Trajectory tracking method, system, vehicle and device for platooning vehicles

Abstract

The application discloses a trajectory tracking method, system, vehicle and equipment of a platoon vehicle. The trajectory tracking method of the platoon vehicle comprises the following steps: when entering a long-time virtual navigation mode, obtaining an equivalent heading of a front vehicle according to tail point cloud data of the front vehicle captured by a self vehicle; obtaining a heading angle of the self vehicle according to inertial navigation data of the self vehicle and a predetermined heading reference; obtaining a heading deviation of the self vehicle and the front vehicle according to the equivalent heading of the front vehicle and the heading angle of the self vehicle; judging whether a correction condition is met according to a change of the heading deviation; and correcting the heading of the self vehicle according to the heading deviation if the correction condition is met. By using the application, long-time stable operation of virtual navigation is ensured, and the platoon vehicle is adapted to travel in extreme scenes such as no network, weak positioning and long-distance poor signal, and the dependence of the platoon on satellite positioning, public network and vehicle-to-vehicle communication is eliminated.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, system, vehicle, and device for tracking the trajectory of platooned vehicles. Background Technology

[0002] Current vehicle platooning technology heavily relies on RTK satellite positioning, public network communication, and V2V vehicle-to-vehicle communication. In tunnels, tall buildings, or other areas with no network or weak positioning, satellite positioning fails and vehicle-to-vehicle communication is interrupted. Only short-term dead reckoning can be achieved using individual vehicle IMUs and wheel speed odometers for virtual navigation. During extended driving, the IMU inertial navigation system exhibits significant heading zero-bias and lateral position divergence, causing following vehicles to deviate from the lead vehicle's trajectory and platoon formation distortion. The failure of satellite positioning and the interruption of vehicle-to-vehicle communication, coupled with the inability to achieve platoon attitude coordination, make it difficult to suppress accumulated inertial navigation errors, resulting in the inability to maintain stable virtual navigation over long periods. Summary of the Invention

[0003] Based on this, it is necessary to provide a method, system, vehicle, and equipment for platooning vehicle trajectory tracking to address the aforementioned technical issues. The following vehicle relies on its own LiDAR to perceive the relative attitude of each vehicle, ensuring long-term stable operation of virtual navigation in platooning trajectory tracking in scenarios without network, weak satellite positioning, and V2V communication. This eliminates the platoon's dependence on RTK satellite positioning, public network, and V2V vehicle-to-vehicle communication, and is adaptable to extreme scenarios such as no network, weak positioning, and poor signal over long distances when driving in platooning.

[0004] Firstly, a method for tracking the trajectory of platooned vehicles is provided, including: When entering long-term virtual navigation mode, the equivalent heading of the vehicle in front is obtained based on the point cloud data of the rear of the vehicle in front captured by the vehicle itself. Based on the vehicle's inertial navigation data and the pre-determined heading reference, the vehicle's heading angle is obtained; Based on the equivalent heading of the preceding vehicle and the heading angle of the vehicular vehicle, the heading deviation between the vehicular and preceding vehicles is obtained; Determine whether the correction conditions are met based on the change in the heading deviation; If the correction conditions are met, the heading of the vehicle is corrected according to the heading deviation.

[0005] In some examples, obtaining the equivalent heading of the preceding vehicle based on the cloud data of the preceding vehicle's parking location captured by the vehicle itself includes: Use front lidar to capture point cloud data of the rear of the vehicle in front; Based on the point cloud data of the front vehicle's rear, fit the centerline of the front vehicle's rear and the vehicle's orientation; The equivalent heading of the preceding vehicle is obtained based on its rear centerline and body orientation.

[0006] In some examples, before deriving the vehicle's heading angle based on its inertial navigation data and a pre-determined heading reference, the following steps are also included: When satellite positioning and vehicle-to-vehicle communication are normal, the heading reference is determined according to the selected geodetic coordinate system.

[0007] In some examples, obtaining the heading deviation between the vehicle and the preceding vehicle based on the equivalent heading of the preceding vehicle and the heading angle of the vehicle itself includes: Taking the leftward lateral movement of the vehicle's front as the positive direction of the heading angle and the rightward lateral movement as the negative direction of the heading angle, the difference between the equivalent heading of the preceding vehicle and the heading angle of the vehicle itself is obtained, and the difference is used as the heading deviation between the vehicle itself and the preceding vehicle.

[0008] In some examples, determining whether the correction condition is met based on the change in the heading deviation includes: If the heading deviation changes continuously, smoothly, and slowly, and matches the road curvature of the lead vehicle, it is determined that the correction condition is not met; otherwise, it is determined that the correction condition is met.

[0009] In some examples, correcting the vehicle's heading based on the heading deviation if the correction condition is met includes: If the heading deviation is greater than a preset value, the vehicle's front end is controlled to pull back to the left. If the heading deviation is less than the preset value, then control the vehicle's front end to pull back to the right.

[0010] Secondly, a trajectory tracking system for platooned vehicles is provided, including: The equivalent heading determination module is used to obtain the equivalent heading of the vehicle in front based on the point cloud data of the rear of the vehicle in front captured by the vehicle itself when entering the long-term virtual navigation mode. The heading angle calculation module is used to obtain the heading angle of the vehicle based on the vehicle's inertial navigation data and a pre-determined heading reference. The deviation calculation module is used to obtain the heading deviation between the vehicle and the vehicle based on the equivalent heading of the preceding vehicle and the heading angle of the vehicle itself. The control module is used to determine whether the correction conditions are met based on the change in the heading deviation, and when the correction conditions are met, to correct the heading of the vehicle based on the heading deviation.

[0011] Thirdly, a vehicle is provided, comprising: a trajectory tracking system for platooning vehicles as described in the second aspect above.

[0012] Fourthly, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the steps of the platooning vehicle trajectory tracking method described in the first aspect and any possible implementation thereof.

[0013] Fifthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the platooning vehicle trajectory tracking method of the first aspect and any possible implementation thereof.

[0014] Sixthly, a computer program product is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the platooning vehicle trajectory tracking method of the first aspect and any possible implementation thereof.

[0015] Using the embodiments of this application, in cases of abnormal positioning or vehicle-to-vehicle communication, the equivalent heading of the preceding vehicle can be obtained based on the point cloud data of the preceding vehicle's rear captured by the vehicle itself. The heading angle of the vehicle itself can be obtained based on its inertial navigation data and a pre-determined heading reference. Then, the heading deviation between the vehicle and the preceding vehicle is obtained based on the equivalent heading of the preceding vehicle and the heading angle of the vehicle itself. Finally, if the change in the heading deviation is deemed to meet the correction conditions, the heading of the vehicle itself can be corrected based on the heading deviation. Following vehicles rely on their own lidar to perceive the relative attitude of each other. In platooning trajectory tracking in scenarios without network, weak satellite positioning, or V2V communication, this ensures long-term stable operation of virtual navigation, eliminating the reliance on RTK satellite positioning, public networks, and V2V vehicle-to-vehicle communication for platooning. This adapts to extreme scenarios such as no network, weak positioning, and poor long-distance signal strength in platooning. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A flowchart of a platoon vehicle trajectory tracking method provided in an embodiment of this application; Figure 2 A structural block diagram of a platoon vehicle trajectory tracking system provided in an embodiment of this application; Figure 3 This is a structural block diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0017] The present application will now be described in further detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the application. Furthermore, it should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings.

[0018] It should be noted that, unless otherwise specified, the embodiments and features of the embodiments in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] The following describes in detail, with reference to the accompanying drawings, a method, system, vehicle, and device for tracking the trajectory of platooned vehicles according to embodiments of this application.

[0020] Figure 1 This is a flowchart of a platooning vehicle trajectory tracking method according to an embodiment of this application. Figure 1 As shown, the trajectory tracking method for platooned vehicles according to an embodiment of this application includes the following steps: S101: When entering long-term virtual navigation mode, the equivalent heading of the vehicle in front is obtained based on the point cloud data of the rear of the vehicle in front captured by the vehicle itself.

[0021] In one embodiment of this application, obtaining the equivalent heading of the preceding vehicle based on the preceding vehicle's parking point cloud data captured by the vehicle itself includes: capturing the preceding vehicle's rear point cloud data using a front lidar; fitting the preceding vehicle's rear centerline and body orientation based on the preceding vehicle's rear point cloud data; and obtaining the preceding vehicle's equivalent heading based on the preceding vehicle's rear centerline and body orientation.

[0022] For example, when satellite positioning fails or vehicle-to-vehicle communication is interrupted, the lead vehicle stops using satellite positioning and switches to long-term virtual navigation mode. At this time, the lead vehicle uses laser SLAM pose calculation and relies on its own forward-facing lidar to collect static environmental feature point clouds such as tunnel sidewalls, guardrails, and road surfaces. Through adjacent frame point cloud registration and environmental feature matching, the real-time geodetic heading angle Yaw of the lead vehicle is calculated. For the following vehicle, since the front is blocked by the vehicle in front, such as the lead vehicle, it is unable to collect roadside environmental features. Laser SLAM is stopped, and it only relies on the front lidar to emit signals and capture the rear point cloud of the vehicle in front. The centerline of the rear of the vehicle and the vehicle's orientation are fitted to obtain the equivalent heading Yaw_L of the vehicle in front, such as the lead vehicle.

[0023] S102: Based on the vehicle's inertial navigation data and the pre-determined heading reference, obtain the vehicle's heading angle.

[0024] The heading reference is predetermined. For example, before obtaining the heading angle of the vehicle based on the vehicle's inertial navigation data and the predetermined heading reference, the method further includes determining the heading reference according to the selected geodetic coordinate system when satellite positioning and vehicle-to-vehicle communication are normal.

[0025] Specifically, in open road sections where satellite RTK positioning and V2V functionality are normal, vehicle platooning completes initial platooning calibration. In one application, using the Northeast Sky ENU as the geodetic coordinate system, leftward yaw is defined as the positive direction of the heading angle, and rightward yaw as the negative direction. The lead vehicle and following vehicles complete their own geodetic heading angle calibration via RTK+IMU, ensuring complete alignment of the two vehicles' headings and locking in a unified road geodetic heading reference. The lead vehicle stores its own driving trajectory data in real time, including temporal heading angle, road curvature, and yaw angle, providing the original trajectory reference for subsequent virtual navigation.

[0026] S103: Based on the equivalent heading of the preceding vehicle and the heading angle of the vehicular vehicle, the heading deviation between the vehicular vehicle and the preceding vehicle is obtained.

[0027] In one embodiment of this application, the step of obtaining the heading deviation between the vehicle and the preceding vehicle based on the equivalent heading of the preceding vehicle and the heading angle of the vehicle includes: taking the leftward lateral movement of the vehicle's front as the positive direction of the heading angle and the rightward lateral movement as the negative direction of the heading angle, obtaining the difference between the equivalent heading of the preceding vehicle and the heading angle of the vehicle, and using the difference as the heading deviation between the vehicle and the preceding vehicle.

[0028] For example, the following vehicle calculates the real-time heading angle Yaw_F using its own IMU, and calculates the relative heading deviation between the two vehicles according to the formula Delta yaw = Yaw_L - Yaw_F. That is, the difference between the equivalent heading of the leading vehicle and the heading angle of the following vehicle is Delta yaw.

[0029] S104: Determine whether the correction conditions are met based on the change in the heading deviation.

[0030] In one embodiment of this application, determining whether the correction condition is met based on the change in the heading deviation includes: if the heading deviation changes continuously, smoothly, and slowly, and matches the road curvature of the lead vehicle, it is determined that the correction condition is not met; otherwise, it is determined that the correction condition is met.

[0031] Specifically, if the relative heading deviation changes continuously, smoothly, and slowly, and basically matches the road curvature stored in the virtual navigation, it is determined that the vehicle is in a normal driving posture and no IMU zero bias correction is performed; if the relative heading deviation shows a fixed value shift or irregular fluctuations, deviating from the virtual navigation straight trajectory, it is determined that the following vehicle's IMU inertial navigation has shifted, and attitude correction is initiated.

[0032] S105: If the correction conditions are met, the heading of the vehicle is corrected according to the heading deviation.

[0033] In one embodiment of this application, correcting the heading of the vehicle based on the heading deviation includes: if the heading deviation is greater than a preset value, controlling the front of the vehicle to pull back to the left; if the heading deviation is less than the preset value, controlling the front of the vehicle to pull back to the right.

[0034] Specifically, in the absence of V2V communication, the attitude of the queue IMUs is mutually corrected. The lead vehicle's heading is anchored by laser SLAM, resulting in extremely high attitude reliability. Only minor adjustments are made. All deviation corrections are performed on the yaw zero offset of the follower vehicle's IMU. The specific correction rules are as follows: When Delta yaw > 0, the lead vehicle's heading is greater than the follower vehicle's heading, the follower vehicle's front yaws to the right, the follower vehicle's IMU calculates a smaller heading, the follower vehicle's IMU yaw zero offset is increased, and the follower vehicle's front is pulled back to the left to make the two vehicles parallel; when Delta yaw < 0, the lead vehicle's heading is less than the follower vehicle's heading, the follower vehicle's front yaws to the left, the follower vehicle's IMU calculates a larger heading, the follower vehicle's IMU yaw zero offset is decreased, and the follower vehicle's front is pulled back to the right to make the two vehicles parallel.

[0035] According to the trajectory tracking method for platooned vehicles in embodiments of this application, in cases of abnormal positioning or vehicle-to-vehicle communication, the equivalent heading of the preceding vehicle can be obtained based on the point cloud data of the preceding vehicle's rear captured by the vehicle itself. The heading angle of the vehicle itself can be obtained based on its inertial navigation data and a pre-determined heading reference. Then, the heading deviation between the vehicle itself and the preceding vehicle is obtained based on the equivalent heading of the preceding vehicle and the heading angle of the vehicle itself. Finally, if the change in the heading deviation satisfies the correction conditions, the heading of the vehicle itself can be corrected based on the heading deviation. Following vehicles rely on their own lidar to perceive the relative attitude of each other. In platooning trajectory tracking scenarios without network, weak satellite positioning, or V2V communication, this method ensures long-term stable operation of virtual navigation, eliminating the platoon's dependence on RTK satellite positioning, public networks, and V2V vehicle-to-vehicle communication. It is adaptable to platooning vehicle driving in extreme scenarios such as no network, weak positioning, and long-distance poor signal.

[0036] Figure 2 This is a structural block diagram of a platooning vehicle trajectory tracking system according to an embodiment of this application. Figure 2 As shown, a platooning vehicle trajectory tracking system according to an embodiment of this application includes: an equivalent heading determination module 210, a heading angle calculation module 220, a deviation calculation module 230, and a control module 240, wherein: The equivalent heading determination module 210 is used to obtain the equivalent heading of the vehicle in front based on the point cloud data of the rear of the vehicle in front captured by the vehicle itself when entering the long-term virtual navigation mode. The heading angle calculation module 220 is used to obtain the heading angle of the vehicle based on the vehicle's inertial navigation data and a pre-determined heading reference. The deviation calculation module 230 is used to obtain the heading deviation between the vehicle and the vehicle based on the equivalent heading of the preceding vehicle and the heading angle of the vehicle itself. The control module 240 is used to determine whether the correction conditions are met based on the change in the heading deviation, and when the correction conditions are met, to correct the heading of the vehicle based on the heading deviation.

[0037] According to the trajectory tracking system for platooned vehicles in embodiments of this application, in cases of abnormal positioning or vehicle-to-vehicle communication, the system can obtain the equivalent heading of the preceding vehicle based on the point cloud data of the preceding vehicle's rear captured by the vehicle itself, and obtain the heading angle of the vehicle itself based on the vehicle's inertial navigation data and a pre-determined heading reference. Then, based on the equivalent heading of the preceding vehicle and the heading angle of the vehicle itself, the heading deviation between the vehicle itself and the preceding vehicle is obtained. Finally, if the change in the heading deviation is judged to meet the correction conditions, the heading of the vehicle itself can be corrected based on the heading deviation. The following vehicle relies on its own lidar to perceive the relative attitude of the vehicles. In platooning trajectory tracking in scenarios without network, weak satellite positioning, and without V2V communication, the system ensures long-term stable operation of virtual navigation, freeing the platoon from dependence on RTK satellite positioning, public network, and V2V vehicle-to-vehicle communication, and adapting to platooning vehicle driving in extreme scenarios such as no network, weak positioning, and long-distance poor signal.

[0038] Specific limitations regarding the trajectory tracking system for platooned vehicles can be found in the limitations on the trajectory tracking method for platooned vehicles described above, and will not be repeated here. Each module of the aforementioned trajectory tracking system for platooned vehicles can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0039] Furthermore, a vehicle is provided, comprising: a trajectory tracking system for platooned vehicles according to any of the above embodiments. In cases of abnormal positioning or vehicle-to-vehicle communication, this vehicle can obtain the equivalent heading of the preceding vehicle based on the point cloud data of the preceding vehicle's rear, and obtain its own heading angle based on its inertial navigation data and a pre-determined heading reference. Then, based on the equivalent heading of the preceding vehicle and its own heading angle, it obtains the heading deviation between itself and the preceding vehicle. Finally, based on the change in the heading deviation, if the correction conditions are met, the vehicle can correct its own heading according to the heading deviation. Following vehicles rely on their own lidar to perceive the relative attitude of each other. In platooning trajectory tracking scenarios without network, weak satellite positioning, or V2V communication, this system ensures long-term stable operation of virtual navigation, eliminating the platoon's dependence on RTK satellite positioning, public networks, and V2V vehicle-to-vehicle communication, and adapting to extreme scenarios such as no network, weak positioning, and poor long-distance signal strength in platooning vehicle operation.

[0040] Furthermore, other components and functions of the vehicle according to the embodiments of this application are known to those skilled in the art and will not be described in detail here.

[0041] In one embodiment, a computer device is provided. Figure 3 This is a structural block diagram of the computer device provided in the embodiments of this application, with reference to... Figure 3 The computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned embodiment of the trajectory tracking method for platooned vehicles. For example, when entering a long-term virtual navigation mode, the equivalent heading of the preceding vehicle is obtained based on the point cloud data of the preceding vehicle's rear end captured by the vehicle itself. Based on the vehicle's inertial navigation data and the pre-determined heading reference, the vehicle's heading angle is obtained; Based on the equivalent heading of the preceding vehicle and the heading angle of the vehicular vehicle, the heading deviation between the vehicular and preceding vehicles is obtained; Determine whether the correction conditions are met based on the change in the heading deviation; If the correction conditions are met, the heading of the vehicle is corrected according to the heading deviation.

[0042] This application also provides a computer-readable storage medium storing a computer program. When the processor executes the computer program, it implements the aforementioned embodiment of the trajectory tracking method for platooned vehicles. For example, when entering a long-term virtual navigation mode, it obtains the equivalent heading of the preceding vehicle based on the point cloud data of the preceding vehicle's rear end captured by the vehicle itself. Based on the vehicle's inertial navigation data and the pre-determined heading reference, the vehicle's heading angle is obtained; Based on the equivalent heading of the preceding vehicle and the heading angle of the vehicular vehicle, the heading deviation between the vehicular and preceding vehicles is obtained; Determine whether the correction conditions are met based on the change in the heading deviation; If the correction conditions are met, the heading of the vehicle is corrected according to the heading deviation.

[0043] This application provides a computer program product including instructions that, when executed, cause the method described in this application embodiment to be performed. For example, it can execute... Figure 1 The steps of the platooning vehicle trajectory tracking method shown are as follows: when entering long-term virtual navigation mode, obtain the equivalent heading of the preceding vehicle based on the point cloud data of the preceding vehicle's rear captured by the vehicle itself. Based on the vehicle's inertial navigation data and the pre-determined heading reference, the vehicle's heading angle is obtained; Based on the equivalent heading of the preceding vehicle and the heading angle of the vehicular vehicle, the heading deviation between the vehicular and preceding vehicles is obtained; Determine whether the correction conditions are met based on the change in the heading deviation; If the correction conditions are met, the heading of the vehicle is corrected according to the heading deviation.

[0044] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0045] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0046] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for tracking the trajectory of platooned vehicles, characterized in that, include: When entering long-term virtual navigation mode, the equivalent heading of the vehicle in front is obtained based on the point cloud data of the rear of the vehicle in front captured by the vehicle itself. Based on the vehicle's inertial navigation data and the pre-determined heading reference, the vehicle's heading angle is obtained; Based on the equivalent heading of the preceding vehicle and the heading angle of the vehicular vehicle, the heading deviation between the vehicular and preceding vehicles is obtained; Determine whether the correction conditions are met based on the change in the heading deviation; If the correction conditions are met, the heading of the vehicle is corrected according to the heading deviation.

2. The trajectory tracking method for platooned vehicles according to claim 1, characterized in that, The step of obtaining the equivalent heading of the preceding vehicle based on the cloud data of the preceding vehicle's parking position captured by the vehicle itself includes: Use front lidar to capture point cloud data of the rear of the vehicle in front; Based on the point cloud data of the front vehicle's rear, fit the centerline of the front vehicle's rear and the vehicle's orientation; The equivalent heading of the preceding vehicle is obtained based on its rear centerline and body orientation.

3. The trajectory tracking method for platooned vehicles according to claim 1, characterized in that, Before obtaining the vehicle's heading angle based on its inertial navigation data and a pre-determined heading reference, the following steps are also included: When satellite positioning and vehicle-to-vehicle communication are normal, the heading reference is determined according to the selected geodetic coordinate system.

4. The trajectory tracking method for platooned vehicles according to claim 1, characterized in that, The step of obtaining the heading deviation between the vehicle and the preceding vehicle based on the equivalent heading of the preceding vehicle and the heading angle of the vehicle itself includes: Taking the leftward lateral movement of the vehicle's front as the positive direction of the heading angle and the rightward lateral movement as the negative direction of the heading angle, the difference between the equivalent heading of the preceding vehicle and the heading angle of the vehicle itself is obtained, and the difference is used as the heading deviation between the vehicle itself and the preceding vehicle.

5. The trajectory tracking method for platooned vehicles according to claim 1, characterized in that, Determining whether the correction conditions are met based on the change in the heading deviation includes: If the heading deviation changes continuously, smoothly, and slowly, and matches the road curvature of the lead vehicle, it is determined that the correction condition is not met; otherwise, it is determined that the correction condition is met.

6. The trajectory tracking method for platooned vehicles according to any one of claims 1-5, characterized in that, If the correction condition is met, then correcting the vehicle's heading based on the heading deviation includes: If the heading deviation is greater than a preset value, the vehicle's front end is controlled to pull back to the left. If the heading deviation is less than the preset value, the vehicle head is controlled to pull back to the right.

7. A trajectory tracking system for platooned vehicles, characterized in that, include: The equivalent heading determination module is used to obtain the equivalent heading of the vehicle in front based on the point cloud data of the rear of the vehicle in front captured by the vehicle itself when entering the long-term virtual navigation mode. The heading angle calculation module is used to obtain the heading angle of the vehicle based on the vehicle's inertial navigation data and a pre-determined heading reference. The deviation calculation module is used to obtain the heading deviation between the vehicle and the vehicle based on the equivalent heading of the preceding vehicle and the heading angle of the vehicle itself. The control module is used to determine whether the correction conditions are met based on the change in the heading deviation, and when the correction conditions are met, to correct the heading of the vehicle based on the heading deviation.

8. A vehicle, characterized in that, include: The trajectory tracking system for platooned vehicles according to claim 7.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, When the processor executes the computer program, it implements the trajectory tracking method for platooned vehicles according to any one of claims 1-6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the trajectory tracking method for platooned vehicles according to any one of claims 1-6.

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