The invention relates to a lane keeping method and device for an autonomous vehicle. The method comprises the following steps: acquiring lane line information of the position of a vehicle at the current moment; according to the lane line information and the state information of the own vehicle at the current moment, obtaining a predicted trajectory of the own vehicle; according to the predicted track of the self-vehicle, the self-vehicle is driven by a set distance on a set lane. According to the scheme provided by the invention, lane keeping can be realized according to the predicted trajectory of the vehicle, and the reliability of lane keeping is improved.

    本申请涉及一种用于自动驾驶车辆的车道保持方法及装置。该方法包括:获得自车当前时刻所在位置的车道线信息;根据所述车道线信息、所述自车当前时刻的状态信息,获得自车的预测轨迹;根据所述自车的预测轨迹使自车在设定车道行驶设定距离。本申请提供的方案,能够根据自车的预测轨迹实现车道保持,提高车道保持的可靠性。


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    Title :

    Lane keeping method and device for autonomous vehicle


    Additional title:

    用于自动驾驶车辆的车道保持方法及装置


    Contributors:
    LI YAN (author) / ZHANG HAIQIANG (author) / LI CHENGJUN (author)

    Publication date :

    2022-03-25


    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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