The invention discloses a lane center line keeping method and device, equipment and a medium, is applied to a driving assistance system, and relates to the technical field of auxiliary driving, and the method comprises the steps: obtaining two side lane lines and a lane center line of a current lane where a vehicle is located, and judging whether the lane center line jumps or not according to a preset jumping condition; if judging that the lane center line jumps, setting a timer, and judging whether a target lane line meeting a lane center line replacement condition exists in the lane lines on the two sides or not; and if yes, replacing the lane center line with the target lane line within the replacement time specified by the timer. According to the method and the device, when the lane center line jumps and the target lane line meeting the replacement condition exists in the lane lines on the two sides, the lane center line is replaced by the target lane line, so that the self-vehicle can keep normal straight driving under the driving assistance system, and the safety and the robustness of the driving assistance system are improved.
本申请公开了一种车道中心线的保持方法、装置、设备及介质,应用于驾驶辅助系统,涉及辅助驾驶技术领域,包括:获取自车所在当前车道的两侧车道线和车道中心线,并根据预先设置的跳变条件判断所述车道中心线是否出现跳变;若判定所述车道中心线出现跳变,则设置计时器,并判断所述两侧车道线中是否存在满足车道中心线替换条件的目标车道线;若存在,则在所述计时器规定的替换时间内利用所述目标车道线替换所述车道中心线。本申请中,当车道中心线出现跳变,且两侧车道线中存在满足替换条件的目标车道线时,则利用目标车道线对车道中心线进行替换,从而使得自车能够在驾驶辅助系统下保持正常直线行驶,提高了驾驶辅助系统的安全性和鲁棒性。
Method, device and equipment for keeping lane center line and medium
一种车道中心线的保持方法、装置、设备及介质
2023-08-15
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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