The invention provides a centering driving verification method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining the driving track information and vehicle speed information of a to-be-controlled vehicle, and a current road image of a lane where the to-be-controlled vehicle is located, extracting the feature points of a left lane line and a right lane line in the current road image, and obtaining the feature points of the left lane line and the right lane line; performing curve fitting on the left lane line feature points and the right lane line feature points to obtain a left lane line equation and a right lane line equation, and performing curve fitting based on the driving track information to obtain a driving track equation; and determining a track relative deviation value, a position relative deviation value and a course relative deviation value according to the left-side lane line equation, the right-side lane line equation, the driving track equation and the vehicle speed information, and performing centering driving verification based on the track relative deviation value, the position relative deviation value and the course relative deviation value to realize centering driving verification.

    本申请提供一种对中行驶校验方法、系统、电子设备及存储介质,该对中行驶校验方法包括获取待控制车辆的行驶轨迹信息、车速信息以及所处车道的当前道路图像,在当前道路图像中,分别提取左侧、右侧车道线特征点,分别对左侧车道线特征点和右侧车道线特征点进行曲线拟合,得到左侧车道线方程和右侧车道线方程,基于行驶轨迹信息进行曲线拟合,得到行驶轨迹方程,根据左侧车道线方程、右侧车道线方程、行驶轨迹方程以及车速信息确定轨迹相对偏差量、位置相对偏差量以及航向相对偏差量,基于轨迹相对偏差量、位置相对偏差量以及航向相对偏差量,进行对中行驶校验,实现了对中行驶的校验。


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    Title :

    Centering driving verification method and system, electronic equipment and storage medium


    Additional title:

    一种对中行驶校验方法、系统、电子设备及存储介质


    Contributors:
    YANG YUE (author) / HANAMACHI (author) / ZHOU HONGWEI (author) / HE WEN (author)

    Publication date :

    2023-05-02


    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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