Trajectory tracking method based on trajectory prediction, medium and vehicle-mounted equipment

Abstract

The embodiment of the invention provides a trajectory tracking method based on trajectory prediction, a medium and vehicle-mounted equipment. The method comprises the following steps: when the positioning information of the vehicle at the sampling moment tp + 1 needs to be obtained, obtaining N pieces of historical positioning information and a reference path information sequence, wherein the N pieces of historical positioning information is positioning information of the vehicle at N sampling moments before the sampling moment tp + 1, the reference path information sequence is a coordinate sequence of a track point on a to-be-tracked predetermined track, N is a positive integer greater than 1, and p + 1 is a positive integer greater than N; and predicting the positioning information of the vehicle at the sampling moment tp + 1 based on the N pieces of historical positioning information and the reference path information sequence. Therefore, when the positioning information of the vehicle needs to be acquired, the positioning information of the vehicle can be accurately predicted so that the accuracy of trajectory tracking control can be improved.

Description

technical field [0001] The present application relates to the technical field of intelligent transportation, in particular to a trajectory tracking method based on trajectory prediction, media and vehicle-mounted equipment. Background technique [0002] Vehicle-road collaboration refers to the use of advanced wireless communication and new-generation Internet technologies to comprehensively implement vehicle-vehicle and vehicle-road dynamic real-time information interaction, and to carry out vehicle active safety control and road traffic control on the basis of full-time and spatial dynamic traffic information collection and integration. Collaborative management fully realizes the effective coordination of people, vehicles and roads, ensures traffic safety, improves traffic efficiency, and thus forms a safe, efficient and environmentally friendly road traffic technology. With the development of vehicle driving automation, vehicle trajectory tracking control technology has be...

AI Technical Summary

Problems solved by technology

However, in the process of realizing high-precision vehicle positioning technology based on roadside equipment, due to the existence of phenomena such as communication packet loss and obstacles in the traffic environment, the vehicle may not be able to receive its positioning information within a certain period of time, and then , since the vehicle cannot obtain its positioning information, it will greatly affect the trajectory tracking effect of the vehicle, making the trajectory tracking control less accurate

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