The embodiment of the invention provides a lane correction method and device for a vehicle, computer equipment and a medium, and relates to the technical field of automatic driving. The method comprises the following steps: according to the longitudinal distance between a vehicle and a lane line, the longitudinal time distance between the vehicle and the lane line, the transverse distance between the edge of one side of the vehicle and the lane line on the side and the time required for the vehicle to transversely deviate from the lane at the current speed of the vehicle, judging whether the vehicle has the risk of deviating from the lane of the vehicle; if the risk of departing from the own vehicle lane exists, activating a lane departing auxiliary system; calculating lane departure state parameters of the vehicle through a virtual lane center line equation; calculating a front wheel steering angle according to the state parameters, and calculating a steering wheel steering angle according to the front wheel steering angle; and the steering torque is calculated through the steering wheel angle and is transmitted to the electric power steering system to correct lane departure of the vehicle. According to the scheme, the judgment condition is added, so that whether the vehicle has the risk of departing from the lane or not can be more accurately judged.

    本发明实施例提供了一种车辆的车道纠偏方法、装置、计算机设备及介质,涉及自动驾驶技术领域,其中,该方法包括以下步骤:根据车辆距离车道线的纵向距离、车辆距离车道线的纵向时距、车辆一侧边缘到该侧车道线的横向距离及车辆当前车速下车辆横向偏离车道所需要的时间判断车辆是否存在偏离自车车道的风险,若存在偏离自车车道的风险,则激活车道偏离辅助系统;通过虚拟车道中心线方程计算车辆偏离车道的状态参数;根据状态参数计算前轮转角,并根据前轮转角计算方向盘转角;通过方向盘转角计算得出转向力矩并至电动助力转向系统对车辆偏离车道进行纠正。由于该方案通过增加判断条件,能够更准确的判断出车辆是否存在偏离车道的风险。


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    Titel :

    Lane correction method and device for vehicle, computer equipment and medium


    Weitere Titelangaben:

    一种车辆的车道纠偏方法、装置、计算机设备及介质


    Beteiligte:
    YE GANG (Autor:in) / WEI SONGBO (Autor:in) / WANG SHULIANG (Autor:in) / CHENG JIANWEI (Autor:in)

    Erscheinungsdatum :

    2024-01-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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