REVERSE TRAJECTORY TRACKING METHOD AND APPARATUS, ELECTRONIC DEVICE AND STORAGE MEDIUM

A reverse trajectory tracking method and apparatus, an electronic device and a storage medium are disclosed by the present application, which relates to a field of autonomous driving, and in particular to a field of autonomous parking and a field of trajectory tracking. The method includes: acquiring positioning information and reference trajectory of a vehicle; determining a heading error and a lateral error of the vehicle relative to a reference trajectory based on the positioning information and reference trajectory of the vehicle; determining an expected front wheel turning angle of the vehicle based on the heading error, the lateral error and a speed of the vehicle; adjusting an actual front wheel turning angle of the vehicle according to the expected front wheel turning angle of the vehicle.