The invention belongs to the technical field of auxiliary driving, and provides a lane keeping method, a controller, a storage medium and a vehicle. The lane keeping method comprises the following steps: acquiring real-time actual lateral deviation displacement of a vehicle in a driving state; according to the comparison result of the real-time actual lateral deviation displacement and the input lateral deviation displacement arbitration value, whether the input side outgoing intervention angle/torque is executed or the opposite side outgoing intervention angle/torque is executed is judged, so that the lane is kept. According to the method, a state machine structure of the lane keeping algorithm is innovated, the lateral deviation displacement arbitration value and the upper limit value calculated based on the lane width are introduced, the lane keeping function algorithm is enriched, the function is more stable, and the method is more dynamic and applicable.

    本发明属于辅助驾驶技术领域,提供了一种车道保持方法、控制器、存储介质及车辆。其中,一种车道保持方法,其包括:获取车辆行驶状态下的实时实际侧偏位移;根据实时实际侧偏位移与输入侧向偏差位移仲裁值的比较结果,判断执行输入侧外发干预转角/扭矩还是执行对侧外发干预转角/扭矩,以保持车道。本发明创新了车道保持算法状态机结构,引入侧向偏差位移仲裁值和基于车道宽度计算的上限值,丰富了车道保持功能算法,使功能更加稳定,且更具动态性和适用性。


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    Title :

    Lane keeping method, controller, storage medium and vehicle


    Additional title:

    一种车道保持方法、控制器、存储介质及车辆


    Contributors:
    ZHANG QILIANG (author) / LIU QING (author) / SUN YANG (author) / FANG MING (author)

    Publication date :

    2023-06-09


    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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