The invention provides a lane keeping control method and system, electronic equipment and a storage medium, wherein the method comprises the steps: a plane coordinate system with a vehicle-mounted camera as a coordinate origin is built, a preset number of preview points are selected in a vehicle driving direction, and weighted calculation of the transverse offset distance of the preview points is carried out according to the positions of lane lines at two sides of a vehicle; PID control is carried out on the course angle and the transverse offset distance of the vehicle, and an optimization objective function corresponding to PID control parameters is set; and PID control parameters are optimized through a genetic algorithm, and the steering angle of the vehicle is calculated according to the optimal PID control parameters. Therefore, the optimal control parameters of the vehicle can be output, the vehicle is actively controlled to deviate from the lane line, the accuracy and stability of vehicle control are improved, and the driving safety is guaranteed.
本发明提供一种车道保持控制方法、系统、电子设备及存储介质,该方法包括:以车载相机为坐标原点建立平面坐标系,在车辆行驶方向上选取预定数量的预瞄点,根据车辆两侧车道线位置加权计算预瞄点的横向偏移距离;对车辆航向角和横向偏移距离进行PID控制,并设定PID控制参数对应的优化目标函数;通过遗传算法优化PID控制参数,并根据最优PID控制参数计算车辆转向角。从而可以实现车辆最优控制参数的输出,对车辆偏离车道线进行主动控制,提升车辆控制的准确性和稳定性,保障行车安全。
Lane keeping control method and system, electronic equipment and storage medium
一种车道保持控制方法、系统、电子设备及存储介质
2021-12-14
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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