The invention relates to the technical field of vehicles, in particular to an automatic driving lane keeping method and device, terminal equipment and a storage medium. The method comprises the following steps: acquiring lane information of a to-be-steered vehicle in a lane keeping state, wherein the lane information is used for indicating a vehicle-road deviation condition of the vehicle; obtaining a steering control parameter of the vehicle, wherein the steering control parameter is a parameter obtained by self-learning based on sample lane information and sample steering information of the vehicle; according to the lane information and the steering control parameters, steering information of the vehicle is determined, and the steering information is used for controlling the vehicle to keep the lane in the steering process. According to the embodiment of the invention, the steering information of the vehicle can be accurately determined according to the steering control information obtained through self-learning and the lane information used for indicating the vehicle-road deviation, so that the lane keeping function is improved, and the accuracy of vehicle control and the driving safety are improved.

    本公开涉及车辆技术领域,尤其涉及一种自动驾驶车道保持方法、装置、终端设备及存储介质。所述方法:获取处于车道保持状态的待转向的车辆的车道信息,车道信息用于指示车辆的车路偏差情况;获取车辆的转向控制参数,转向控制参数是基于车辆的样本车道信息和样本转向信息进行自学习得到的参数;根据车道信息和转向控制参数,确定车辆的转向信息,转向信息用于控制车辆在转向过程中进行车道保持。本公开实施例通过根据自学习得到的转向控制信息和用于指示车路偏差的车道信息,能够准确地确定出车辆的转向信息,从而提高了车道保持功能,提高了车辆控制的精确性和行驶的安全性。


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    Title :

    Automatic driving lane keeping method and device, terminal equipment and storage medium


    Additional title:

    自动驾驶车道保持方法、装置、终端设备及存储介质


    Contributors:
    SHEN LIN (author) / NIAN FENGJU (author) / ZHANG YOUPENG (author) / FANG YUE (author)

    Publication date :

    2022-04-12


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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