Intelligent driving vehicle path tracking method, device and equipment and storage medium

The invention provides an intelligent driving vehicle path tracking method, apparatus and device, and a storage medium. The intelligent driving vehicle path tracking method comprises the steps of obtaining real-time pose information of a vehicle and preview point information on a reference path; according to the preview point information and the pose information, determining transverse deviation and course deviation between the vehicle and the preview point; inputting the lateral deviation and the course deviation as input quantities into a fuzzy controller for processing to obtain a prediction time domain increment and a control time domain increment; updating the initial prediction time domain and the initial control time domain according to the prediction time domain increment and the control time domain increment to obtain a prediction time domain and a control time domain; according to the prediction time domain, the control time domain and a preset model, predicting and controlling an MPC controller to