Trajectory tracking method and system for chemical inspection vehicle

The invention discloses a chemical inspection vehicle trajectory tracking method and system, and the system consists of a sensor planning decision-making layer, a transverse and longitudinal control trajectory tracking layer, and a chemical inspection vehicle execution layer. Performing noise filtering on the acquired signals by using a Kalman filter to generate a global map, establishing a two-degree-of-freedom inspection vehicle dynamics model, and taking a predetermined driving track of the inspection vehicle as a reference track; controlling a trajectory tracking layer to jointly optimize Q, R, p, i and d key parameters of an LQR and PID transverse and longitudinal joint controller by adopting an MOPSO algorithm according to the generated trajectory so as to obtain a current trajectory optimal controller; the chemical inspection vehicle execution layer sends a transverse and longitudinal combined controller signal to an inspection vehicle through a CAN bus, and comprehensively adjusts the opening degree o