Automatic marking vehicle self-adaptive control method based on mechanism and data driving model

The invention relates to a mechanism and data driving model-based self-adaptive control method for an automatic marking vehicle, which comprises the following steps of: a) firstly, establishing a kinematic model equation of the marking vehicle, then establishing a mechanism and data driving-based marking vehicle motion model, and finally carrying out linearization processing on the motion model; b) recursively estimating parameters in the recognition system by adopting a recursive least square method, and performing recursive correction on parameter estimation along with the generation of new observation data until the parameter estimation reaches the required precision; and c) a controller for realizing path tracking by controlling the vehicle speed v and the front wheel turning angle by taking the minimum error between the vehicle position and the reference path point position as a control target. According to the self-adaptive control method for the automatic marking vehicle based on the mechanism and the