The invention discloses a curve lane keeping method and system based on a preview algorithm, a server and a medium. Lane line information is obtained through a road image in front of a vehicle; an appropriate lane line is selected from the lane line information to serve as a reference lane line, a reference center line which is parallel to the reference lane line and spaced by a preset transverseexpected distance is obtained through calculation, and a preview point is obtained from a reference center line point set; and finally, an expected angular velocity is calculated according to the preview point, an expected turning angle of the steering wheel is calculated according to the expected angular velocity and the current angular velocity, and the data are sent to an actuator for execution. Lane keeping is achieved in the mode that a vehicle follows a preview point, so that the method is suitable for a curve scene, the mental pressure of a driver is relieved, the accident occurrence probability is reduced, the preview distance and the vehicle speed are associated, and oscillation caused by high-frequency self-correction due to the fact that the preview distance is relatively shortduring high-speed driving can be avoided.
本发明公开了一种基于预瞄算法的弯道车道保持方法及系统、服务器及介质,其通过车辆前方道路图像获取车道线信息;自车道线信息中选出合适的车道线作为参考车道线,并计算得到与参考车道线平行间隔预设横向期望距离的参考中心线,自参考中心线点集中获取预瞄点;最后根据预瞄点计算期望角速度,并根据期望角速度和当前角速度计算方向盘的期望转角,发送给执行器执行。通过使车辆跟随预瞄点的方式来实现车道保持,从而能够适用于弯道场景,从而减轻驾驶员的精神压力,减少事故发生几率,且将预瞄距离和车速关联起来,能够避免高速行驶时由于预瞄距离相对较短而引起较高频率自我修正带来的振荡。
Curve lane keeping method and system based on preview algorithm, server and medium
基于预瞄算法的弯道车道保持方法及系统、服务器及介质
2021-03-05
Patent
Electronic Resource
Chinese
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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