Tracked vehicle track control method and device, electronic equipment and storage medium

Abstract

The invention discloses a track control method and device for a tracked vehicle, electronic equipment and a storage medium. The method comprises the following steps: determining target vehicle information of a target tracked vehicle; determining a target traveling speed compensation value when the target tracked vehicle moves from the first position to the second position according to the target vehicle information, and compensating the second traveling speed according to the target traveling speed compensation value to determine the target vehicle controller speed of the target tracked vehicle; determining a target vehicle controller steering radius when the target tracked vehicle moves from the first position to the second position according to the target vehicle information; and according to the target traveling speed compensation value and the steering radius of the target vehicle controller, performing traveling track control on the target tracked vehicle. According to the scheme, independent control over the running speed and the steering radius of the target tracked vehicle is achieved, and the accuracy and stability of the target tracked vehicle in the running process are guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a track control method, device, electronic equipment and storage medium for a tracked vehicle. Background Art

[0002] With the development of science and technology, the application of autonomous driving is becoming more and more extensive, and autonomous driving technology is gradually extending to tracked vehicles. Tracked vehicles have shown great potential in the fields of exploration, agriculture and disaster relief with their autonomous driving capabilities.

[0003] At present, the autonomous driving system controls the movement of the left and right tracks of tracked vehicles through posture information to achieve overall control of the vehicle. However, since tracked vehicles have the characteristics of large mass and large moment of inertia, and often deal with complex and changeable off-road terrain and road conditions, especially on slopes and slippery road conditions, the difficulty of autonomous driving control of tracked vehicles has increased significantly. At the same time, since the movement of tracked vehicles depends on the synergy of the left and right tracks, the movement control of tracked vehicles faces great challenges. Summary of the invention

[0004] The present invention provides a track control method, device, electronic equipment and storage medium for a tracked vehicle, so as to solve the problem of poor accuracy and stability of the tracked vehicle during automatic driving.

[0005] According to one aspect of the present invention, a track control method for a tracked vehicle is provided, the method comprising:

[0006] Determine target vehicle information of the target crawler vehicle, the target vehicle information including a first position of the target crawler vehicle, a first travel speed of the target crawler vehicle at the first position, a second position to be traveled from the first position to the target crawler vehicle, a second travel speed expected to be reached by the target crawler vehicle when traveling to the second position, and a vehicle chassis center speed of the target crawler vehicle at the first position;

[0007] Determine a target travel speed compensation value when the target tracked vehicle moves from a first position to a second position according to the target vehicle information, and determine a target vehicle controller speed of the target tracked vehicle by compensating the second travel speed according to the target travel speed compensation value, wherein the target travel speed compensation value is used to compensate for a travel deviation of the travel speed of the target tracked vehicle caused by a reference factor during the movement of the target tracked vehicle from the first position to the second position, wherein the reference factor includes: a position deviation between a third position expected to be reached at the last moment when the target tracked vehicle is at the first position and the first position, a slip rate of the target tracked vehicle at the first position, and a slope resistance of the target tracked vehicle at the first position;

[0008] Determining a turning radius of a target vehicle controller when the target tracked vehicle moves from a first position to a second position according to the target vehicle information;

[0009] The target tracked vehicle is controlled according to the target travel speed compensation value and the steering radius of the target vehicle controller.

[0010] According to another aspect of the present invention, there is provided a track control device for a tracked vehicle, the device comprising:

[0011] A first determination module is used to determine target vehicle information of a target crawler vehicle, wherein the target vehicle information includes a first position of the target crawler vehicle, a first travel speed of the target crawler vehicle at the first position, a second position to be traveled from the first position to the target crawler vehicle, a second travel speed expected to be reached by the target crawler vehicle when traveling to the second position, and a vehicle chassis center speed of the target crawler vehicle at the first position;

[0012] a second determination module, for determining a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position according to the target vehicle information, and for compensating the second travel speed according to the target travel speed compensation value to determine a target vehicle controller speed of the target tracked vehicle, wherein the target travel speed compensation value is used to compensate for a travel deviation of the travel speed of the target tracked vehicle caused by a reference factor during the movement of the target tracked vehicle from the first position to the second position, wherein the reference factor includes: a position deviation between a third position expected to be reached at the last moment when the target tracked vehicle is at the first position and the first position, a slip rate of the target tracked vehicle at the first position, and a slope resistance of the target tracked vehicle at the first position;

[0013] A third determination module is used to determine the turning radius of the target vehicle controller when the target tracked vehicle moves from the first position to the second position according to the target vehicle information;

[0014] The travel trajectory control module is used to control the travel trajectory of the target tracked vehicle according to the target travel speed compensation value and the turning radius of the target vehicle controller.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the track control method of a tracked vehicle according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the track control method of a tracked vehicle according to any embodiment of the present invention when executed by a processor.

[0020] The technical solution of the embodiment of the present invention is to determine the target vehicle information of the target tracked vehicle, wherein the target vehicle information includes a first position of the target tracked vehicle, a first travel speed of the target tracked vehicle at the first position, a second position to be traveled from the first position, a second travel speed expected to be reached when the target tracked vehicle travels to the second position, and a vehicle chassis center speed of the target tracked vehicle at the first position; determine a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position according to the target vehicle information, and compensate the second travel speed according to the target travel speed compensation value to determine the target vehicle controller speed of the target tracked vehicle, wherein the target travel speed compensation value is used to compensate for the travel deviation of the target tracked vehicle caused by the reference factor during the process of the target tracked vehicle moving from the first position to the second position, and the reference factor includes: the position deviation between the third position expected to be reached at the last moment when the target tracked vehicle is in the first position and the first position, the target tracked vehicle The slip rate of the vehicle at the first position and the slope resistance of the target tracked vehicle at the first position enable the target tracked vehicle to comprehensively consider the influence of position deviation, slip rate and slope resistance on the travel speed of the target tracked vehicle during the automatic driving process, so as to conform to the actual driving condition of the target tracked vehicle and ensure the accuracy of the target tracked vehicle during the driving process; the turning radius of the target vehicle controller when the target tracked vehicle moves from the first position to the second position is determined according to the target vehicle information, so as to control the steering of the target tracked vehicle through the turning radius of the target vehicle controller, avoid the target tracked vehicle from slipping and losing control during the turning process, and ensure the stability of the target tracked vehicle during the driving process; the travel trajectory of the target tracked vehicle is controlled according to the target travel speed compensation value and the turning radius of the target vehicle controller, so as to realize the decoupling of the lateral and longitudinal motion control of the target tracked vehicle, and independently control the travel speed and turning radius of the target tracked vehicle, so that the target tracked vehicle can accurately travel along the predetermined automatic driving trajectory.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A flow chart of a track control method for a tracked vehicle provided in Embodiment 1 of the present invention;

[0024] Figure 2 A schematic diagram of compensating a second traveling speed with a target traveling speed compensation value provided in the first embodiment of the present invention;

[0025] Figure 3 A schematic diagram of compensating a second traveling speed by using another target traveling speed compensation value provided in the first embodiment of the present invention;

[0026] Figure 4 A schematic diagram of compensating a second traveling speed by using another target traveling speed compensation value provided in the first embodiment of the present invention;

[0027] Figure 5 A schematic diagram of the steering of a target tracked vehicle provided in the first embodiment of the present invention;

[0028] Figure 6 A schematic diagram of steering of another target tracked vehicle provided in the first embodiment of the present invention;

[0029] Figure 7 A schematic structural diagram of a track control device for a tracked vehicle provided in Embodiment 2 of the present invention;

[0030] Figure 8 A schematic diagram of the structure of an electronic device for implementing a track control method for a tracked vehicle provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments 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 creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0034] Embodiment 1

[0035] Figure 1 This is a flow chart of a track control method for a tracked vehicle provided in the first embodiment of the present invention. The embodiment of the present invention can be applied to the case of controlling the automatic driving of a tracked vehicle. The method can be executed by a track control device for a tracked vehicle. The device can be implemented in the form of hardware and / or software and can be configured in an electronic device that implements the track control method for a tracked vehicle. Figure 1 As shown, the method includes:

[0036] S101. Determine target vehicle information of a target tracked vehicle, wherein the target vehicle information includes a first position of the target tracked vehicle, a first travel speed of the target tracked vehicle at the first position, a second position to be traveled from the first position to the target tracked vehicle, a second travel speed expected to be reached by the target tracked vehicle when it reaches the second position, and a vehicle chassis center speed of the target tracked vehicle at the first position.

[0037] In an embodiment of the present invention, the target tracked vehicle may refer to a vehicle that uses a tracked running system instead of a wheel running system. The driving mode of the target tracked vehicle may include: controlling the vehicle driving by combining the vehicle controller speed with the vehicle controller turning radius, and controlling the left and right track speeds of the vehicle respectively to control the vehicle driving. The first position may refer to the actual position of the target tracked vehicle on the automatic driving trajectory at the current moment. The first travel speed may refer to the actual speed of the vehicle along the driving direction when the target tracked vehicle is in the first position. The second position may refer to the position where the target tracked vehicle is expected to go from the first position on the automatic driving trajectory. The second travel speed may refer to the planned speed of the vehicle along the driving direction when the target tracked vehicle is expected to travel to the second position.

[0038] In the embodiment of the present invention, the vehicle chassis center speed may refer to the speed outputted to the track by the vehicle controller of the target tracked vehicle. When the driving mode of the target tracked vehicle is to control the vehicle driving by combining the vehicle controller speed with the vehicle controller turning radius, the vehicle chassis center speed is the vehicle controller speed. When the driving mode of the target tracked vehicle is to control the vehicle driving by controlling the left and right track speeds of the vehicle respectively, the vehicle chassis center speed may be calculated based on the left and right track speeds.

[0039] Specifically, the first position and the first travel speed of the target tracked vehicle at the current moment can be determined based on the real-time positioning information of the target tracked vehicle on the automatic driving trajectory. At the same time, the second position that the target tracked vehicle expects to travel from the first position and the second travel speed expected to be reached when traveling to the second position can be determined based on the driving requirements of the target tracked vehicle on the automatic driving trajectory. The vehicle chassis center speed of the target tracked vehicle at the first position can also be determined based on the chassis information of the vehicle when the target tracked vehicle is at the first position. Furthermore, the first position, the first travel speed, the second position, the second travel speed and the vehicle chassis center speed of the target tracked vehicle at the first position can be used as the target vehicle information of the target tracked vehicle.

[0040] As an optional method, determining the target vehicle information of the target tracked vehicle includes the following steps A1-A2:

[0041] Step A1: determining a preview point of a target tracked vehicle on an automatic driving trajectory, where the preview point is used to guide the target tracked vehicle to automatically drive on the driving trajectory.

[0042] Step A2: determining, based on the preview point, a second position to which the target tracked vehicle will move from the first position and a second travel speed that the target tracked vehicle is expected to reach when it reaches the second position.

[0043] In an embodiment of the present invention, the preview point may refer to a position that is preset on the automatic driving track and is expected to be where the target tracked vehicle will go at the next moment, and is used to guide the target tracked vehicle to travel on the automatic driving track. The preview point will change in real time with the position of the target tracked vehicle on the automatic driving track.

[0044] Specifically, a preview point that changes with the position of the target crawler vehicle can be pre-set on the automatic driving track of the target crawler vehicle. Furthermore, the position corresponding to the preview point when the target crawler vehicle is at the first position can be used as the second position to which the target crawler vehicle will go from the first position, and a second travel speed when the target crawler vehicle reaches the second position can be set.

[0045] Optionally, the preview point of the target tracked vehicle on the automatic driving trajectory is obtained in the following way:

[0046] l lookahead = l min +k lookahead *v vehicle ;

[0047] Among them, l lookahead represents the foresight distance, l min represents the minimum foresight distance, k lookahead Represents the foresight distance coefficient, v vehicle Indicates the first traveling speed. Further, the preview point when the target tracked vehicle is at the first position is determined according to the first position and the forward sight distance of the target tracked vehicle.

[0048] S102. Determine a target travel speed compensation value when the target tracked vehicle moves from a first position to a second position according to the target vehicle information, and determine a target vehicle controller speed of the target tracked vehicle by compensating the second travel speed according to the target travel speed compensation value. The target travel speed compensation value is used to compensate for a travel deviation of the travel speed of the target tracked vehicle caused by a reference factor during the process of the target tracked vehicle moving from the first position to the second position. The reference factor includes: a position deviation between a third position expected to be reached at the last moment when the target tracked vehicle is in the first position and the first position, a slip rate of the target tracked vehicle at the first position, and a slope resistance of the target tracked vehicle at the first position.

[0049] In an embodiment of the present invention, the target travel speed compensation value may refer to a speed value used to compensate the target tracked vehicle in the process of the target tracked vehicle reaching the second position from the first position, and is used to reduce the speed deviation between the travel speed of the target tracked vehicle when it reaches the second position and the second travel speed due to the reference factor. The target vehicle controller speed may refer to the speed output by the vehicle controller of the desired target tracked vehicle.

[0050] In the embodiment of the present invention, the third position may refer to the position that the target crawler vehicle is expected to reach at the last moment when the target crawler vehicle reaches the first position. The slip rate may refer to the backward sliding phenomenon of the vehicle crawler relative to the ground when the target crawler vehicle is driving on soft ground. The slope resistance may refer to the driving resistance generated by the component force of gravity along the slope direction when the target crawler vehicle is driving on a slope.

[0051] Specifically, the third position that the target is expected to reach at the last moment when it is in the first position, the slip rate of the target tracked vehicle at the first position, and the slope resistance of the target tracked vehicle at the first position can be determined according to the target vehicle information. Furthermore, the target travel speed compensation value that can compensate for the travel speed deviation of the target tracked vehicle can be determined based on the position deviation between the third position and the first position of the target tracked vehicle, the slip rate at the first position, and the slope resistance at the first position. Finally, the second travel speed can be compensated according to the target travel speed compensation value, so that the sum of the target travel speed compensation value and the second travel speed is used as the target vehicle controller speed of the target tracked vehicle.

[0052] As an optional method, determining a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position according to the target vehicle information includes the following steps B1-B3:

[0053] Step B1: determining a third position that the target tracked vehicle is expected to reach at the last moment when the target tracked vehicle is at the first position.

[0054] Step B2: Calculate the position deviation between the third position and the first position.

[0055] Step B3: input the position deviation into the PID controller to obtain the target travel speed compensation value.

[0056] Specifically, when the target tracked vehicle is at the first position at the current moment, the target tracked vehicle can be determined to be at the first position at the previous moment based on the automatic driving trajectory of the target tracked vehicle. Furthermore, based on the target tracked vehicle being at the first position at the previous moment, the third position expected to be reached by the target tracked vehicle at the previous moment is determined, and the third position is compared with the first position to calculate the position deviation between the third position and the first position. Finally, the position deviation between the third position and the first position is used as the input of the PID controller, and the target travel speed compensation value of the target tracked vehicle caused by the position deviation is output to reduce the influence of the target tracked vehicle being at the first position at the current moment relative to the third position expected to be reached by the target tracked vehicle at the previous moment on the second travel speed. Among them, the PID controller can refer to a proportional, integral and differential controller, and the corresponding output result can be obtained by adjusting the parameters of the PID controller through actual calculation.

[0057] For example, Figure 2 As shown, the position deviation between the third position and the first position is input into the PID controller to obtain a target travel speed compensation value, and the target travel speed compensation value is used to compensate the second travel speed to obtain a target vehicle controller speed.

[0058] As an optional method, determining a target travel speed compensation value when a target tracked vehicle moves from a first position to a second position according to target vehicle information includes the following steps C1-C2:

[0059] Step C1, determining the slip rate of the target tracked vehicle at the first position according to the first travel speed of the target tracked vehicle at the first position and the vehicle chassis center speed of the target tracked vehicle at the first position.

[0060] Step C2, calculating a target travel speed compensation value according to the slip rate and a first coefficient, wherein the first coefficient is a coefficient between the slip rate and the travel speed compensation value actually calculated and determined when the target tracked vehicle slips during driving.

[0061] Specifically, when the first travel speed of the target tracked vehicle at the first position is less than the vehicle chassis center speed at the first position, it can be considered that the target tracked vehicle slips at the first position. Furthermore, the slip rate of the target tracked vehicle at the first position can be determined according to the first travel speed of the target tracked vehicle at the first position and the vehicle chassis center speed, and the target travel speed compensation value of the target tracked vehicle caused by the target tracked vehicle slipping at the first position can be calculated according to the slip rate at the first position and the first coefficient, so as to achieve the target tracked vehicle being decelerated when the difference between the vehicle chassis center speed at the first position and the first travel speed exceeds a preset speed threshold. Among them, the first coefficient can be obtained by actually calculating the slip rate and the speed compensation value when the target tracked vehicle slips during driving.

[0062] For example, Figure 3 As shown, the difference between the vehicle chassis center speed and the first travel speed of the target tracked vehicle at the first position can be calculated, and the ratio of the difference between the vehicle chassis center speed and the first travel speed to the first travel speed is used as the slip rate of the target tracked vehicle at the first position. Furthermore, the product of the slip rate at the first position and the first coefficient can be used as the target travel speed compensation value, and the target travel speed compensation value is used to compensate the second travel speed to obtain the target vehicle controller speed.

[0063] As an optional method, determining a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position according to the target vehicle information includes the following steps D1-D3:

[0064] Step D1: sensing the driving environment of the target tracked vehicle, and obtaining the driving resistance coefficient, adhesion coefficient, and steering resistance coefficient of the target tracked vehicle at a first position.

[0065] Step D2: Calculate the slope resistance of the target tracked vehicle at the first position according to the driving resistance coefficient, adhesion coefficient and steering resistance coefficient of the target tracked vehicle at the first position.

[0066] Step D3, calculating a target travel speed compensation value according to the slope resistance and a second coefficient, where the second coefficient is a coefficient between the slope resistance and the travel speed compensation value determined by actual calculation when the target tracked vehicle encounters a slope resistance during driving.

[0067] In the embodiment of the present invention, the driving resistance coefficient may refer to the resistance coefficient generated by the slope resistance of the target tracked vehicle during driving. The adhesion coefficient may refer to the ratio of the adhesion of the target tracked vehicle to the pressure in the vertical direction of the road surface, which may be the static friction coefficient between the track and the road surface, reflecting the adhesion ability between the track and the ground. The steering resistance coefficient may refer to the resistance coefficient generated by the friction between the track and the ground and the vehicle structure during the steering process of the target tracked vehicle.

[0068] Specifically, the road properties of the target tracked vehicle at the first position can be identified according to the environmental perception of the target tracked vehicle configuration, and the driving resistance coefficient, adhesion coefficient and steering resistance coefficient of the target tracked vehicle at the first position can be determined according to the road properties. Furthermore, the ramp resistance of the target tracked vehicle at the first position can be calculated based on the driving resistance coefficient, adhesion coefficient and steering resistance coefficient at the first position. Finally, the target travel speed compensation value of the target tracked vehicle caused by the ramp resistance suffered by the target tracked vehicle at the first position is calculated according to the ramp resistance at the first position and the second coefficient, so as to reduce the influence of the ramp resistance on the driving speed of the tracked vehicle. Among them, the second coefficient can be obtained by actual calculation according to the ramp resistance encountered by the target tracked vehicle during driving and the speed compensation value. Exemplarily, the driving resistance coefficient, adhesion coefficient and steering resistance coefficient corresponding to the road properties are shown in Table 1.

[0069] Table 1 Driving resistance coefficient, adhesion coefficient and steering resistance coefficient corresponding to road properties

[0070] Road Nature Driving resistance coefficient Adhesion coefficient Steering resistance coefficient Low adhesion road 0.05 0.61 0.57 High adhesion road 0.09 0.71 0.76 Soft road surface 0.18 0.48 0.9

[0071] For example, Figure 4 As shown, after the target tracked vehicle is subjected to environmental perception, the slope resistance of the target tracked vehicle at the first position can be calculated. Furthermore, the product of the slope resistance at the first position and the second coefficient can be used as the target travel speed compensation value, and the target travel speed compensation value is used to compensate the second travel speed to obtain the target vehicle controller speed.

[0072] As an option, the slope resistance of the target tracked vehicle at the first position is calculated according to the driving resistance coefficient, adhesion coefficient and steering resistance coefficient of the target tracked vehicle at the first position, and the calculation is performed in the following manner:

[0073]

[0074] x0=h g *tanα;

[0075] Wherein, F represents the slope resistance of the target tracked vehicle at the first position, f represents the driving resistance coefficient of the target tracked vehicle at the first position, G represents the weight of the target tracked vehicle, μ represents the steering resistance coefficient of the target tracked vehicle at the first position, L represents the ground contact length of the target tracked vehicle, B represents the track center distance of the target tracked vehicle, α represents the slope angle of the target tracked vehicle at the first position, represents the adhesion coefficient of the target tracked vehicle at the first position, h g Indicates the center of gravity height of the target tracked vehicle.

[0076] Specifically, the information of the target tracked vehicle and the driving resistance coefficient, adhesion coefficient and steering resistance coefficient at the first position may be substituted into the calculation formula to calculate the slope resistance of the target tracked vehicle at the first position.

[0077] S103, determining a turning radius of a target vehicle controller when the target tracked vehicle moves from a first position to a second position according to the target vehicle information.

[0078] Specifically, the turning radius of the target vehicle controller when the target tracked vehicle moves from the first position to the second position can be determined according to the target vehicle information, so as to control the target tracked vehicle to turn at the first position based on the turning radius of the target vehicle controller, so that the target tracked vehicle can reach the second position.

[0079] As an optional method, determining the turning radius of the target vehicle controller when the target tracked vehicle moves from the first position to the second position according to the target vehicle information includes the following steps E1-E4:

[0080] Step E1, determining a vehicle controller turning radius threshold of the target tracked vehicle at the first position according to the vehicle chassis center speed of the target tracked vehicle at the first position, wherein the vehicle controller turning radius threshold is used to prevent the target tracked vehicle from slipping and losing control when turning at the first position.

[0081] Step E2: determining a candidate vehicle controller turning radius of the target tracked vehicle according to a first position of the target tracked vehicle and a second position to which the target tracked vehicle will move from the first position.

[0082] Step E3: If the candidate vehicle controller turning radius is not less than the vehicle controller turning radius threshold, the candidate vehicle controller turning radius is set as the target vehicle controller turning radius.

[0083] Step E4: If the candidate vehicle controller turning radius is less than the vehicle controller turning radius threshold, the vehicle controller turning radius threshold is set as the target vehicle controller turning radius, and the target tracked vehicle is adjusted from the first position to the second position according to the target vehicle controller turning radius.

[0084] In the embodiment of the present invention, the candidate vehicle controller turning radius may refer to a turning radius calculated based on the first position of the target tracked vehicle and the second position to be reached. Figure 5 As shown, C(x r ,y r ) represents the second position and its coordinates, l d represents the distance from the center of the target tracked vehicle to the second position, θ represents the angle between the driving direction of the target tracked vehicle and the second position, and the steering radius of the candidate vehicle controller can be obtained

[0085] In an embodiment of the present invention, the turning radius threshold of the vehicle controller may refer to a threshold set when the target tracked vehicle is turning at the first position in order to prevent the target tracked vehicle from slipping out of control due to the imbalance between the centrifugal force and the lateral friction force generated by the turning of the target tracked vehicle. Figure 6 As shown, when the lateral friction force is not enough to support the centrifugal force, f a >f r , the target tracked vehicle will experience lateral slip R′>R, and the steering performance and stability of the vehicle will be affected.

[0086] Specifically, if the candidate vehicle controller turning radius of the target tracked vehicle is not less than the vehicle controller turning radius threshold, it indicates that the target tracked vehicle will not slip out of control when turning, and the candidate vehicle controller turning radius can be directly used as the target vehicle controller turning radius. If the candidate vehicle controller turning radius of the target tracked vehicle is less than the vehicle controller turning radius threshold, it indicates that the target tracked vehicle will slip out of control when turning, and the vehicle controller turning radius threshold needs to be set to the target vehicle controller turning radius, and the second position to which the target tracked vehicle is to go is readjusted according to the target vehicle controller turning radius to avoid slipping out of control when the target tracked vehicle turns.

[0087] As an option, the vehicle controller turning radius threshold of the target tracked vehicle is determined according to the vehicle chassis center speed when the target tracked vehicle is at the first position, and is calculated in the following manner:

[0088]

[0089] In the formula, R 阈值represents the vehicle controller turning radius threshold of the target tracked vehicle at the first position, v represents the vehicle chassis center speed of the target tracked vehicle at the first position, and μ represents the steering resistance coefficient of the target tracked vehicle at the first position.

[0090] Specifically, the vehicle chassis center speed and the steering resistance coefficient of the target tracked vehicle at the first position may be substituted into the calculation formula to calculate and obtain the vehicle controller steering radius threshold of the target tracked vehicle at the first position.

[0091] S104, controlling the travel trajectory of the target tracked vehicle according to the target travel speed compensation value and the steering radius of the target vehicle controller.

[0092] Specifically, the target vehicle controller speed of the target tracked vehicle can be determined according to the target travel speed compensation value of the target tracked vehicle. Furthermore, the target tracked vehicle is controlled to move from the first position to the second position according to the target vehicle controller speed of the target tracked vehicle and the target vehicle controller turning radius, thereby achieving trajectory control of the target tracked vehicle.

[0093] The technical solution of the embodiment of the present invention is to determine the target vehicle information of the target tracked vehicle, wherein the target vehicle information includes a first position of the target tracked vehicle, a first travel speed of the target tracked vehicle at the first position, a second position to be traveled from the first position, a second travel speed expected to be reached when the target tracked vehicle travels to the second position, and a vehicle chassis center speed of the target tracked vehicle at the first position; determine a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position according to the target vehicle information, and compensate the second travel speed according to the target travel speed compensation value to determine the target vehicle controller speed of the target tracked vehicle, wherein the target travel speed compensation value is used to compensate for the travel deviation of the target tracked vehicle caused by the reference factor during the process of the target tracked vehicle moving from the first position to the second position, and the reference factor includes: the position deviation between the third position expected to be reached at the last moment when the target tracked vehicle is in the first position and the first position, the target tracked vehicle The slip rate of the vehicle at the first position and the slope resistance of the target tracked vehicle at the first position enable the target tracked vehicle to comprehensively consider the influence of position deviation, slip rate and slope resistance on the travel speed of the target tracked vehicle during the automatic driving process, so as to conform to the actual driving condition of the target tracked vehicle and ensure the accuracy of the target tracked vehicle during the driving process; the turning radius of the target vehicle controller when the target tracked vehicle moves from the first position to the second position is determined according to the target vehicle information, so as to control the steering of the target tracked vehicle through the turning radius of the target vehicle controller, avoid the target tracked vehicle from slipping and losing control during the turning process, and ensure the stability of the target tracked vehicle during the driving process; the travel trajectory of the target tracked vehicle is controlled according to the target travel speed compensation value and the turning radius of the target vehicle controller, so as to realize the decoupling of the lateral and longitudinal motion control of the target tracked vehicle, and independently control the travel speed and turning radius of the target tracked vehicle, so that the target tracked vehicle can accurately travel along the predetermined automatic driving trajectory.

[0094] Embodiment 2

[0095] Figure 7 This is a schematic diagram of the structure of a tracked vehicle trajectory control device provided in the second embodiment of the present invention. The embodiment of the present invention can be applied to the case of controlling the automatic driving of a tracked vehicle. The device can be implemented in the form of hardware and / or software, and can be configured in an electronic device that implements a tracked vehicle trajectory control method. Figure 7 As shown, the device comprises:

[0096] The first determination module 201 is used to determine the target vehicle information of the target crawler vehicle, wherein the target vehicle information includes a first position of the target crawler vehicle, a first travel speed of the target crawler vehicle at the first position, a second position to be traveled from the first position to the target crawler vehicle, a second travel speed expected to be reached by the target crawler vehicle when traveling to the second position, and a vehicle chassis center speed of the target crawler vehicle at the first position;

[0097] The second determination module 202 is used to determine a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position according to the target vehicle information, and to compensate the second travel speed according to the target travel speed compensation value to determine the target vehicle controller speed of the target tracked vehicle, wherein the target travel speed compensation value is used to compensate for the travel deviation of the travel speed of the target tracked vehicle caused by the reference factor during the movement of the target tracked vehicle from the first position to the second position, wherein the reference factor includes: a position deviation between the third position expected to be reached at the last moment when the target tracked vehicle is in the first position and the first position, a slip rate of the target tracked vehicle at the first position, and a slope resistance of the target tracked vehicle at the first position;

[0098] The third determination module 203 is used to determine the turning radius of the target vehicle controller when the target tracked vehicle moves from the first position to the second position according to the target vehicle information;

[0099] The travel trajectory control module 204 is used to control the travel trajectory of the target tracked vehicle according to the target travel speed compensation value and the steering radius of the target vehicle controller.

[0100] Optionally, determining target vehicle information of the target tracked vehicle includes:

[0101] Determine a preview point of the target tracked vehicle on the automatic driving trajectory, the preview point is used to guide the target tracked vehicle to automatically drive on the driving trajectory;

[0102] A second position to which the target tracked vehicle will move from the first position and a second travel speed expected to be achieved by the target tracked vehicle when it reaches the second position are determined according to the preview point.

[0103] Optionally, determining a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position according to the target vehicle information includes:

[0104] Determining a third position that the target tracked vehicle is expected to reach at a previous moment when the target tracked vehicle is at the first position;

[0105] calculating a position deviation between the third position and the first position;

[0106] The position deviation is input into the PID controller to obtain the target travel speed compensation value.

[0107] Optionally, determining a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position according to the target vehicle information includes:

[0108] determining a slip rate of the target tracked vehicle at the first position according to a first travel speed of the target tracked vehicle at the first position and a vehicle chassis center speed of the target tracked vehicle at the first position;

[0109] The target travel speed compensation value is calculated according to the slip rate and the first coefficient, wherein the first coefficient is a coefficient between the slip rate and the travel speed compensation value actually calculated and determined when the target tracked vehicle slips during driving.

[0110] Optionally, determining a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position according to the target vehicle information includes:

[0111] Perceiving the driving environment of the target tracked vehicle, and obtaining the driving resistance coefficient, adhesion coefficient, and steering resistance coefficient of the target tracked vehicle at a first position;

[0112] Calculating the slope resistance of the target tracked vehicle at the first position according to the driving resistance coefficient, the adhesion coefficient, and the steering resistance coefficient of the target tracked vehicle at the first position;

[0113] The target travel speed compensation value is calculated according to the slope resistance and the second coefficient, wherein the second coefficient is a coefficient between the slope resistance and the travel speed compensation value determined according to actual calculation when the target tracked vehicle encounters slope resistance during driving.

[0114] Optionally, the slope resistance of the target tracked vehicle at the first position is calculated according to the driving resistance coefficient, adhesion coefficient and steering resistance coefficient of the target tracked vehicle at the first position, and the calculation is performed in the following manner:

[0115]

[0116] x0=h g *tanα;

[0117] Wherein, F represents the slope resistance of the target tracked vehicle at the first position, f represents the driving resistance coefficient of the target tracked vehicle at the first position, G represents the weight of the target tracked vehicle, μ represents the steering resistance coefficient of the target tracked vehicle at the first position, L represents the ground contact length of the target tracked vehicle, B represents the track center distance of the target tracked vehicle, α represents the slope angle of the target tracked vehicle at the first position, represents the adhesion coefficient of the target tracked vehicle at the first position, h g Indicates the center of gravity height of the target tracked vehicle.

[0118] Optionally, determining a turning radius of a target vehicle controller when the target tracked vehicle moves from a first position to a second position according to the target vehicle information includes:

[0119] determining a vehicle controller turning radius threshold of the target tracked vehicle at the first position according to the vehicle chassis center speed of the target tracked vehicle at the first position, wherein the vehicle controller turning radius threshold is used to prevent the target tracked vehicle from slipping out of control when turning at the first position;

[0120] Determine a candidate vehicle controller turning radius of the target tracked vehicle according to a first position of the target tracked vehicle and a second position to which the target tracked vehicle is to go from the first position;

[0121] If the candidate vehicle controller turning radius is not less than the vehicle controller turning radius threshold, the candidate vehicle controller turning radius is set as the target vehicle controller turning radius;

[0122] If the candidate vehicle controller turning radius is less than the vehicle controller turning radius threshold, the vehicle controller turning radius threshold is set as the target vehicle controller turning radius, and the target tracked vehicle is adjusted from the first position to the second position according to the target vehicle controller turning radius.

[0123] Optionally, the vehicle controller turning radius threshold of the target tracked vehicle is determined according to the vehicle chassis center speed when the target tracked vehicle is at the first position, and is calculated in the following manner:

[0124]

[0125] In the formula, R 阈值 represents the vehicle controller turning radius threshold of the target tracked vehicle at the first position, v represents the vehicle chassis center speed of the target tracked vehicle at the first position, and μ represents the steering resistance coefficient of the target tracked vehicle at the first position.

[0126] The technical solution of the embodiment of the present invention is to determine the target vehicle information of the target tracked vehicle, wherein the target vehicle information includes a first position of the target tracked vehicle, a first travel speed of the target tracked vehicle at the first position, a second position to be traveled from the first position, a second travel speed expected to be reached when the target tracked vehicle travels to the second position, and a vehicle chassis center speed of the target tracked vehicle at the first position; determine a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position according to the target vehicle information, and compensate the second travel speed according to the target travel speed compensation value to determine the target vehicle controller speed of the target tracked vehicle, wherein the target travel speed compensation value is used to compensate for the travel deviation of the target tracked vehicle caused by the reference factor during the process of the target tracked vehicle moving from the first position to the second position, and the reference factor includes: the position deviation between the third position expected to be reached at the last moment when the target tracked vehicle is in the first position and the first position, the target tracked vehicle The slip rate of the vehicle at the first position and the slope resistance of the target tracked vehicle at the first position enable the target tracked vehicle to comprehensively consider the influence of position deviation, slip rate and slope resistance on the travel speed of the target tracked vehicle during the automatic driving process, so as to conform to the actual driving condition of the target tracked vehicle and ensure the accuracy of the target tracked vehicle during the driving process; the turning radius of the target vehicle controller when the target tracked vehicle moves from the first position to the second position is determined according to the target vehicle information, so as to control the steering of the target tracked vehicle through the turning radius of the target vehicle controller, avoid the target tracked vehicle from slipping and losing control during the turning process, and ensure the stability of the target tracked vehicle during the driving process; the travel trajectory of the target tracked vehicle is controlled according to the target travel speed compensation value and the turning radius of the target vehicle controller, so as to realize the decoupling of the lateral and longitudinal motion control of the target tracked vehicle, and independently control the travel speed and turning radius of the target tracked vehicle, so that the target tracked vehicle can accurately travel along the predetermined automatic driving trajectory.

[0127] The track control device for a tracked vehicle provided in an embodiment of the present invention can execute the track control method for a tracked vehicle provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0128] Embodiment 3

[0129] Figure 8A schematic diagram of the structure of an electronic device for implementing a tracked vehicle trajectory control method provided in Embodiment 3 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0130] like Figure 8 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0131] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0132] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a tracked vehicle trajectory control method.

[0133] In some embodiments, the tracked vehicle trajectory control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the tracked vehicle trajectory control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the tracked vehicle trajectory control method in any other appropriate manner (e.g., by means of firmware).

[0134] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0135] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0136] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0137] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0138] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0139] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0140] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0141] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A track control method for a tracked vehicle, characterized in that: The method comprises: Determine target vehicle information of a target tracked vehicle, wherein the target vehicle information includes a first position of the target tracked vehicle, a first travel speed of the target tracked vehicle at the first position, a second position to be traveled from the first position to the target tracked vehicle, a second travel speed expected to be reached by the target tracked vehicle when traveling to the second position, and a vehicle chassis center speed of the target tracked vehicle at the first position; Determine a target travel speed compensation value when the target tracked vehicle moves from a first position to a second position according to the target vehicle information, and determine a target vehicle controller speed of the target tracked vehicle by compensating the second travel speed according to the target travel speed compensation value, wherein the target travel speed compensation value is used to compensate for a travel deviation of the travel speed of the target tracked vehicle caused by a reference factor during the movement of the target tracked vehicle from the first position to the second position, wherein the reference factor includes: a position deviation between a third position expected to be reached at the last moment when the target tracked vehicle is at the first position and the first position, a slip rate of the target tracked vehicle at the first position, and a slope resistance of the target tracked vehicle at the first position; Determining a turning radius of a target vehicle controller when the target tracked vehicle moves from a first position to a second position according to the target vehicle information; The target tracked vehicle is controlled according to the target travel speed compensation value and the steering radius of the target vehicle controller.

2. The method according to claim 1, characterized in that Determine the target vehicle information of the target tracked vehicle, including: Determining a preview point of the target tracked vehicle on the automatic driving trajectory, wherein the preview point is used to guide the target tracked vehicle to automatically drive on the driving trajectory; A second position to which the target tracked vehicle will move from the first position and a second travel speed that the target tracked vehicle is expected to reach when it reaches the second position are determined according to the preview point.

3. The method according to claim 1, characterized in that Determining a target travel speed compensation value when the target tracked vehicle moves from a first position to a second position according to the target vehicle information includes: Determining a third position that the target tracked vehicle is expected to reach at a previous moment when the target tracked vehicle is at the first position; Calculating a position deviation between the third position and the first position; The position deviation is input into a PID controller to obtain the target travel speed compensation value.

4. The method according to claim 1, characterized in that Determining a target travel speed compensation value when the target tracked vehicle moves from a first position to a second position according to the target vehicle information includes: Determining the slip rate of the target tracked vehicle at the first position according to the first travel speed of the target tracked vehicle at the first position and the vehicle chassis center speed of the target tracked vehicle at the first position; The target travel speed compensation value is calculated according to the slip rate and a first coefficient, wherein the first coefficient is a coefficient between the slip rate and the travel speed compensation value actually calculated and determined when the target tracked vehicle slips during driving.

5. The method according to claim 1, characterized in that Determining a target travel speed compensation value when the target tracked vehicle moves from a first position to a second position according to the target vehicle information includes: sensing the driving environment of the target tracked vehicle, and obtaining a driving resistance coefficient, an adhesion coefficient, and a steering resistance coefficient of the target tracked vehicle at a first position; Calculating the slope resistance of the target tracked vehicle at the first position according to the driving resistance coefficient, adhesion coefficient and steering resistance coefficient of the target tracked vehicle at the first position; The target travel speed compensation value is calculated according to the slope resistance and a second coefficient, wherein the second coefficient is a coefficient between the slope resistance and the travel speed compensation value determined by actual calculation when the target tracked vehicle encounters a slope resistance during driving.

6. The method according to claim 5, characterized in that The slope resistance of the target tracked vehicle at the first position is calculated according to the driving resistance coefficient, adhesion coefficient and steering resistance coefficient of the target tracked vehicle at the first position, and the calculation is performed in the following manner: x0=h g *tanα; Wherein, F represents the slope resistance of the target tracked vehicle at the first position, f represents the driving resistance coefficient of the target tracked vehicle at the first position, G represents the weight of the target tracked vehicle, μ represents the steering resistance coefficient of the target tracked vehicle at the first position, L represents the ground contact length of the target tracked vehicle, B represents the track center distance of the target tracked vehicle, α represents the slope angle of the target tracked vehicle at the first position, represents the adhesion coefficient of the target tracked vehicle at the first position, h g represents the height of the center of gravity of the target tracked vehicle.

7. The method according to claim 1, characterized in that Determining a turning radius of a target vehicle controller when a target tracked vehicle moves from a first position to a second position according to target vehicle information includes: Determine a vehicle controller turning radius threshold of the target tracked vehicle at the first position according to the vehicle chassis center speed of the target tracked vehicle at the first position, wherein the vehicle controller turning radius threshold is used to prevent the target tracked vehicle from slipping out of control when turning at the first position; Determine a candidate vehicle controller turning radius of the target tracked vehicle according to a first position of the target tracked vehicle and a second position to which the target tracked vehicle is to go from the first position; If the candidate vehicle controller turning radius is not less than the vehicle controller turning radius threshold, setting the candidate vehicle controller turning radius as the target vehicle controller turning radius; If the candidate vehicle controller turning radius is smaller than the vehicle controller turning radius threshold, the vehicle controller turning radius threshold is set as the target vehicle controller turning radius, and the target tracked vehicle is adjusted from the first position to the second position according to the target vehicle controller turning radius.

8. A track control device for a tracked vehicle, characterized in that: The device comprises: A first determination module is used to determine target vehicle information of a target crawler vehicle, wherein the target vehicle information includes a first position of the target crawler vehicle, a first travel speed of the target crawler vehicle at the first position, a second position to be traveled from the first position to the target crawler vehicle, a second travel speed expected to be reached by the target crawler vehicle when traveling to the second position, and a vehicle chassis center speed of the target crawler vehicle at the first position; a second determination module, for determining a target travel speed compensation value when the target tracked vehicle moves from a first position to a second position according to the target vehicle information, and for compensating the second travel speed according to the target travel speed compensation value to determine a target vehicle controller speed of the target tracked vehicle, wherein the target travel speed compensation value is used to compensate for a travel deviation of the travel speed of the target tracked vehicle caused by a reference factor during the movement of the target tracked vehicle from the first position to the second position, wherein the reference factor includes: a position deviation between a third position expected to be reached at the last moment when the target tracked vehicle is at the first position and the first position, a slip rate of the target tracked vehicle at the first position, and a slope resistance of the target tracked vehicle at the first position; A third determination module is used to determine the turning radius of the target vehicle controller when the target tracked vehicle moves from the first position to the second position according to the target vehicle information; The travel trajectory control module is used to control the travel trajectory of the target tracked vehicle according to the target travel speed compensation value and the turning radius of the target vehicle controller.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the track control method of a tracked vehicle according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the track control method of a tracked vehicle according to any one of claims 1 to 7 when executed.

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