The invention provides an automatic driving lane keeping method and system. The method comprises the steps of collecting a lane line image in front of a vehicle, and determining the image coordinatesof the lane line image in an image coordinate system; acquiring position information of the vehicle, wherein the position information of the vehicle is geographic coordinates of the vehicle in a geographic coordinate system, namely, the longitude and latitude; establishing a world coordinate system, performing coordinate transformation processing on the image coordinates of the lane line and the geographic coordinates of the vehicle, and obtaining deviation data of the vehicle relative to the lane line according to deviation between the actual driving track of the vehicle and the target driving track of the vehicle; and sending the deviation data to a steering system of the vehicle. The position of the vehicle in the lane is accurately calculated while the lane line position information isobtained, the accuracy and stability of automatic driving lane keeping are improved, and the automatic driving vehicle can be effectively helped to safely and reliably drive on the road according totraffic rules.

    本发明提供一种自动驾驶的车道保持方法及系统,所述方法包括:采集车辆前方的车道线图像,确定所述车道线图像在图像坐标系中的图像坐标;获取所述车辆的位置信息,所述车辆的位置信息为所述车辆在地理坐标系中的地理坐标:经度和纬度;建立世界坐标系,对车道线的图像坐标与所述车辆的地理坐标进行坐标变换处理,根据所述车辆的实际行驶轨迹与所述车辆的目标行驶轨迹的偏离,得到所述车辆相对所述车道线的偏离数据;将所述偏离数据发送至所述车辆的转向系统。在获得车道线位置信息的同时准确的计算自车在车道中的位置,提高了自动驾驶车道保持的准确性和稳定性,能够有效的帮助自动驾驶车辆遵照交通规则安全、可靠地在道路上行驶。


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    Title :

    Automatic driving lane keeping method and system


    Additional title:

    一种自动驾驶的车道保持方法及系统


    Contributors:
    YANG YULING (author) / HUANG YUNFEI (author) / HU HONGXING (author)

    Publication date :

    2020-07-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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