A lane keeping control method, system and device integrating positioning and lane lines and a medium are realized based on relation control of vehicle positioning information and lane lines, and the lane keeping control method comprises the following steps: extracting and recording vehicle positioning center line information in real time; and performing lane keeping control on the vehicle in real time according to the visual lane line and the center line information positioned by the vehicle. The positioning information of a vehicle is recorded in real time; calculating a center point of a lane positioned by the vehicle in real time; continuously tracking the center points of the lane positioned by the vehicle in real time to obtain a plurality of center points, and splicing the center points into a lane line; and sparsening and smoothing a point set formed by the plurality of center points, generating a center line, and recording the center line locally or uploading the center line to a cloud. According to the method, the positioning and the lane line are integrated into the lane keeping control by combining the positioning and the lane line, so that the exit frequency of the lane keeping function is reduced, and the risk that the vehicle rushes out of the lane due to substandard lane line identification quality is avoided.
一种融合定位和车道线的车道保持控制方法、系统、设备及介质,基于车辆自身定位信息和车道线的关系控制实现,该车道保持控制方法包括:实时提取和记录车辆自身定位的中心线信息;实时根据视觉车道线和车辆自身定位的中心线信息,对车辆自身进行车道保持控制。通过实时记录车辆自身定位的信息;实时计算车辆自身定位的车道的中心点;连续实时追踪车辆自身定位的车道的中心点获得多个中心点,并将其拼接成车道线;将多个中心点形成的点集进行稀疏和平滑,生成中心线并记录本地或上传云端。本申请通过结合定位和车道线,将定位和车道线融入车道保持控制中,降低了车道保持功能退出频率,避免了因车道线识别质量不达标导致的车辆冲出车道的风险。
Lane keeping control method, system and equipment integrating positioning and lane line, and medium
融定位和车道线的车道保持控制方法、系统、设备及介质
2023-03-28
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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