obtaining the trajectory complexity of the trajectory corresponding to any identification segment;

[0008] Obtaining real-time position information of the unmanned vehicle, and determining the distance difference between the current position and the identification segment;

[0009] Adjusting the lateral deviation range of the unmanned vehicle from the to-be-tracked trajectory according to the distance difference and the trajectory complexity;

[0010] Performing trajectory evaluation within the adjusted lateral deviation range of the identification segment.

[0011] Further, the determining the distance difference between the current position and the identified segment comprises:

[0012] If the track corresponding to the identified segment has a complexity higher than a standard complexity, the track corresponding to the identified segment is segmented;

[0013] A track segment closest to the current position among the segmented sub-identified segments is determined as a target identified segment;

[0014] The distance difference between the current position and the target identified segment is determined.

[0015] Further, a standard distance difference is preset;

[0016] According to the relationship between the distance difference and the standard distance difference, it is determined whether to start monitoring the track control;

[0017] If not, a waiting time is determined according to the difference between the distance difference and the standard distance difference, and the monitoring of the track control is started after the waiting time ends.

[0018] Further, the determining the waiting time according to the difference between the distance difference and the standard distance difference comprises:

[0019] A first waiting time T1 and a second waiting time T2 are set, and the first waiting time T1 is less than the second waiting time T2;

[0020] If the distance difference-standard distance difference is greater than or equal to X0, the monitoring of the track control is started after the second waiting time;

[0021] If the distance difference-standard distance difference is less than X0, the monitoring of the track control is started after the first waiting time, wherein X0 represents a standard error, and X0=the length of the straight line at the beginning and end of the target identified segment.

[0022] Further, the adjusting the lateral deviation range of the unmanned vehicle from the track to be tracked according to the distance difference and the track complexity comprises:

[0023] A track matching coefficient F is set,

[0024]

[0025] Wherein, ΔL0 represents the actual distance between the current position information and the identified segment, L0 represents a preset standard distance, P represents the actual complexity of the track corresponding to the identified segment, and P0 represents a preset complexity.

[0026] Further, the first preset track matching coefficient comparison parameter F01 and the second preset track matching coefficient comparison parameter F02 are further preset, F02>F01, and the track matching coefficient F is compared with the first preset track matching coefficient comparison parameter F01 and the second preset track matching coefficient comparison parameter F02 in sequence, and the calling amount of the historical data of the track of the unmanned vehicle is adjusted, wherein,

[0027] When the track matching coefficient F is greater than or equal to the second preset track matching coefficient comparison parameter F02, the track data information in the historical track corresponding to the track matching coefficient F in the first historical period is called and stored in the first data set;

[0028] When the track matching coefficient F is greater than or equal to the first preset track matching coefficient comparison parameter F01 and less than the second preset track matching coefficient comparison parameter F02, the track data information in the historical track corresponding to the track matching coefficient F in the second historical period is called and stored in the second data set;

[0029] When the track matching coefficient F is less than the first preset track matching coefficient comparison parameter F01, the data processing module determines that the track data information in the historical track does not need to be called.

[0030] Further, the data capacity of the first data set is higher than the data capacity of the first data set.

[0031] On the other hand, the application also provides a track tracking device of an unmanned vehicle, which applies the track tracking method of the unmanned vehicle as described above, and the device comprises:

[0032] A track acquisition module is used to acquire a to-be-tracked track of the unmanned vehicle, and the to-be-tracked track is provided with a plurality of identification sections;

[0033] A complexity acquisition module is used to acquire the track complexity of an arbitrary identification section;

[0034] A position information acquisition module is used to acquire real-time position information of the unmanned vehicle, and to determine the distance difference between the current position and the identification section;

[0035] An adjustment module is used to adjust the lateral deviation range of the unmanned vehicle from the to-be-tracked track according to the distance difference and the track complexity;

[0036] An evaluation module is used to evaluate the track in the adjusted lateral deviation range of the identification section.

[0037] Further, the position information acquisition module determines the distance difference between the current position and the identification section in the process, which comprises a segmentation unit, a first determination unit and a second determination unit;

[0038] If the track complexity corresponding to the identification segment is higher than the standard complexity, the segmenting unit segments the track corresponding to the identification segment;

[0039] The first determining unit determines the track segment closest to the current position in the segmented identification segments as the target identification segment;

[0040] The second determining unit determines the distance difference value between the current position and the target identification segment.

[0041] Further, the adjustment module comprises a setting unit, a first selection unit and a second selection unit, the setting unit is used to set the first waiting time T1 and the second waiting time T2, and the first waiting time T1 is less than the second waiting time T2;

[0042] If the distance difference value-standard difference value is greater than or equal to X0, the first selection unit selects the second waiting time to start monitoring the track control;

[0043] If the distance difference value-standard difference value is less than X0, the second selection unit selects the first waiting time to start monitoring the track control, wherein X0 represents the standard error, and X0=the length of the straight line at the beginning and end of the target identification segment.

[0044] Compared with the prior art, the beneficial effects of the present application are that by adjusting the lateral deviation range of the unmanned vehicle from the track to be tracked according to the distance difference value and the track complexity, the position determination adjustment strategy for the unmanned vehicle is adjusted, so that the lateral deviation range of the unmanned vehicle from the track to be tracked conforms to the expectation, and the tracking control accuracy for the unmanned vehicle is improved.

[0045] Especially, by segmenting the track according to the complexity of the track, accurate identification of the track is realized, and the target identification segment is determined according to the distance information in the multiple sub-identification segments. After determining the target identification segment, the distance difference value between the current position and the target identification segment is taken as the pre-adjustment range to realize accurate adjustment of the target identification segment, and the adjustment precision and accuracy of the track tracking are improved.

[0046] Especially, by setting the standard difference value, the distance difference value between the current position and the target identification segment is evaluated, and whether to start monitoring the track control is determined according to the relationship between the two. In actual application, if the distance difference value is greater than the standard difference value, it means that the distance between the current position and the target identification segment is far, so there is no need to monitor the track control. However, when the distance between the current position and the target identification segment is close, in order to ensure the correct tracking of the target identification segment, track control monitoring needs to be performed in advance to ensure that the tracking error in the target identification segment is within a suitable range, effectively reducing the error generated in the tracking process, and improving the tracking accuracy.

[0047] Especially, by setting the first waiting time length and the second waiting time length, different waiting time lengths are selected for different position information, so that the data validity generated in the monitoring of trajectory control is greatly improved, and the accuracy of the monitoring time point based on data is improved.

[0048] Especially, when it is determined that starting is needed according to the relationship between the distance difference value and the standard difference value, immediate starting is performed, at this time, it indicates that the distance between the current position information and the identification section is small, and timely monitoring is needed to ensure that the trajectory reaching the identification section can meet the actual needs, and accurate tracking of the trajectory control is realized.

[0049] Especially, by setting the trajectory matching index, the distance between the current position and the identification section and the trajectory complexity of the identification section are evaluated in the trajectory tracking process, and the matching degree in the actual trajectory tracking process is determined, so that the evaluation of the identification section is more accurate and efficient, and the evaluation efficiency of the trajectory tracking is improved.

[0050] Especially, by comparing the trajectory matching index with the first preset trajectory matching coefficient comparison parameter F01 and the second preset trajectory matching coefficient comparison parameter F02 respectively, the range of the trajectory matching index is determined, and the trajectory data information in the historical trajectory retrieved according to the range of the trajectory matching index, so that the evaluation of the identification section is more accurate, and the amount of data before the identification section meets the requirements by retrieving the trajectory data information in the historical trajectory, and the evaluation accuracy of the identification section is ensured by sufficient historical data information.

[0051] Especially, by limiting the data capacity of the first data set and the data capacity of the second data set, the trajectory data information collected for a long time adopts a larger data capacity, thereby effectively preventing data overflow, ensuring the integrity of the retrieved trajectory data, and improving the accuracy and security of data processing. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 A flowchart of a trajectory tracking method of an unmanned vehicle provided by an embodiment of the present application is shown in the figure;

[0053] Figure 2 A flowchart of another trajectory tracking method of an unmanned vehicle provided by an embodiment of the present application is shown in the figure;

[0054] Figure 3 A structure diagram of a trajectory tracking device of an unmanned vehicle provided by an embodiment of the present application is shown in the figure;

[0055] Figure 4 A structure diagram of another trajectory tracking device of an unmanned vehicle provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0056] In order to make the objects and advantages of the present application clearer, the following further describes the present application with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0057] The preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that the embodiments are only used to explain the technical principles of the present application and are not used to limit the protection scope of the present application.

[0058] It should be noted that, in the description of the present application, the terms indicating the direction or positional relationship such as "upper", "lower", "left", "right", "inner", "outer" and the like are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0059] In addition, it should also be noted that, in the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, or can be the communication inside two elements. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0060] Please refer to Figure 1 The trajectory tracking method of the unmanned vehicle provided by the embodiments of the present application comprises:

[0061] Step S100: acquiring a to-be-tracked trajectory of an unmanned vehicle, wherein a plurality of identification segments are arranged on the to-be-tracked trajectory;

[0062] Step S200: acquiring a trajectory complexity of a trajectory corresponding to an arbitrary identification segment;

[0063] Step S300: acquiring real-time position information of the unmanned vehicle, and determining a distance difference between the current position and the identification segment;

[0064] Step S400: adjusting a lateral deviation range of the unmanned vehicle from the to-be-tracked trajectory according to the distance difference and the trajectory complexity;

[0065] Step S500: performing trajectory evaluation within the adjusted lateral deviation range at the identification segment.

[0066] Specifically, the application scenario in the embodiment of the application is in a trajectory tracking process of an unmanned vehicle. In the trajectory tracking process, a reference trajectory, that is, a to-be-tracked trajectory, is set in advance. The to-be-tracked trajectory can be of various shapes, can be a circular trajectory, can be a square trajectory, or can be of any other planar shape, which is not listed one by one. There is a difference in tracking difficulty on the to-be-tracked trajectory, that is, some trajectory segments are easier to track, and some trajectory segments are more difficult to track due to the particularity of the shape or other influencing factors. Therefore, in the trajectory tracking process, different tracking strategies are determined according to different tracking difficulties, so that the degree of deviation of the tracked trajectory from the reference trajectory can be effectively avoided when the trajectory is tracked, and the accuracy of trajectory tracking is improved.

[0067] Specifically, the trajectory identifier is determined according to the shape of the trajectory. In actual application, a matrix relationship table of trajectory identifiers and trajectory complexities is set. For any trajectory identifier, the trajectory complexity of the trajectory corresponding to the trajectory identifier is determined according to the trajectory identifier and the matrix relationship table. In actual application, the trajectory complexity of the trajectory can also be determined according to the number of bends in the trajectory, can also be determined according to the number of trajectory curvature mutation points, and can also be determined in other ways. The complexity of the to-be-tracked trajectory is not listed one by one.

[0068] Specifically, the embodiment of the application adjusts the lateral deviation range of the unmanned vehicle from the to-be-tracked trajectory according to the distance difference and the trajectory complexity, so that the position determination adjustment strategy of the unmanned vehicle is adjusted, so that the lateral deviation range of the to-be-tracked trajectory meets the expectation, and the tracking control accuracy of the unmanned vehicle is improved.

[0069] Specifically, as shown in Figure 2 the embodiment of the application, determining the distance difference between the current position and the identified segment includes:

[0070] Step S301: If the trajectory complexity corresponding to the identified segment is higher than the standard complexity, the trajectory corresponding to the identified segment is divided.

[0071] Step S302: Determine the trajectory segment closest to the current position in the plurality of sub-identified segments after the division as a target identified segment.

[0072] Step S303: Determine the distance difference between the current position and the target identified segment.

[0073] Specifically, the embodiment of the present application realizes accurate identification of the trajectory by splitting the trajectory according to the complexity of the trajectory, and determines a target identification section according to distance information in multiple sub-identification sections, and after determining the target identification section, takes the distance difference between the current position and the target identification section as a pre-adjustment range to realize accurate adjustment of the target identification section, thereby improving the adjustment accuracy and accuracy of trajectory tracking.

[0074] Specifically, a standard difference value is further provided;

[0075] According to the relationship between the distance difference value and the standard difference value, it is determined whether to start monitoring the trajectory control;

[0076] If not, the waiting time is determined according to the difference between the distance difference value and the standard difference value, and the monitoring of the trajectory control is started after the waiting time ends.

[0077] Specifically, the embodiment of the present application evaluates the distance difference between the current position and the target identification section by setting a standard difference value, and determines whether to start monitoring the trajectory control according to the relationship between the two. In actual application, if the distance difference value is greater than the standard difference value, it means that the distance between the current position and the target identification section is far, and at this time, there is no need to monitor the trajectory control. However, when the distance between the current position and the target identification section is close, in order to ensure that the tracking trajectory of the target identification section is correct, it is necessary to perform trajectory control monitoring in advance to ensure that the tracking error of the trajectory in the target identification section is within a suitable range, effectively reducing the error generated in the trajectory tracking process, and improving the trajectory tracking accuracy.

[0078] Specifically, the waiting time is determined according to the difference between the distance difference value and the standard difference value, and the monitoring of the trajectory control is started after the waiting time ends.

[0079] A first waiting time T1 and a second waiting time T2 are provided, and the first waiting time T1 is less than the second waiting time T2;

[0080] If the distance difference value-standard difference value is greater than or equal to X0, the monitoring of the trajectory control is started after the second waiting time is selected;

[0081] If the distance difference value-standard difference value is less than X0, the monitoring of the trajectory control is started after the first waiting time is selected, wherein X0 represents a standard error, and wherein X0=the length of the straight line at the beginning and end of the target identification section.

[0082] Specifically, the embodiment of the present application sets the first waiting time and the second waiting time, so that different waiting times are selected for different position information, so that the validity of the data generated in the monitoring of the trajectory control is greatly improved, and the accuracy of the monitoring time point based on the data is improved.

[0083] Specifically, if yes, the monitoring of the trajectory control is immediately started.

[0084] Specifically, in the embodiments of the present application, when it is determined that starting is needed according to the relationship between the distance difference value and the standard difference value, immediate starting is performed, at this time, it indicates that the distance between the current position information and the identification section is small, and it needs to be monitored in time to ensure that the trajectory reaching the identification section can meet the actual needs, and to realize accurate tracking of trajectory control.

[0085] Specifically, adjusting the lateral deviation range of the unmanned vehicle from the to-be-tracked trajectory according to the distance difference value and the trajectory complexity comprises:

[0086] setting a trajectory matching coefficient F,

[0087]

[0088] wherein, ΔL0 represents the actual distance between the current position information and the identification section, L0 represents the preset standard distance, P represents the actual complexity of the trajectory corresponding to the identification section, and P0 represents the preset complexity.

[0089] Specifically, the embodiments of the present application set a trajectory matching index to evaluate the distance between the current position and the identification section and the trajectory complexity of the identification section in the trajectory tracking process, and determine the matching degree in the actual trajectory tracking process, so that the evaluation of the identification section is more accurate and efficient, and the evaluation efficiency of trajectory tracking is improved.

[0090] Specifically, the preset first preset trajectory matching coefficient comparison parameter F01 and the second preset trajectory matching coefficient comparison parameter F02 are F02>F01, the trajectory matching coefficient F is compared with the first preset trajectory matching coefficient comparison parameter F01 and the second preset trajectory matching coefficient comparison parameter F02 in turn, and the calling amount of historical data of the trajectory of the unmanned vehicle is adjusted, wherein,

[0091] When the trajectory matching coefficient F is greater than or equal to the second preset trajectory matching coefficient comparison parameter F02, the trajectory data information in the historical trajectory corresponding to the trajectory matching coefficient F in the first historical period is called and stored in the first data set;

[0092] When the trajectory matching coefficient F is greater than or equal to the first preset trajectory matching coefficient comparison parameter F01 and less than the second preset trajectory matching coefficient comparison parameter F02, the trajectory data information in the historical trajectory corresponding to the trajectory matching coefficient F in the second historical period is called and stored in the second data set;

[0093] When the trajectory matching coefficient F is less than the first preset trajectory matching coefficient comparison parameter F01, the data processing module determines that the trajectory data information in the historical trajectory does not need to be called.

[0094] Specifically, the embodiment of the present application compares the trajectory matching index with the first preset trajectory matching coefficient comparison parameter F01 and the second preset trajectory matching coefficient comparison parameter F02 respectively, determines the range of the trajectory matching index, and determines the trajectory data information in the historical trajectory according to the range of the trajectory matching index, so that the evaluation of the identification section is more accurate, and the data amount before the identification section meets the requirements by retrieving the trajectory data information in the historical trajectory, and the evaluation accuracy of the identification section is ensured by sufficient historical data information.

[0095] Specifically, the data capacity of the first data set is higher than the data capacity of the first data set.

[0096] Specifically, the embodiment of the present application limits the data capacity of the first data set and the data capacity of the second data set, so that the trajectory data information with long collection time adopts larger data capacity, thereby effectively preventing data overflow, ensuring the integrity of the retrieved trajectory data, and improving the accuracy and security of data processing.

[0097] Specifically, as shown in Figure 3 The embodiment of the present application also provides a trajectory tracking device of an unmanned vehicle, which comprises:

[0098] The trajectory acquisition module 10 is used to acquire the to-be-tracked trajectory of the unmanned vehicle, and the to-be-tracked trajectory is provided with a plurality of identification sections;

[0099] The complexity acquisition module 20 is used to acquire the trajectory complexity of the trajectory corresponding to any identification section;

[0100] The position information acquisition module 30 is used to acquire the real-time position information of the unmanned vehicle, and determine the distance difference between the current position and the identification section;

[0101] The adjustment module 40 is used to adjust the lateral deviation range of the unmanned vehicle from the to-be-tracked trajectory according to the distance difference and the trajectory complexity;

[0102] The evaluation module 50 is used to perform trajectory evaluation within the adjusted lateral deviation range of the identification section.

[0103] Specifically, in the process of determining the distance difference between the current position and the identification section by the position information acquisition module 30, the process comprises a segmentation unit 31, a first determination unit 32 and a second determination unit 33;

[0104] If the trajectory complexity corresponding to the identification section is higher than the standard complexity, the segmentation unit segments the trajectory corresponding to the identification section;

[0105] The first determining unit determines a track segment closest to the current position in the plurality of sub-identification segments after segmentation as a target identification segment.

[0106] The second determining unit determines a distance difference value between the current position and the target identification segment.

[0107] Specifically, the adjustment module 40 includes a setting unit 41, a first selection unit 42 and a second selection unit 43, the setting unit is used to set a first waiting time T1 and a second waiting time T2, and the first waiting time T1 is less than the second waiting time T2;

[0108] If the distance difference value-standard deviation value is greater than or equal to X0, the first selection unit selects to start monitoring the track control after the second waiting time;

[0109] If the distance difference value-standard deviation value is less than X0, the second selection unit selects to start monitoring the track control after the first waiting time, wherein X0 represents a standard error, and X0 is the length of the straight line at the beginning and end of the target identification segment.

[0110] The track tracking device of the unmanned vehicle in the embodiment of the application adopts the track tracking method of the unmanned vehicle as described above, has the same technical features, and can achieve the same technical effects, and thus will not be described here.

[0111] So far, the technical solutions of the application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to related technical features without departing from the principles of the application, and the technical solutions after the changes or replacements will fall within the protection scope of the application.

[0112] The above description is only the preferred embodiments of the application and is not used to limit the application; for those skilled in the art, the application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A trajectory tracking method of an unmanned vehicle, characterized by, The method comprises the following steps: acquiring a to-be-tracked trajectory of an unmanned vehicle, wherein a plurality of identification segments are arranged on the to-be-tracked trajectory; acquiring a trajectory complexity of an arbitrary identification segment; acquiring real-time position information of the unmanned vehicle, and determining a distance difference between a current position and the identification segment; adjusting a lateral deviation range of the unmanned vehicle from the to-be-tracked trajectory according to the distance difference and the trajectory complexity; performing trajectory evaluation within the adjusted lateral deviation range of the identification segment; the step of determining the distance difference between the current position and the identification segment comprises the following steps: if the trajectory complexity of the identification segment is higher than a standard complexity, the trajectory of the identification segment is segmented; determining a trajectory segment closest to the current position from a plurality of segmented sub-identification segments as a target identification segment; determining a distance difference between the current position and the target identification segment; a standard distance difference is preset; determining whether to start monitoring of trajectory control according to a relationship between the distance difference and the standard distance difference; if not, determining a waiting time length according to a difference between the distance difference and the standard distance difference, and starting monitoring of trajectory control after the waiting time length ends; determining the waiting time length according to the difference between the distance difference and the standard distance difference comprises the following steps: a first waiting time length T1 and a second waiting time length T2 are set, and the first waiting time length T1 is less than the second waiting time length T2; if the distance difference-standard distance difference is greater than or equal to X0, monitoring of trajectory control is started after the second waiting time length; if the distance difference-standard distance difference is less than X0, monitoring of trajectory control is started after the first waiting time length, wherein X0 represents a standard error, and X0 is equal to a straight line length of a head and a tail of the target identification segment.

2. The trajectory tracking method of the unmanned vehicle according to claim 1, wherein the step of adjusting the lateral deviation range of the unmanned vehicle from the to-be-tracked trajectory according to the distance difference and the trajectory complexity comprises the following steps: a trajectory matching coefficient F is set, wherein ΔL0 represents an actual distance between the current position information and the identification segment, L0 represents a preset standard distance, and P represents an actual complexity of the trajectory of the identification segment.

3. The trajectory tracking method of the unmanned vehicle according to claim 2, wherein the first preset trajectory matching coefficient comparison parameter F01 and the second preset trajectory matching coefficient comparison parameter F02 are preset, F02>F01, the trajectory matching coefficient F is compared with the first preset trajectory matching coefficient comparison parameter F01 and the second preset trajectory matching coefficient comparison parameter F02 in sequence, and the amount of calling historical data of the trajectory of the unmanned vehicle is adjusted, wherein when the trajectory matching coefficient F is greater than or equal to the second preset trajectory matching coefficient comparison parameter F02, the trajectory data information in the historical trajectory corresponding to the trajectory matching coefficient F in a first historical period is called and stored in a first data set; when the trajectory matching coefficient F is greater than or equal to the first preset trajectory matching coefficient comparison parameter F01 and less than the second preset trajectory matching coefficient comparison parameter F02, the trajectory data information in the historical trajectory corresponding to the trajectory matching coefficient F in a second historical period is called and stored in a second data set. ​ ​ When the track matching coefficient F is less than the first preset track matching coefficient comparison parameter F01, the data processing module determines that the track data information in the historical track does not need to be called.

4. The trajectory tracking method of an unmanned vehicle according to claim 3, wherein, The data capacity of the first data set is higher than the data capacity of the first data set.

5. A trajectory tracking device of an unmanned vehicle that applies the trajectory tracking method of any one of claims 1 to 4, characterized by, Comprise: The trajectory acquisition module is used to acquire the to-be-tracked trajectory of the unmanned vehicle, and the to-be-tracked trajectory is provided with a plurality of identification segments; The complexity acquisition module is used to acquire the track complexity of the track corresponding to any identification segment; The position information acquisition module is used to acquire the real-time position information of the unmanned vehicle, and determine the distance difference value between the current position and the identification segment; The adjustment module is used to adjust the lateral deviation range of the unmanned vehicle and the to-be-tracked trajectory according to the distance difference value and the track complexity; The evaluation module is used to perform track evaluation within the adjusted lateral deviation range.

6. The trajectory tracking device of the unmanned vehicle according to claim 5, wherein In the process of determining the distance difference value between the current position and the identification segment by the position information acquisition module, a segmentation unit, a first determination unit and a second determination unit are included; If the track complexity corresponding to the identification segment is higher than the standard complexity, the segmentation unit segments the track corresponding to the identification segment; The first determination unit determines the track segment closest to the current position among the plurality of sub-identification segments after segmentation as the target identification segment; The second determination unit determines the distance difference value between the current position and the target identification segment.

7. The trajectory tracking device of the unmanned vehicle according to claim 6, wherein The adjustment module includes a setting unit, a first selection unit and a second selection unit, the setting unit is used to set a first waiting time T1 and a second waiting time T2, and the first waiting time T1 is less than the second waiting time T2; If the distance difference value-standard deviation value≥X0, the first selection unit selects the second waiting time to start monitoring the track control; If the distance difference value-standard deviation valueX0, the second selection unit selects the first waiting time to start monitoring the track control, wherein X0 represents the standard error, and X0=the length of the straight line from the beginning to the end of the target identification segment.

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