A path tracking method, device, and medium based on PID control.

Abstract

This application discloses a path tracking method, device, and medium based on the PID principle. The method includes: acquiring the planned path corresponding to the vehicle; determining the target path point and the aiming point corresponding to the current position of the vehicle in the planned path according to a preset time interval; wherein the planned path consists of multiple consecutive path points, and the target path point is the path point closest to the current position of the vehicle along the travel direction of the planned path; determining the distance difference between the current position and the target path point, and using the distance difference as the current tracking error of the vehicle at the current moment; extending the line along the direction of the vehicle's front, determining the distance between the aiming point corresponding to the current position of the vehicle in the planned path and the extended line, and using the distance as the current aiming error of the vehicle at the current moment; and based on the PID principle, determining the control compensation value of the vehicle according to the current tracking error and the current aiming error, and compensating the vehicle's position according to the control compensation value.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, specifically to a path tracking method, device, and medium based on the PID concept. Background Technology

[0002] The pure tracking algorithm is a traditional and classic vehicle lateral motion control algorithm. Its basic idea is to guide the steering wheel movement at a point on the target trajectory ahead in each control cycle, causing the vehicle to move towards the target point. The pure tracking algorithm can achieve automatic parking or pose adjustment for autonomous vehicles. Due to its low computational complexity and simple, reliable method, it has wide applications in robot control and intelligent driving.

[0003] However, when tracking curved paths, the above algorithm does not take into account the vehicle's steady-state error, which can easily cause the vehicle to tangent internally when turning, resulting in deviation from the initial planned path and affecting the vehicle control accuracy. Summary of the Invention

[0004] To address the aforementioned problems, this application proposes a path tracking method based on the PID principle, comprising:

[0005] The planned path corresponding to the vehicle is obtained, and the target path point and the pre-aiming point corresponding to the current position of the vehicle in the planned path are determined according to a preset time interval; wherein, the planned path consists of a series of consecutive path points, and the target path point is the path point closest to the current position of the vehicle along the travel direction of the planned path.

[0006] Determine the distance difference between the current position and the target path point, and use the distance difference as the current tracking error of the vehicle at the current moment;

[0007] Extend a line along the direction of the vehicle's front to determine the distance between the pre-aiming point corresponding to the vehicle's current position on the planned path and the extended line, and use the distance as the vehicle's current pre-aiming error at the current moment;

[0008] Based on the PID principle, the control compensation value of the vehicle is determined according to the current tracking error and the current aiming error, and the position of the vehicle is compensated according to the control compensation value.

[0009] In one implementation of this application, before determining the control compensation value of the vehicle based on the current tracking error and the current aiming error, the method further includes:

[0010] Determine the first tracking error and the second tracking error corresponding to the vehicle at the first historical time and the second historical time, and calculate the cumulative tracking error and the tracking error change rate corresponding to the vehicle based on the current tracking error, the first tracking error and the second tracking error;

[0011] Determine the first aiming error and the second aiming error corresponding to the vehicle at the first historical time and the second historical time, and calculate the aiming error change rate corresponding to the vehicle based on the current aiming error, the first aiming error and the second aiming error.

[0012] In one implementation of this application, based on the PID controller concept, the control compensation value of the vehicle is determined according to the current tracking error and the current aiming error, specifically including:

[0013] Obtain the preset tracking error compensation coefficient, cumulative tracking error compensation coefficient, tracking error change rate compensation coefficient, and aiming error change rate compensation coefficient;

[0014] The control compensation value of the vehicle is determined using the following formula:

[0015] δ=k*d+k i *err+k d *d rate +k e *e rate

[0016] Where δ represents the control compensation value, k represents the tracking error compensation coefficient, and k i k represents the cumulative tracking error compensation coefficient. d k represents the tracking rate of change compensation coefficient. e This represents the compensation coefficient for the rate of change of the aiming error, where d represents the current tracking error and err represents the cumulative tracking error. rate e represents the rate of change of tracking error. rate This indicates the rate of change of the aiming error.

[0017] In one implementation of this application, the cumulative tracking error and the rate of change of tracking error corresponding to the vehicle are calculated based on the current tracking error, the first tracking error, and the second tracking error, specifically including:

[0018] The difference between the current tracking error and the first tracking error is used to obtain the corresponding first tracking error difference value, and the difference between the first tracking error and the second tracking error is used to obtain the corresponding second tracking error difference value;

[0019] Subtracting the second tracking error difference from the first tracking error difference yields the tracking error change rate of the vehicle.

[0020] The current tracking error, the first tracking error, and the second tracking error are summed to obtain the cumulative tracking error of the vehicle.

[0021] In one implementation of this application, the calculation of the rate of change of the pre-aiming error corresponding to the vehicle based on the current pre-aiming error, the first pre-aiming error, and the second pre-aiming error specifically includes:

[0022] The difference between the current aiming error and the first aiming error is calculated to obtain the corresponding first aiming error difference value, and the difference between the first aiming error and the second aiming error is calculated to obtain the corresponding second aiming error difference value;

[0023] The rate of change of the vehicle's aiming error is obtained by subtracting the second aiming error difference from the first aiming error difference.

[0024] In one implementation of this application, after using the distance as the current aiming error of the vehicle at the current moment, the method further includes:

[0025] The relative position between the vehicle and the planned path is determined, and based on the relative position, the compensation type corresponding to the current tracking error and the current aiming error is determined; wherein, the compensation type includes positive compensation and negative compensation;

[0026] If the vehicle is located on the right side of the planned path, the compensation type corresponding to the current tracking error and the current aiming error is determined to be positive compensation, and the sign corresponding to the current tracking error and the current aiming error is determined to be positive.

[0027] If the vehicle is located to the left of the planned path, the compensation type corresponding to the previous tracking error and the current aiming error is determined to be negative compensation, and the sign corresponding to the current tracking error and the current aiming error is determined to be negative.

[0028] In one implementation of this application, compensating for the vehicle's position based on the control compensation value specifically includes:

[0029] Obtain the vehicle parameter information of the vehicle, and determine the front wheel steering angle of the vehicle based on the vehicle parameter information and the control compensation value;

[0030] The vehicle is steered according to the steering angle of its front wheels so that it can travel along the planned path.

[0031] In one implementation of this application, the vehicle parameter information includes at least the vehicle wheelbase, the angle between the vehicle and the aiming point, the vehicle speed, the vehicle speed coefficient, and the aiming distance.

[0032] This application provides a path tracking device based on the PID principle, characterized in that the device includes:

[0033] At least one processor;

[0034] and, a memory communicatively coupled to the at least one processor;

[0035] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0036] The planned path corresponding to the vehicle is obtained, and the target path point and the pre-aiming point corresponding to the current position of the vehicle in the planned path are determined according to a preset time interval; wherein, the planned path consists of a series of consecutive path points, and the target path point is the path point closest to the current position of the vehicle along the travel direction of the planned path.

[0037] Determine the distance difference between the current position and the target path point, and use the distance difference as the current tracking error of the vehicle at the current moment;

[0038] Extend a line along the direction of the vehicle's front to determine the distance between the pre-aiming point corresponding to the vehicle's current position on the planned path and the extended line, and use the distance as the vehicle's current pre-aiming error at the current moment;

[0039] Based on the PID principle, the control compensation value of the vehicle is determined according to the current tracking error and the current aiming error, and the position of the vehicle is compensated according to the control compensation value.

[0040] This application provides a non-volatile computer storage medium storing computer-executable instructions, characterized in that the computer-executable instructions are configured as follows:

[0041] The planned path corresponding to the vehicle is obtained, and the target path point and the pre-aiming point corresponding to the current position of the vehicle in the planned path are determined according to a preset time interval; wherein, the planned path consists of a series of consecutive path points, and the target path point is the path point closest to the current position of the vehicle along the travel direction of the planned path.

[0042] Determine the distance difference between the current position and the target path point, and use the distance difference as the current tracking error of the vehicle at the current moment;

[0043] Extend a line along the direction of the vehicle's front to determine the distance between the pre-aiming point corresponding to the vehicle's current position on the planned path and the extended line, and use the distance as the vehicle's current pre-aiming error at the current moment;

[0044] Based on the PID principle, the control compensation value of the vehicle is determined according to the current tracking error and the current aiming error, and the position of the vehicle is compensated according to the control compensation value.

[0045] The path tracking method based on the PID concept proposed in this application can bring the following beneficial effects:

[0046] By employing the PID algorithm, the control compensation value of the vehicle is calculated based on the tracking error and aiming error over a continuous time period. This compensation is then used to compensate for the vehicle's position, eliminating the distance error between the vehicle's current position and the planned path. This allows the vehicle to better follow the planned path, avoids turning inside the path, eliminates steady-state errors in vehicle control, and improves vehicle control accuracy. Attached Figure Description

[0047] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0048] Figure 1 A flowchart illustrating a path tracking method based on the PID concept provided in this application embodiment;

[0049] Figure 2 A vehicle route diagram provided for an embodiment of this application;

[0050] Figure 3 This is a schematic diagram of a path tracking device based on the PID concept provided in an embodiment of this application. Detailed Implementation

[0051] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0052] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0053] like Figure 1As shown in the embodiment of this application, a path tracking method based on the PID concept is provided, including:

[0054] S101: Obtain the planned path corresponding to the vehicle, and determine the target path point and the aiming point corresponding to the current position of the vehicle in the planned path according to a preset time interval; wherein, the planned path consists of multiple consecutive path points, and the target path point is the path point closest to the current position of the vehicle along the direction of travel of the planned path.

[0055] Figure 2 A vehicle route diagram provided for an embodiment of this application, such as Figure 2 As shown, autonomous vehicles generate a planned path before starting their journey and follow that path to their destination. However, when faced with curved paths, the curvature of different roads may change, which alters the vehicle's actual travel path (i.e., the path it follows). Figure 2 The pre-compensation path cannot accurately match the planned path, so the steady-state error of the vehicle needs to be eliminated.

[0056] To eliminate the vehicle's steady-state error, it is necessary to obtain the planned path corresponding to the vehicle and determine the target path point A and the pre-aiming point B corresponding to the vehicle's current position in the planned path according to a preset time interval. The planned path consists of multiple consecutive path points. The target path point A is the path point closest to the vehicle's current position along the direction of travel of the planned path. The pre-aiming point B is the point that the vehicle aims at in advance to compensate for the time delay problem in the control execution process.

[0057] S102: Determine the distance difference between the current position and the target path point, and use the distance difference as the current tracking error of the vehicle at the current moment.

[0058] After determining the target path point A corresponding to the vehicle's current position, it is necessary to determine the distance deviation between the vehicle and the planned path at this time, that is, to determine the distance difference between the current position A' and the target path point A, and use the distance difference as the current tracking error AA' of the vehicle at the current moment.

[0059] Since the tracking error of a vehicle will change depending on the curvature of the road during its operation, the rate of change of the tracking error must also be considered to improve control accuracy. The rate of change can be determined by analyzing the vehicle's tracking error at historical time points.

[0060] Specifically, the first tracking error and the second tracking error corresponding to the vehicle at the first historical moment and the second historical moment are determined. Based on the current tracking error, the first tracking error, and the second tracking error, the cumulative tracking error and the rate of change of tracking error corresponding to the vehicle are calculated. Here, the first historical moment refers to the moment before the current moment, and the second historical moment refers to the moment before the previous moment. Through continuous error analysis, the rate of change of tracking error can be obtained. Therefore, when eliminating errors, the trend of tracking error change can be referenced to make predictions in advance and prevent vehicle overshoot.

[0061] The cumulative tracking error can be obtained by summing the current tracking error, the first tracking error, and the second tracking error, and is used to offset the steady-state error of vehicle control. The rate of change of tracking error can be obtained as follows: subtract the current tracking error from the first tracking error to obtain the corresponding first tracking error difference value; then subtract the first tracking error from the second tracking error to obtain the corresponding second tracking error difference value. Finally, subtract the second tracking error difference value from the first tracking error difference value; the final difference is the rate of change of the vehicle's tracking error.

[0062] S103: Draw an extension line along the direction of the vehicle's front to determine the distance between the pre-aiming point corresponding to the current position of the planned path vehicle and the extension line, and use the distance as the current pre-aiming error of the vehicle at the current moment.

[0063] During the operation of an intelligent vehicle, a pre-aiming distance needs to be calculated based on the vehicle's current speed. After finding the nearest matching point, the vehicle then moves forward to find the corresponding pre-aiming point based on this distance. Therefore, if the pre-aiming point has a certain deviation, it will also cause errors in the tracking and planning path. In addition to the tracking errors mentioned above, the vehicle's pre-aiming error also needs to be considered. Figure 2 As shown, by extending a line along the direction of the vehicle's front, the distance BB' between the pre-aiming point B corresponding to the current position C of the planned path vehicle and the extended line can be determined. This distance is the current pre-aiming error of the vehicle at the current moment.

[0064] Similarly, to improve vehicle control accuracy, the rate of change of the aiming error over continuous time must also be considered. The first and second aiming errors corresponding to the vehicle at the first and second historical time points are determined. Based on the current aiming error, the first aiming error, and the second aiming error, the rate of change of the vehicle's aiming error is calculated. When calculating the rate of change of the aiming error, the difference between the current aiming error and the first aiming error is taken to obtain the corresponding first aiming error difference value, and the difference between the first and second aiming errors is taken to obtain the corresponding second aiming error difference value. Then, subtracting the second aiming error difference value from the first aiming error difference value yields the rate of change of the vehicle's aiming error.

[0065] It should be noted that the aiming error and tracking error are related to the relative position between the vehicle and the planned path. Based on this relative position, the compensation type corresponding to the current tracking error and the current aiming error can be determined. The compensation type includes positive compensation and negative compensation. If the vehicle is on the right side of the planned path, the compensation type for the current tracking error and the current aiming error is positive compensation, and the calculated signs of the current tracking error and the current aiming error are positive. If the vehicle is on the left side of the planned path, the compensation type for the current tracking error and the current aiming error is negative compensation, and the signs of the current tracking error and the current aiming error are negative. It should be noted that the positive and negative signs are only for distinguishing the compensation type and are not literal positives and negatives.

[0066] S104: Based on the PID concept, determine the vehicle's control compensation value according to the current tracking error and the current aiming error, and compensate for the vehicle's position according to the control compensation value.

[0067] The PID controller principle refers to changing the control quantity based on the error, thereby reducing the error. Based on the PID controller principle, this application, after obtaining the tracking error and anticipation error generated during vehicle operation, needs to determine the vehicle's control compensation value through a preset algorithm, and compensate the vehicle's position according to the control compensation value to reduce the error generated during vehicle operation and enable it to return to the planned path and continue moving forward.

[0068] First, obtain the preset tracking error compensation coefficient, cumulative tracking error compensation coefficient, tracking error change rate compensation coefficient, and aiming error change rate compensation coefficient.

[0069] Then, the vehicle's control compensation value is determined using the following formula:

[0070] δ=k*d+k i *err+k d *d rate +k e *e rate

[0071] Where δ represents the control compensation value, k represents the tracking error compensation coefficient, and k i k represents the cumulative tracking error compensation coefficient. d k represents the tracking rate of change compensation coefficient. e This represents the compensation coefficient for the rate of change of the aiming error, where d represents the current tracking error and err represents the cumulative tracking error. rate e represents the rate of change of tracking error. rate This indicates the rate of change of the aiming error.

[0072] After obtaining the control compensation value, it is necessary to acquire the vehicle's parameter information. Based on the vehicle parameter information and the control compensation value, the corresponding front wheel steering angle of the vehicle is determined. The vehicle parameter information includes at least the vehicle wheelbase, the angle between the vehicle and the aiming point, the vehicle speed, the vehicle speed coefficient, and the aiming distance.

[0073] The front wheel steering angle of the vehicle can be obtained using the following formula:

[0074]

[0075] Where L is the wheelbase, α is the angle between the vehicle body and the aiming point, v is the current vehicle speed, and β is the vehicle speed coefficient. d δ represents the aiming distance, and δ is the control compensation value.

[0076] Based on the calculated front wheel steering angle, the vehicle can be controlled to steer at that angle, thereby returning to the pre-planned path through a compensated path, avoiding inward turning, and eliminating steady-state errors in vehicle control.

[0077] The above are embodiments of the methods proposed in this application. Based on the same idea, some embodiments of this application also provide devices and non-volatile computer storage media corresponding to the above methods.

[0078] Figure 3 This is a schematic diagram of a path tracking device based on the PID principle, provided as an embodiment of this application. Figure 3 As shown, including:

[0079] At least one processor; and,

[0080] At least one processor-communication-connected memory; wherein,

[0081] The memory stores instructions that can be executed by at least one processor, and the instructions, when executed by at least one processor, enable at least one processor to:

[0082] Obtain the planned path corresponding to the vehicle, and determine the target path point and the pre-aiming point corresponding to the current position of the vehicle in the planned path according to the preset time interval; wherein, the planned path consists of multiple consecutive path points, and the target path point is the path point closest to the current position of the vehicle along the direction of travel of the planned path.

[0083] Determine the distance difference between the current location and the target path point, and use the distance difference as the vehicle's current tracking error at the current moment;

[0084] Draw an extension line along the direction of the vehicle's front to determine the distance between the pre-aiming point corresponding to the current position of the planned path vehicle and the extension line, and use the distance as the current pre-aiming error of the vehicle at the current moment;

[0085] Based on the PID principle, the control compensation value of the vehicle is determined according to the current tracking error and the current aiming error, and the vehicle's position is compensated according to the control compensation value.

[0086] This application provides a non-volatile computer storage medium storing computer-executable instructions, which are configured as follows:

[0087] Obtain the planned path corresponding to the vehicle, and determine the target path point and the pre-aiming point corresponding to the current position of the vehicle in the planned path according to the preset time interval; wherein, the planned path consists of multiple consecutive path points, and the target path point is the path point closest to the current position of the vehicle along the direction of travel of the planned path.

[0088] Determine the distance difference between the current location and the target path point, and use the distance difference as the vehicle's current tracking error at the current moment;

[0089] Draw an extension line along the direction of the vehicle's front to determine the distance between the pre-aiming point corresponding to the current position of the planned path vehicle and the extension line, and use the distance as the current pre-aiming error of the vehicle at the current moment;

[0090] Based on the PID principle, the control compensation value of the vehicle is determined according to the current tracking error and the current aiming error, and the vehicle's position is compensated according to the control compensation value.

[0091] The various embodiments in this application are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device and medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For relevant portions, refer to the descriptions of the method embodiments.

[0092] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects to their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0093] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0094] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0095] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0096] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0097] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0098] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0099] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0100] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0101] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A path tracking method based on the PID principle, characterized in that, The method includes: The planned path corresponding to the vehicle is obtained, and the target path point and the pre-aiming point corresponding to the current position of the vehicle in the planned path are determined according to a preset time interval; wherein, the planned path consists of a series of consecutive path points, and the target path point is the path point closest to the current position along the travel direction of the planned path; Determine the distance difference between the current position and the target path point, and use the distance difference as the current tracking error of the vehicle at the current moment; Extend a line along the direction of the vehicle's front to determine the distance between the pre-aiming point corresponding to the vehicle's current position on the planned path and the extended line, and use the distance as the vehicle's current pre-aiming error at the current moment; Based on the PID principle, the control compensation value of the vehicle is determined according to the current tracking error and the current aiming error, and the position of the vehicle is compensated according to the control compensation value. Based on the PID controller concept, the control compensation value for the vehicle is determined according to the current tracking error and the current aiming error, specifically including: Obtain the preset tracking error compensation coefficient, cumulative tracking error compensation coefficient, tracking error change rate compensation coefficient, and aiming error change rate compensation coefficient; The control compensation value of the vehicle is determined using the following formula: δ=k*d+k i *err+k d *d rate +k e *e rate Where δ represents the control compensation value, k represents the tracking error compensation coefficient, and k i k represents the cumulative tracking error compensation coefficient. d k represents the tracking rate of change compensation coefficient. e This represents the compensation coefficient for the rate of change of aiming error, where d represents the current tracking error and err represents the cumulative tracking error. rate e represents the rate of change of tracking error. rate This indicates the rate of change of the aiming error.

2. The path tracking method based on PID control according to claim 1, characterized in that, Before determining the control compensation value of the vehicle based on the current tracking error and the current aiming error, the method further includes: Determine the first tracking error and the second tracking error corresponding to the vehicle at the first historical time and the second historical time, and calculate the cumulative tracking error and the tracking error change rate corresponding to the vehicle based on the current tracking error, the first tracking error and the second tracking error; Determine the first aiming error and the second aiming error corresponding to the vehicle at the first historical time and the second historical time, and calculate the aiming error change rate corresponding to the vehicle based on the current aiming error, the first aiming error and the second aiming error.

3. The path tracking method based on PID control according to claim 2, characterized in that, Based on the current tracking error, the first tracking error, and the second tracking error, the cumulative tracking error and the rate of change of tracking error corresponding to the vehicle are calculated, specifically including: The difference between the current tracking error and the first tracking error is used to obtain the corresponding first tracking error difference value, and the difference between the first tracking error and the second tracking error is used to obtain the corresponding second tracking error difference value; Subtracting the second tracking error difference from the first tracking error difference yields the tracking error change rate of the vehicle. The current tracking error, the first tracking error, and the second tracking error are summed to obtain the cumulative tracking error of the vehicle.

4. The path tracking method based on PID control according to claim 2, characterized in that, Based on the current aiming error, the first aiming error, and the second aiming error, the rate of change of the aiming error corresponding to the vehicle is calculated, specifically including: The difference between the current aiming error and the first aiming error is calculated to obtain the corresponding first aiming error difference value, and the difference between the first aiming error and the second aiming error is calculated to obtain the corresponding second aiming error difference value; The rate of change of the vehicle's aiming error is obtained by subtracting the second aiming error difference from the first aiming error difference.

5. The path tracking method based on PID control according to claim 1, characterized in that, After using the distance as the current aiming error of the vehicle at the current moment, the method further includes: The relative position between the vehicle and the planned path is determined, and based on the relative position, the compensation type corresponding to the current tracking error and the current aiming error is determined; wherein, the compensation type includes positive compensation and negative compensation; If the vehicle is located on the right side of the planned path, the compensation type corresponding to the current tracking error and the current aiming error is determined to be positive compensation, and the sign corresponding to the current tracking error and the current aiming error is determined to be positive. If the vehicle is located to the left of the planned path, the compensation type corresponding to the previous tracking error and the current aiming error is determined to be negative compensation, and the sign corresponding to the current tracking error and the current aiming error is determined to be negative.

6. The path tracking method based on PID control according to claim 1, characterized in that, Based on the control compensation value, compensation is made for the vehicle's position, specifically including: Obtain the vehicle parameter information of the vehicle, and determine the front wheel steering angle of the vehicle based on the vehicle parameter information and the control compensation value; The vehicle is steered according to the steering angle of its front wheels so that it can travel along the planned path.

7. A path tracking method based on PID control according to claim 6, characterized in that, The vehicle parameter information includes at least the vehicle wheelbase, the angle between the vehicle and the aiming point, the vehicle speed, the vehicle speed coefficient, and the aiming distance.

8. A path tracking device based on the PID controller, characterized in that, The device includes: At least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to: The planned path corresponding to the vehicle is obtained, and the target path point and the pre-aiming point corresponding to the current position of the vehicle in the planned path are determined according to a preset time interval; wherein, the planned path consists of a series of consecutive path points, and the target path point is the path point closest to the current position along the travel direction of the planned path; Determine the distance difference between the current position and the target path point, and use the distance difference as the current tracking error of the vehicle at the current moment; Extend a line along the direction of the vehicle's front to determine the distance between the pre-aiming point corresponding to the vehicle's current position on the planned path and the extended line, and use the distance as the vehicle's current pre-aiming error at the current moment; Based on the PID principle, the control compensation value of the vehicle is determined according to the current tracking error and the current aiming error, and the position of the vehicle is compensated according to the control compensation value. Based on the PID controller concept, the control compensation value for the vehicle is determined according to the current tracking error and the current aiming error, specifically including: Obtain the preset tracking error compensation coefficient, cumulative tracking error compensation coefficient, tracking error change rate compensation coefficient, and aiming error change rate compensation coefficient; The control compensation value of the vehicle is determined using the following formula: δ=k*d+k i *err+k d *d rate +k e *e rate Where δ represents the control compensation value, k represents the tracking error compensation coefficient, and k i k represents the cumulative tracking error compensation coefficient. d k represents the tracking rate of change compensation coefficient. e This represents the compensation coefficient for the rate of change of aiming error, where d represents the current tracking error and err represents the cumulative tracking error. rate e represents the rate of change of tracking error. rate This indicates the rate of change of the aiming error.

9. A non-volatile computer storage medium storing computer-executable instructions, characterized in that, The computer-executable instructions are set as follows: The planned path corresponding to the vehicle is obtained, and the target path point and the pre-aiming point corresponding to the current position of the vehicle in the planned path are determined according to a preset time interval; wherein, the planned path consists of a series of consecutive path points, and the target path point is the path point closest to the current position along the travel direction of the planned path; Determine the distance difference between the current position and the target path point, and use the distance difference as the current tracking error of the vehicle at the current moment; Extend a line along the direction of the vehicle's front to determine the distance between the pre-aiming point corresponding to the vehicle's current position on the planned path and the extended line, and use the distance as the vehicle's current pre-aiming error at the current moment; Based on the PID principle, the control compensation value of the vehicle is determined according to the current tracking error and the current aiming error, and the position of the vehicle is compensated according to the control compensation value. Based on the PID controller concept, the control compensation value for the vehicle is determined according to the current tracking error and the current aiming error, specifically including: Obtain the preset tracking error compensation coefficient, cumulative tracking error compensation coefficient, tracking error change rate compensation coefficient, and aiming error change rate compensation coefficient; The control compensation value of the vehicle is determined using the following formula: δ=k*d+k i *err+k d *d rate +k e *e rate Where δ represents the control compensation value, k represents the tracking error compensation coefficient, and k i k represents the cumulative tracking error compensation coefficient. d k represents the tracking rate of change compensation coefficient. e This represents the compensation coefficient for the rate of change of the aiming error, where d represents the current tracking error and err represents the cumulative tracking error. rate e represents the rate of change of tracking error. rate This indicates the rate of change of the aiming error.

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