Tracked vehicle trajectory control method, device, electronic device and storage medium

Abstract

The present invention discloses a tracked vehicle trajectory control method, device, electronic device, and storage medium. The method comprises: determining target vehicle information of a target tracked vehicle; determining a target travel speed compensation value for the target tracked vehicle when moving from a first position to a second position based on the target vehicle information, and compensating the second travel speed based on the target travel speed compensation value to determine a target vehicle controller speed for the target tracked vehicle; determining a target vehicle controller turning radius for the target tracked vehicle when moving from the first position to the second position based on the target vehicle information; and controlling the travel trajectory of the target tracked vehicle based on the target travel speed compensation value and the target vehicle controller turning radius. This solution achieves independent control of the travel speed and turning radius of the target tracked vehicle, ensuring the accuracy and stability of the target tracked vehicle during travel.

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 device, and storage medium for a tracked vehicle. Background Art

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

[0003] Currently, autonomous driving systems use position information to control the movement of the left and right tracks of tracked vehicles, achieving overall vehicle control. However, tracked vehicles have large mass and moments of inertia, and often navigate complex and variable off-road terrain and road conditions, particularly on slopes and slippery surfaces. This significantly increases the difficulty of autonomous driving control for tracked vehicles. Furthermore, since tracked vehicles rely on the coordinated action of the left and right tracks, motion control presents significant 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] determining target vehicle information of the target tracked vehicle, the target vehicle information including 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 achieved by the target tracked vehicle at the second position, and a vehicle chassis center speed of the target tracked vehicle at the first position;

[0007] determining a target travel speed compensation value for the target tracked vehicle when the target tracked vehicle moves from the first position to the second position based on the target vehicle information, and compensating the second travel speed based on the target travel speed compensation value to determine a target vehicle controller speed of the target tracked vehicle, the target travel speed compensation value being used to compensate for a travel deviation 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 including: a position deviation between a third position expected to be reached at a previous moment when the target tracked vehicle was 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;

[0008] determining a target vehicle controller turning radius 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 determining module, configured to determine target vehicle information of a target tracked vehicle, the target vehicle information including 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 which the target tracked vehicle is to travel from the first position, a second travel speed expected to be achieved 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;

[0012] a second determination module, configured to determine, based on the target vehicle information, a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position, and to compensate the second travel speed based on 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 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, wherein the reference factor includes: a position deviation between a third position expected to be reached at a previous moment when the target tracked vehicle was 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;

[0013] a third determining module, configured to determine, based on the target vehicle information, a turning radius of a target vehicle controller when the target tracked vehicle moves from the first position to the second position;

[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. 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 embodiment of the present invention.

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

[0020] The technical solution of the embodiment of the present invention is to determine the target vehicle information of the target tracked vehicle, the target vehicle information including the first position of the target tracked vehicle, the first travel speed of the target tracked vehicle at the first position, the second position to which the target tracked vehicle will go from the first position, the second travel speed expected to be reached when the target tracked vehicle travels to the second position, and the vehicle chassis center speed of the target tracked vehicle when it is at the first position; determine the 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, 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, the reference factor including: 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 conditions 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 by the turning radius of the target vehicle controller, avoid the target tracked vehicle from slipping and losing control during the steering process, and ensure the stability of the target tracked vehicle during driving; 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, thereby decoupling the lateral and longitudinal motion control of the target tracked vehicle and independently controlling 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 content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily 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 This is a flow chart of a track control method for a tracked vehicle provided in Example 1 of the present invention;

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

[0027] Figure 5 A schematic diagram of 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 a second embodiment of the present invention;

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

[0031] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions 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 embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the description 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 numbers 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 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) must comply with the requirements of relevant laws, regulations and relevant provisions.

[0034] Example 1

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

[0036] S101. Determine target vehicle information of a target tracked vehicle, where 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 which the target tracked vehicle will travel from the first position, a second travel speed that the target tracked vehicle is expected to reach 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 wheeled running system. The running mode of the target tracked vehicle may include: controlling the vehicle running by combining the vehicle controller speed with the vehicle controller turning radius, and controlling the vehicle running by separately controlling the left and right track speeds. 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 at the first position. The second position may refer to the position on the automatic driving trajectory that the target tracked vehicle is expected to move from the first position. 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 reach the second position.

[0038] In an embodiment of the present invention, the vehicle chassis center speed may refer to the speed outputted to the tracks by the vehicle controller of the target tracked vehicle. When the target tracked vehicle is driven by combining the vehicle controller speed with the vehicle controller's turning radius to control vehicle movement, the vehicle chassis center speed is the vehicle controller speed. When the target tracked vehicle is driven by separately controlling the speeds of the left and right tracks, the vehicle chassis center speed may be calculated based on the speeds of the left and right tracks.

[0039] Specifically, the first position and 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 autonomous 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 that the target tracked vehicle expects to reach when traveling to the second position can be determined based on the driving requirements of the target tracked vehicle on the autonomous 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 target tracked vehicle at the first position. Furthermore, the first position, first travel speed, second position, second travel speed, and 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 target vehicle information of a target tracked vehicle includes the following steps A1-A2:

[0041] Step A1: 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.

[0042] Step A2: determining, based on the preview point, a second position to which the target tracked vehicle will travel 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 embodiments of the present invention, a preview point may be a pre-set location on an autonomous driving trajectory where the target tracked vehicle is expected to move at the next moment, used to guide the target tracked vehicle along the autonomous driving trajectory. The preview point changes in real time as the target tracked vehicle moves along the autonomous driving trajectory.

[0044] Specifically, a preview point can be pre-set on the target tracked vehicle's autonomous driving trajectory, which changes with the target tracked vehicle's position. Furthermore, the position corresponding to the preview point when the target tracked vehicle is in the first position can be used as the second position to which the target tracked vehicle will move from the first position, and a second travel speed can be set for the target tracked vehicle when it reaches the second position.

[0045] Optionally, the preview point of the target tracked vehicle on the autonomous 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 Indicates the minimum foresight distance, k lookahead Represents the foresight distance coefficient, v vehicle Furthermore, 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 the first position to the second position based on the target vehicle information, and compensate the second travel speed based on the target travel speed compensation value to determine the target vehicle controller speed of the target tracked vehicle. The target travel speed compensation value is used to compensate for a travel deviation 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 previous 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 during the process of the target tracked vehicle moving from a first position to a second position, and is used to reduce a speed deviation between the travel speed of the target tracked vehicle when it reaches the second position and the second travel speed due to a reference factor. The target vehicle controller speed may refer to a speed that is expected to be output by a vehicle controller of the target tracked vehicle.

[0050] In an embodiment of the present invention, the third position may refer to the position that the target tracked vehicle is expected to reach at the previous moment when the target tracked vehicle reaches the first position. Slip rate may refer to the phenomenon in which the track of the target tracked vehicle slides backward relative to the ground surface when the target tracked vehicle is traveling on soft ground. Slope resistance may refer to the driving resistance generated by the component of gravity along the slope when the target tracked vehicle is traveling on a slope.

[0051] Specifically, the target vehicle information can be used to determine the target's desired third position at the previous moment when the target was 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. Furthermore, a target travel speed compensation value capable of compensating for the target tracked vehicle's travel speed deviation can be determined based on the positional deviation between the target tracked vehicle's third position and the first position, the slip rate at the first position, and the slope resistance at the first position. Finally, the second travel speed can be compensated based on the target travel speed compensation value, so that the sum of the target travel speed compensation value and the second travel speed serves as the target vehicle controller speed of the target tracked vehicle.

[0052] 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 the following steps B1-B3:

[0053] Step B1: Determine a third position that the target tracked vehicle is expected to reach at the previous 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 first position of the target tracked vehicle at the previous moment can be determined based on the automatic driving trajectory of the target tracked vehicle. Furthermore, based on the first position of the target tracked vehicle at the previous moment, the third position that the target tracked vehicle is expected to reach 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 impact of the target tracked vehicle at the current moment lagging behind or ahead of the third position that the target tracked vehicle is expected to reach 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] Optionally, 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 the following steps C1-C2:

[0059] Step C1: 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.

[0060] Step C2: Calculate a target travel speed compensation value based on the slip rate and a first coefficient, where 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 travel.

[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 has slipped at the first position. Furthermore, the slip rate of the target tracked vehicle at the first position can be determined based on 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 slip of the target tracked vehicle at the first position can be calculated based on the slip rate at the first position and the first coefficient, so as to achieve the goal of reducing the speed of the target tracked vehicle when the difference between the vehicle chassis center speed at the first position and the first travel speed exceeds a preset speed threshold. 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 can be 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 can be used to compensate the second travel speed to obtain the target vehicle controller speed.

[0063] Optionally, 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 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 based on the driving resistance coefficient, adhesion coefficient, and steering resistance coefficient of the target tracked vehicle at the first position.

[0066] Step D3: Calculate the target travel speed compensation value based on the slope resistance and the second coefficient, where the second coefficient is a coefficient between the slope resistance and the travel speed compensation value determined based on actual calculation when the target tracked vehicle encounters slope resistance during driving.

[0067] In embodiments 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 force of the target tracked vehicle to the pressure perpendicular to the road surface. It may be the static friction coefficient between the track and the road surface, reflecting the adhesion between the track and the ground. The steering resistance coefficient may refer to the resistance coefficient generated by factors such as friction between the track and the ground and the vehicle structure during steering.

[0068] Specifically, the target tracked vehicle can be configured to sense the environment and identify the road properties at a first location on which the target tracked vehicle is traveling. The target tracked vehicle's driving resistance coefficient, adhesion coefficient, and steering resistance coefficient at the first location can then be determined based on the road properties. Furthermore, the slope resistance of the target tracked vehicle at the first location can be calculated based on the driving resistance coefficient, adhesion coefficient, and steering resistance coefficient at the first location. Finally, a target speed compensation value for the target tracked vehicle due to the slope resistance encountered by the target tracked vehicle at the first location can be calculated based on the slope resistance at the first location and a second coefficient, thereby reducing the impact of the slope resistance on the tracked vehicle's driving speed. The second coefficient can be obtained by actual calculation based on the slope resistance encountered by the target tracked vehicle during driving and the speed compensation value. For example, 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 surface 0.09 0.71 0.76 soft road surface 0.18 0.48 0.9

[0071] For example, Figure 4 As shown, after environmental perception of the target tracked vehicle, 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 based on 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] Where 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: Determine 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 based on the target vehicle information, so that the target tracked vehicle can be controlled 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 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 the following steps E1-E4:

[0080] Step E1: determining a vehicle controller turning radius threshold of the target tracked vehicle at the first position based on the vehicle chassis center speed of the target tracked vehicle at the first position. 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 the first position of the target tracked vehicle and the 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 an 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. For example, 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 vehicle controller turning radius threshold 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. For example, 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 slippage 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 and lose 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 and lose control when turning, and it is necessary to set the vehicle controller turning radius threshold to the target vehicle controller turning radius, and readjust the second position to which the target tracked vehicle is to go based on the target vehicle controller turning radius to prevent the target tracked vehicle from slipping and losing control when turning.

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

[0088]

[0089] Where 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 when the target tracked vehicle is 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 target tracked vehicle according to the target travel speed compensation value and the target vehicle controller turning radius.

[0092] Specifically, a target vehicle controller speed of the target tracked vehicle can be determined based on the target travel speed compensation value of the target tracked vehicle. Furthermore, the target tracked vehicle can be controlled from a first position to a second position based on the target vehicle controller speed and the target vehicle controller turning radius of the target tracked vehicle, 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, the target vehicle information including the first position of the target tracked vehicle, the first travel speed of the target tracked vehicle at the first position, the second position to which the target tracked vehicle will go from the first position, the second travel speed expected to be reached when the target tracked vehicle travels to the second position, and the vehicle chassis center speed of the target tracked vehicle when it is at the first position; determine the 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, 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, the reference factor including: 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 conditions 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 by the turning radius of the target vehicle controller, avoid the target tracked vehicle from slipping and losing control during the steering process, and ensure the stability of the target tracked vehicle during driving; 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, thereby decoupling the lateral and longitudinal motion control of the target tracked vehicle and independently controlling 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] Example 2

[0095] Figure 7 This is a schematic diagram of the structure of a tracked vehicle trajectory control device provided by the second embodiment of the present invention. The embodiment of the present invention is applicable 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 the tracked vehicle trajectory control method. Figure 7 As shown, the device includes:

[0096] A first determining module 201 is configured to 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 at the second position, and a vehicle chassis center speed of the target tracked vehicle at the first position;

[0097] A second determination module 202 is configured to determine a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position based on the target vehicle information, and to compensate the second travel speed based on the target travel speed compensation value to determine a target vehicle controller speed of the target tracked vehicle. The target travel speed compensation value is configured to compensate for a travel deviation 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 was 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 determining module 203 is configured to determine 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;

[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 target vehicle controller turning radius.

[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 positional 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 based on 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 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 travel.

[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] sensing a driving environment of a 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;

[0112] calculating a slope resistance of the target tracked vehicle at the first position based on a driving resistance coefficient, an adhesion coefficient, and a 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, where the second coefficient is a coefficient between the slope resistance and the travel speed compensation value determined based on 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 based on the driving resistance coefficient, adhesion coefficient, and steering resistance coefficient of the target tracked vehicle at the first position, using the following method:

[0115]

[0116] x0=h g *tanα;

[0117] Where 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 a vehicle chassis center speed of the target tracked vehicle when the target tracked vehicle is 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;

[0120] Determining a candidate vehicle controller turning radius of the target tracked vehicle based on 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, then setting the candidate vehicle controller turning radius 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, a vehicle controller turning radius threshold of the target tracked vehicle is determined based on a vehicle chassis center speed when the target tracked vehicle is at the first position, and is calculated in the following manner:

[0124]

[0125] Where 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 when the target tracked vehicle is 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, the target vehicle information including the first position of the target tracked vehicle, the first travel speed of the target tracked vehicle at the first position, the second position to which the target tracked vehicle will go from the first position, the second travel speed expected to be reached when the target tracked vehicle travels to the second position, and the vehicle chassis center speed of the target tracked vehicle when it is at the first position; determine the 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, 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, the reference factor including: 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 conditions 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 by the turning radius of the target vehicle controller, avoid the target tracked vehicle from slipping and losing control during the steering process, and ensure the stability of the target tracked vehicle during driving; 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, thereby decoupling the lateral and longitudinal motion control of the target tracked vehicle and independently controlling 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 functional modules and beneficial effects corresponding to the execution method.

[0128] Example 3

[0129] Figure 8A schematic structural diagram of an electronic device for implementing a tracked vehicle trajectory control method provided in Example 3 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can 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, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. 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 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0131] Multiple 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 magnetic 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 via a computer network such as the Internet and / or various telecommunication networks.

[0132] The processor 11 can be any general-purpose and / or specialized processing component 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 specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the tracked vehicle trajectory control method.

[0133] In some embodiments, the tracked vehicle trajectory control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can 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 can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the tracked vehicle trajectory control method by any other appropriate means (e.g., by means of firmware).

[0134] Various embodiments of the systems and techniques described 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), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes 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, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

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

[0137] To provide interaction with a user, the systems and techniques described herein can 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0138] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer with a graphical user interface or 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 back-end components, middleware components, or front-end components. The components of the system can 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 clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0140] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0141] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A track control method for a tracked vehicle, characterized in that: The method comprises: determining target vehicle information of a target tracked vehicle, the target vehicle information including 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 at the second position, and a vehicle chassis center speed of the target tracked vehicle at the first position; determining a target travel speed compensation value for the target tracked vehicle when moving from a first position to a second position based on the target vehicle information, and compensating the second travel speed based on 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 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 including: a position deviation between a third position expected to be reached at a previous moment when the target tracked vehicle was 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; determining a target vehicle controller turning radius 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 target vehicle controller turning radius.

2. The method according to claim 1, characterized in that Determine 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 travel on the driving trajectory; 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.

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 positional 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, wherein 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 slip rate of the target tracked vehicle at the first position based on 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; The target travel speed compensation value is calculated according to the slip rate and a first coefficient, where 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 travel.

5. The method according to claim 1, wherein 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 a 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 based on the slope resistance and a second coefficient, where the second coefficient is a coefficient between the slope resistance and the travel speed compensation value actually calculated and determined 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 based on 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 center of gravity height of the target tracked vehicle.

7. The method according to claim 1, characterized in that Determining a target vehicle controller turning radius when a target tracked vehicle moves from a first position to a second position according to target vehicle information includes: determining a vehicle controller turning radius threshold of the target tracked vehicle at the first position according to a vehicle chassis center speed of the target tracked vehicle when the target tracked vehicle is 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; Determining a candidate vehicle controller turning radius of the target tracked vehicle based on 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 determining module, configured to determine target vehicle information of a target tracked vehicle, the target vehicle information including 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 at the second position, and a vehicle chassis center speed of the target tracked vehicle at the first position; a second determination module, configured to determine, based on the target vehicle information, a target travel speed compensation value when the target tracked vehicle moves from the first position to the second position, and to compensate the second travel speed based on 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 process of the target tracked vehicle moving from the first position to the second position, the reference factor including: a position deviation between a third position expected to be reached at a previous moment when the target tracked vehicle was 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; a third determining module, configured to determine, based on the target vehicle information, a turning radius of a target vehicle controller when the target tracked vehicle moves from the first position to the second position; 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 that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to execute the track control method for 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 any one of claims 1 to 7 when executed.

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