The embodiment of the invention provides a lane centering control method and device for a vehicle, electronic equipment and the vehicle, and the method comprises the steps: obtaining lane line information; obtaining a transverse deviation value between the vehicle and a lane center line according to the lane line information; obtaining the final position information of the vehicle according to the transverse deviation value and the current speed of the vehicle; trajectory planning processing is conducted on the final position information, and a vehicle centering trajectory is generated; the vehicle is controlled to move according to the vehicle centering track, and lane centering control over the vehicle is achieved. By implementing the embodiment of the invention, the lane centering of the vehicle can be controlled, the balance of the vehicle in the driving process is favorably kept, the vehicle is prevented from deviating or slipping in the driving process, the safety performance of the vehicle is improved, and the driving experience is improved.

    本申请实施例提供一种车辆的车道居中控制方法、装置、电子设备及车辆,其中,该方法包括:获取车道线信息;根据所述车道线信息获得所述车辆与车道中心线的横向偏差值;根据所述横向偏差值和所述车辆的当前车速获得所述车辆的终点位置信息;对所述终点位置信息进行轨迹规划处理,生成车辆居中轨迹;控制所述车辆根据所述车辆居中轨迹进行移动,实现对所述车辆的车道居中控制。实施本申请实施例,可以控制车辆进行车道居中,有利于车辆行驶过程中保持平衡,防止车辆行驶过程中发生偏离或者打滑,提高车辆的安全性能,提高驾驶体验感。


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    Title :

    Lane centering control method and device of vehicle, electronic equipment and vehicle


    Additional title:

    一种车辆的车道居中控制方法、装置、电子设备及车辆


    Contributors:
    LUO YULIANG (author) / ZHU CHENXI (author) / LI RUNDONG (author) / LIANG WANWU (author)

    Publication date :

    2023-08-18


    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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