Vehicle trajectory tracking method, device, equipment and medium

Abstract

The present application discloses a vehicle trajectory tracking method, device, equipment and medium, which relates to the field of intelligent connected vehicles. The method includes: determining the preset trajectory points and the current actual trajectory points of the target vehicle; using a target trajectory control model created based on lateral error and heading error to respectively construct a target trajectory route corresponding to the preset trajectory points and determine the adjustment information of the current actual trajectory points; using the adjustment information of the current actual trajectory points to control the target vehicle to run according to the target trajectory route. Through the above scheme, using the target trajectory control model created based on lateral error and heading error to determine the adjustment information of the current actual trajectory points, it is possible to achieve more precise adjustment of the lateral direction and heading, thereby achieving accurate vehicle trajectory tracking.

Description

Technical Field

[0001] The present invention relates to the field of intelligent connected vehicles, and in particular to a method, device, equipment and medium for tracking vehicle running trajectories. Background Art

[0002] Intelligent connected vehicles (ICVs) are a new wave of development in the automotive industry today. They are highly intelligent, networked, and automated vehicles, representing the primary development direction of future vehicle technology. They are the result of the integration of vehicle technology with control, information, and artificial intelligence technologies. They will significantly enhance vehicle safety and autonomy, and improve existing vehicle operation methods. With the advancement of control theory, an increasing number of control theories and methods are being applied to trajectory tracking control for intelligent vehicles. An efficient and stable trajectory tracking control system is essential for the intelligent and practical application of driverless vehicles. These vehicles are controlled by software, eliminating the need for driver control or reducing the driver's burden. Trajectory tracking, a critical component of the ICV software architecture, directly affects whether ICVs follow the trajectory planned by the trajectory planning layer and whether they collide with other road users. The quality of trajectory tracking is not only reflected in the error between the actual trajectory and the expected trajectory, but also in the safety, smoothness and comfort of the intelligent connected vehicle. Trajectory tracking is an important component of the software architecture of the intelligent connected vehicle. The trajectory tracking results will directly act on the vehicle hardware and guide the operation of the intelligent connected vehicle. Therefore, research on the trajectory tracking algorithm of the intelligent connected vehicle has a strong practical significance for improving the interactive operation effect of the intelligent connected vehicle.

[0003] From the above, it can be seen that how to achieve accurate vehicle trajectory tracking is a problem to be solved in this field. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a vehicle trajectory tracking method, device, equipment and medium, which can achieve accurate vehicle trajectory tracking. The specific scheme is as follows:

[0005] In a first aspect, the present application discloses a vehicle trajectory tracking method, comprising:

[0006] Determine the target vehicle's preset trajectory points and current actual trajectory points;

[0007] Using a target trajectory control model created based on the lateral error and the heading error, respectively constructing a target trajectory route corresponding to the preset trajectory point and determining adjustment information of the current actual trajectory point;

[0008] The target vehicle is controlled to run along the target trajectory route using the adjustment information of the current actual trajectory point.

[0009] Optionally, the target trajectory control model created based on the lateral error and the heading error is used to construct a target trajectory route corresponding to the preset trajectory point and to determine adjustment information of the current actual trajectory point, including:

[0010] Obtaining a corresponding target trajectory route using the preset trajectory points;

[0011] Determine the current target trajectory point that is shortest in distance from the current actual trajectory point from the target trajectory route;

[0012] Obtaining a lateral error and a heading error between the current actual track point and the current target track point;

[0013] The adjustment information of the current actual track point is determined by using the first variance of the lateral error and the second variance of the heading error.

[0014] Optionally, obtaining a corresponding target trajectory route by using the preset trajectory points includes:

[0015] Using the preset trajectory points, obtain a first parameter corresponding to a preset position change model and a second parameter corresponding to a preset heading change model;

[0016] The first parameter and the second parameter are applied to the position change model and the heading change model respectively to obtain a position change curve and a heading change curve, and a target trajectory route is obtained based on the position change curve and the heading change curve.

[0017] Optionally, the obtaining of a first parameter corresponding to a preset position change model and a second parameter corresponding to a preset heading change model by using the preset trajectory point includes:

[0018] Using a vector matrix composed of preset trajectory points and heading angles corresponding to the preset trajectory points, and based on the judgment result of whether the longitudinal coordinates of the preset trajectory points in the vector matrix change monotonically, the first parameter corresponding to the preset position change model and the second parameter corresponding to the preset heading change model are determined.

[0019] Optionally, determining the current target trajectory point having the shortest distance from the current actual trajectory point from the target trajectory route includes:

[0020] The distance between the current actual trajectory point and each trajectory point in the position change curve is calculated using a pre-constructed distance equation, so as to determine the current target trajectory point with the shortest distance to the current actual trajectory point from the position change curve.

[0021] Optionally, the determining the adjustment information of the current actual trajectory point by using the first variance of the lateral error and the second variance of the heading error includes:

[0022] Determining a current target heading angle corresponding to the current target trajectory point from the heading change curve, and calculating a curvature radius corresponding to the current target heading angle;

[0023] A first variance of the lateral error and a second variance of the heading error are determined, a correction radius is determined using the sum of the first variance and the second variance, and adjustment information of the current actual track point is determined using the curvature radius and the correction radius.

[0024] Optionally, the determining the adjustment information of the current actual trajectory point by using the curvature radius and the correction radius includes:

[0025] The curvature radius and the correction radius are calibrated using a lateral error adjuster and a heading error adjuster to determine adjustment information of the current actual track point.

[0026] In a second aspect, the present application discloses a vehicle trajectory tracking device, comprising:

[0027] A trajectory point determination module is used to determine the preset trajectory points and the current actual trajectory points of the target vehicle;

[0028] an adjustment information determination module, configured to construct a target trajectory route corresponding to the preset trajectory point and determine adjustment information of the current actual trajectory point using a target trajectory control model created based on the lateral error and the heading error;

[0029] A control module is used to control the target vehicle to run along the target trajectory route using the adjustment information of the current actual trajectory point.

[0030] In a third aspect, the present application discloses an electronic device, comprising:

[0031] Memory, used to store computer programs;

[0032] The processor is used to execute the computer program to implement the steps of the vehicle trajectory tracking method disclosed above.

[0033] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the steps of the vehicle trajectory tracking method disclosed above are implemented.

[0034] It can be seen that the present application determines the preset trajectory points and the current actual trajectory points of the target vehicle; utilizes the target trajectory control model created based on the lateral error and the heading error to respectively construct the target trajectory routes corresponding to the preset trajectory points and determine the adjustment information of the current actual trajectory points; utilizes the adjustment information of the current actual trajectory points to control the target vehicle to run according to the target trajectory route. It can be seen that the present application utilizes the target trajectory control model created based on the lateral error and the heading error, so the adjustment information of the current actual trajectory points can be determined, that is, it can achieve more precise adjustment of the target vehicle in the lateral and heading directions, thereby achieving accurate vehicle operation trajectory tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0036] Figure 1 A flow chart of a vehicle trajectory tracking method disclosed in this application;

[0037] Figure 2 A schematic diagram of a specific target trajectory control model disclosed in this application;

[0038] Figure 3 A flow chart of a specific vehicle trajectory tracking method disclosed in this application;

[0039] Figure 4 This is a schematic structural diagram of a vehicle trajectory tracking device disclosed in this application;

[0040] Figure 5 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] Intelligent connected vehicles (ICVs) are a new wave of development in the automotive industry today. They are highly intelligent, networked, and automated vehicles, representing the primary development direction of future vehicle technology. They are the result of the integration of vehicle technology with control, information, and artificial intelligence technologies. They will significantly enhance vehicle safety and autonomy, and improve existing vehicle operation methods. With the advancement of control theory, an increasing number of control theories and methods are being applied to trajectory tracking control for intelligent vehicles. An efficient and stable trajectory tracking control system is essential for the intelligent and practical application of driverless vehicles. These vehicles are controlled by software, eliminating the need for driver control or reducing the driver's burden. Trajectory tracking, a critical component of the ICV software architecture, directly affects whether ICVs follow the trajectory planned by the trajectory planning layer and whether they collide with other road users. The quality of trajectory tracking is not only reflected in the error between the actual trajectory and the expected trajectory, but also in the safety, smoothness and comfort of the intelligent connected vehicle. Trajectory tracking is an important component of the software architecture of the intelligent connected vehicle. The trajectory tracking results will directly act on the vehicle hardware and guide the operation of the intelligent connected vehicle. Therefore, research on the trajectory tracking algorithm of the intelligent connected vehicle has a strong practical significance for improving the interactive operation effect of the intelligent connected vehicle.

[0043] To this end, this application provides a vehicle trajectory tracking solution that can achieve accurate vehicle trajectory tracking.

[0044] See also Figure 1 As shown, the embodiment of the present application discloses a vehicle trajectory tracking method, comprising:

[0045] Step S11: Determine the preset trajectory points and the current actual trajectory points of the target vehicle.

[0046] In this embodiment, the preset trajectory points of the target vehicle are determined, the preset discrete target points are obtained, and the current actual trajectory points are determined by the preset monitoring equipment. For example, various sensors are used to obtain the current actual trajectory coordinates and heading angle of the target vehicle, that is, the direction of the vehicle head. The vehicle body coordinate system also needs to be determined in advance. For example, the center point between the two rear wheels of the target vehicle is the coordinate origin, the direction of the vehicle head is the positive direction of the X axis, the vertical ground upward is the positive direction of the Z axis, and the left direction of the vehicle body is the positive direction of the Y axis. Among them, the preset trajectory points are a set of trajectory points of the same type of vehicle (each element point ), the actual vehicle posture It should be noted that the current actual trajectory point It is obtained by measuring the actual posture of the vehicle using the vehicle posture measurement unit.

[0047] Step S12: using the target trajectory control model created based on the lateral error and the heading error, respectively constructing the target trajectory route corresponding to the preset trajectory point and determining the adjustment information of the current actual trajectory point.

[0048] For example Figure 2 The figure shows a specific target trajectory control model. By inputting the preset trajectory points and the current actual trajectory points into the target trajectory control model, the target trajectory route corresponding to the preset trajectory points can be obtained, as well as the adjustment information for the current actual trajectory points. The target trajectory control model includes a preprocessing algorithm unit (Ts), an intermediate control variable generation unit (Ds), a PID (proportion integral dervative) calibration process, and a vehicle actual motion model unit (Ls). The vehicle posture measurement unit (Hs) is used to obtain the current actual trajectory points of the target vehicle.

[0049] Enter the preset trajectory point u i and the current actual trajectory point h of the target vehicle obtained by the vehicle pose measurement unit (Hs) t To the preprocessing algorithm unit (Ts) of the target trajectory control model, the preprocessing algorithm unit (Ts) constructs the target trajectory route corresponding to the preset trajectory point, that is, the control quantity i t , calculate the control quantity i t With the current actual trajectory point h t The difference between t , the difference e t Input to the intermediate control quantity generation unit (Ds) of the target trajectory control model to obtain the turning radius δ t (left turn is positive, right turn is negative), lateral error adjustment PID input e pose , heading angle error adjusts the PID input e yaw , adjust the lateral error PID output p t , the heading angle error adjusts the output q of PID t and turning radius δ t Perform calculations to obtain the control intermediate generation amount α t , which is the adjustment information of the current actual trajectory point. The calculation, output and data call between each unit are as follows:

[0050]

[0051] Where, Indicates the actual operation status of the target vehicle based on the adjustment information, that is, the current actual trajectory point.

[0052] Step S13: Using the adjustment information of the current actual trajectory point, the target vehicle is controlled to run along the target trajectory route.

[0053] In this embodiment, the adjustment information is input into the vehicle actual motion model unit (Ls), so as to control the target vehicle to run along the target trajectory route using the adjustment information of the current actual trajectory point.

[0054] It can be seen that the present application determines the preset trajectory points and the current actual trajectory points of the target vehicle; utilizes the target trajectory control model created based on the lateral error and the heading error to respectively construct the target trajectory routes corresponding to the preset trajectory points and determine the adjustment information of the current actual trajectory points; utilizes the adjustment information of the current actual trajectory points to control the target vehicle to run according to the target trajectory route. It can be seen that the present application utilizes the target trajectory control model created based on the lateral error and the heading error, so the adjustment information of the current actual trajectory points can be determined, that is, it can achieve more precise adjustment of the target vehicle in the lateral and heading directions, thereby achieving accurate vehicle operation trajectory tracking.

[0055] See also Figure 3 As shown, the embodiment of the present application discloses a specific vehicle trajectory tracking method, including:

[0056] Step S21: Determine the preset trajectory points and the current actual trajectory points of the target vehicle.

[0057] Step S22: Obtain the corresponding target trajectory route using the preset trajectory points.

[0058] In this embodiment, the method of obtaining the corresponding target trajectory route using the preset trajectory points includes: obtaining a first parameter corresponding to a preset position change model and a second parameter corresponding to a preset heading change model using the preset trajectory points; applying the first parameter and the second parameter to the position change model and the heading change model, respectively, to obtain a position change curve and a heading change curve, and obtaining the target trajectory route based on the position change curve and the heading change curve. The preset position change model is as follows:

[0059] s=α0+α1·r+...+α n ·r n ;

[0060] Where r represents the Y coordinate or X coordinate in the vehicle coordinate system, α n represents the unknown first parameter;

[0061] The preset heading change model is as follows:

[0062] θ=β0+β1·r+...+β l·r l ;

[0063] Where r represents the Y coordinate or X coordinate in the vehicle coordinate system, β l represents the unknown first parameter;

[0064] The formulas for obtaining the first and second parameters are as follows:

[0065]

[0066]

[0067]

[0068]

[0069] [α0α1···α n ] T =(M T ·M)'·M T N;

[0070] [β0β1···β n ] T =(P T ·P)'·P T ·Q.

[0071] In this embodiment, the use of the preset trajectory points to obtain the first parameter corresponding to the preset position change model and the second parameter corresponding to the preset heading change model includes: using a vector matrix composed of the preset trajectory points and the heading angles corresponding to the preset trajectory points, and determining the first parameter corresponding to the preset position change model and the second parameter corresponding to the preset heading change model based on the result of the determination of whether the vertical coordinates of the preset trajectory points in the vector matrix change monotonically. Constructing the vector matrices R, S, H and the marking amount ξ is to construct a circular area, whose center point and radius are respectively the midpoint u of U and the midpoint u of U. min The position coordinates of the point with the shortest Euclidean distance to the vehicle posture and the minimum turning radius η of the vehicle model min , select the trajectory points whose coordinates fall into the center area to construct the set V t (The number of points is denoted as m here), and the following vector matrix composed of the coordinates of the target discrete points is constructed from small to large numbers:

[0072] X=[x1 x2···x m ] T ;

[0073] Y=[y1 y2···y m ] T ;

[0074] Among them, based on the function monotonicity condition, if the elements in Y change monotonically, then R = Y, S = X, and the element r in R i =y i 、Element s in S i =x i , and H=[r h s h θ h ] T =[y loc x loc θ loc ] T ,ξ=1; otherwise, R=X,S=Y, Among them, the element r in R i =x i 、Element s in S i =y i ,ξ=-1.

[0075] Step S23: determining the current target trajectory point with the shortest distance to the current actual trajectory point from the target trajectory route.

[0076] In this embodiment, determining the current target trajectory point with the shortest distance from the current actual trajectory point from the target trajectory route includes: using a pre-constructed distance equation to calculate the distance between the current actual trajectory point and each trajectory point in the position change curve, so as to determine the current target trajectory point with the shortest distance from the current actual trajectory point from the position change curve. The distance equation is specifically as follows:

[0077]

[0078] In the formula, [r h s h ] represents the current actual trajectory point vector;

[0079] Construct extreme point vector [r min s min ], that is: let f' dis (r)=0, get [r0 r m ] range of extreme points and endpoint sequences r1, r2···r j , take the corresponding f' in the sequence point dis The minimum value is

[0080] Generate control system inputs As shown below:

[0081] ori min =β0+β1·r min +···+βl ·r l min ;

[0082] s min =α0+α1·r min +···+α n ·r n min ;

[0083] In the formula, ori min Indicates the heading angle when the distance is shortest, s min Indicates the position when the distance is shortest; if ξ=1, then Similarly, if ξ=-1, then

[0084] Step S24: Obtaining the lateral error and heading error between the current actual track point and the current target track point.

[0085] In this embodiment, the error equation is created in advance, that is, walking d within the turning radius R (positive for left turn and negative for right turn) Δ (walking counterclockwise along the arc is positive, walking clockwise is negative) relative to Error equation; using the error equation, determine the longitudinal error, lateral error, and heading angle error in the global coordinate system. The expressions are as follows:

[0086]

[0087] The expressions of longitudinal error, lateral error, and heading angle error in the vehicle coordinate system are as follows:

[0088]

[0089] Step S25: Determine adjustment information of the current actual track point using the first variance of the lateral error and the second variance of the heading error.

[0090] In this embodiment, the method of determining the adjustment information of the current actual trajectory point using the first variance of the lateral error and the second variance of the heading error includes: determining the current target heading angle corresponding to the current target trajectory point from the heading change curve, and calculating the curvature radius corresponding to the current target heading angle; determining the first variance of the lateral error and the second variance of the heading error, and determining a correction radius using the sum of the first variance and the second variance, and determining the adjustment information of the current actual trajectory point using the curvature radius and the correction radius. Calculate [r min s min ]The corresponding curvature radius η base , the calculation formula is as follows:

[0091]

[0092] The sum of the first variance of the lateral error and the second variance of the heading error is as follows:

[0093] E sum (R,Δd)=Δlater 2 +Δyaw 2 ;

[0094] Determine the correction radius η cor , and E sum (η cor d cor ) value is the smallest, as shown below:

[0095] and

[0096] Get in [η min The extreme point set (R1 d Δ1 ), (R2 d Δ2 )...(R l d Δl ), extreme points and endpoints η min Minimum E in sum The value point is (R min d min ), as shown below:

[0097] η cor =R min ;

[0098] Determine the turning radius δ t , which is as follows;

[0099] δ t =η cor +η base .

[0100] In this embodiment, the use of the curvature radius and the correction radius to determine the adjustment information of the current actual trajectory point includes: using a lateral error adjuster and a heading error adjuster to calibrate the curvature radius and the correction radius to determine the adjustment information of the current actual trajectory point. The sum of the curvature radius and the correction radius is calibrated using the lateral error adjuster and the heading error adjuster, wherein the input e of the lateral error adjuster is pose =Δlater, the input of the heading error regulator e yaw =Δyaw, the output of the lateral error control PID is p t The output of the heading angle error adjustment PID is q t, using the output p of the lateral error regulator t , the output q of the heading error regulator t δ t Perform correction to obtain the adjustment information of the current actual trajectory point.

[0101] Step S26: Using the adjustment information of the current actual trajectory point, the target vehicle is controlled to run along the target trajectory route.

[0102] It can be seen that the target trajectory control model created based on lateral error and heading error in this application can obtain more accurate adjustment information in the lateral and heading directions, thereby making the target vehicle more closely aligned with the target trajectory route, improving the problems of insufficient accuracy and stability in continuous high-nonlinear trajectory tracking, and reducing the complexity of the vehicle trajectory tracking lateral control system.

[0103] See also Figure 4 As shown, the embodiment of the present application discloses a vehicle trajectory tracking device, comprising:

[0104] A trajectory point determination module 11 is used to determine the preset trajectory points and the current actual trajectory points of the target vehicle;

[0105] An adjustment information determination module 12 is configured to construct a target trajectory route corresponding to the preset trajectory point and determine adjustment information of the current actual trajectory point using a target trajectory control model created based on the lateral error and the heading error;

[0106] The control module 13 is configured to control the target vehicle to run along the target trajectory route using the adjustment information of the current actual trajectory point.

[0107] It can be seen that the present application determines the preset trajectory points and the current actual trajectory points of the target vehicle; utilizes the target trajectory control model created based on the lateral error and the heading error to respectively construct the target trajectory routes corresponding to the preset trajectory points and determine the adjustment information of the current actual trajectory points; utilizes the adjustment information of the current actual trajectory points to control the target vehicle to run according to the target trajectory route. It can be seen that the present application utilizes the target trajectory control model created based on the lateral error and the heading error, so the adjustment information of the current actual trajectory points can be determined, that is, it can achieve more precise adjustment of the target vehicle in the lateral and heading directions, thereby achieving accurate vehicle operation trajectory tracking.

[0108] Furthermore, an embodiment of the present application also provides an electronic device. Figure 5 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram should not be considered as any limitation to the scope of application of the present application.

[0109] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Specifically, the device may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps of the vehicle trajectory tracking method performed by the electronic device as disclosed in any of the aforementioned embodiments.

[0110] In this embodiment, the power supply 23 is used to provide operating voltage for various hardware devices on the electronic device; the communication interface 24 can create a data transmission channel between the electronic device and external devices. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this application and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world. Its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0111] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0112] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or CD, etc. The resources stored thereon include an operating system 221, a computer program 222 and data 223, etc. The storage method can be temporary storage or permanent storage.

[0113] The operating system 221 is used to manage and control the various hardware devices and computer programs 222 on the electronic device, so as to enable the processor 21 to calculate and process the massive amount of data 223 in the memory 22. It can be Windows, Unix, Linux, etc. In addition to including computer programs capable of performing the vehicle trajectory tracking method performed by the electronic device disclosed in any of the aforementioned embodiments, the computer program 222 may further include computer programs capable of performing other specific tasks. In addition to data transmitted by external devices received by the electronic device, the data 223 may also include data collected by its own input and output interface 25.

[0114] Furthermore, an embodiment of the present application also discloses a computer-readable storage medium, in which a computer program is stored. When the computer program is loaded and executed by a processor, the method steps performed in the vehicle trajectory tracking process disclosed in any of the aforementioned embodiments are implemented.

[0115] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0116] The above is a detailed introduction to the vehicle trajectory tracking method, device, equipment and medium provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A vehicle trajectory tracking method, characterized in that: include: Determine the target vehicle's preset trajectory points and current actual trajectory points; Using a target trajectory control model created based on the lateral error and the heading error, constructing a target trajectory route corresponding to the preset trajectory point and determining adjustment information for the current actual trajectory point; Using the adjustment information of the current actual trajectory point to control the target vehicle to run along the target trajectory route; The target trajectory control model created based on the lateral error and the heading error is used to construct the target trajectory route corresponding to the preset trajectory point and determine the adjustment information of the current actual trajectory point, including: The method includes: obtaining a first parameter corresponding to a preset position change model and a second parameter corresponding to a preset heading change model using the preset trajectory point; applying the first parameter and the second parameter to the position change model and the heading change model, respectively, to obtain a position change curve and a heading change curve, and obtaining a target trajectory route based on the position change curve and the heading change curve; determining a current target trajectory point that is shortest in distance from the current actual trajectory point from the target trajectory; obtaining a lateral error and a heading error between the current actual trajectory point and the current target trajectory point; and determining adjustment information for the current actual trajectory point using a first variance of the lateral error and a second variance of the heading error. The determining the adjustment information of the current actual trajectory point by using the first variance of the lateral error and the second variance of the heading error includes: Determine a current target heading angle corresponding to the current target trajectory point from the heading change curve, and calculate a curvature radius corresponding to the current target heading angle; determine a first variance of the lateral error and a second variance of the heading error, determine a correction radius using the sum of the first variance and the second variance, and determine adjustment information for the current actual trajectory point using the curvature radius and the correction radius.

2. The vehicle trajectory tracking method according to claim 1, characterized in that: The obtaining of a first parameter corresponding to a preset position change model and a second parameter corresponding to a preset heading change model by using the preset trajectory point includes: Using a vector matrix composed of preset trajectory points and heading angles corresponding to the preset trajectory points, and based on the judgment result of whether the longitudinal coordinates of the preset trajectory points in the vector matrix change monotonically, the first parameter corresponding to the preset position change model and the second parameter corresponding to the preset heading change model are determined.

3. The vehicle trajectory tracking method according to claim 1, characterized in that: Determining the current target trajectory point having the shortest distance from the current actual trajectory point from the target trajectory route includes: The distance between the current actual trajectory point and each trajectory point in the position change curve is calculated using a pre-constructed distance equation, so as to determine the current target trajectory point with the shortest distance to the current actual trajectory point from the position change curve.

4. The vehicle trajectory tracking method according to claim 1, characterized in that: The determining the adjustment information of the current actual trajectory point by using the curvature radius and the correction radius includes: The curvature radius and the correction radius are calibrated using a lateral error adjuster and a heading error adjuster to determine adjustment information of the current actual track point.

5. A vehicle trajectory tracking device, characterized in that: include: A trajectory point determination module is used to determine the preset trajectory points and the current actual trajectory points of the target vehicle; an adjustment information determination module, configured to construct a target trajectory route corresponding to the preset trajectory point and determine adjustment information of the current actual trajectory point using a target trajectory control model created based on the lateral error and the heading error; A control module, configured to control the target vehicle to run along the target trajectory route using the adjustment information of the current actual trajectory point; The adjustment information determination module is specifically configured to: Using the preset trajectory points, a first parameter corresponding to a preset position change model and a second parameter corresponding to a preset heading change model are obtained; the first parameter and the second parameter are applied to the position change model and the heading change model, respectively, to obtain a position change curve and a heading change curve, and a target trajectory route is obtained based on the position change curve and the heading change curve; and a current target trajectory point having the shortest distance to the current actual trajectory point is determined from the target trajectory route; Obtaining a lateral error and a heading error between the current actual track point and the current target track point; and determining adjustment information of the current actual track point using a first variance of the lateral error and a second variance of the heading error; The adjustment information determination module is specifically configured to: Determine a current target heading angle corresponding to the current target trajectory point from the heading change curve, and calculate a curvature radius corresponding to the current target heading angle; determine a first variance of the lateral error and a second variance of the heading error, determine a correction radius using the sum of the first variance and the second variance, and determine adjustment information for the current actual trajectory point using the curvature radius and the correction radius.

6. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the steps of the vehicle trajectory tracking method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that Used to store computer programs; wherein, when the computer program is executed by a processor, the steps of the vehicle trajectory tracking method according to any one of claims 1 to 4 are implemented.

Images