The invention discloses a control method and device of a lane keeping auxiliary system, equipment and a medium. The method comprises the steps that after the lane keeping assisting system starts a lane keeping assisting function, whether a vehicle deviates from a lane where the vehicle is located or not is detected regularly according to the distance between the vehicle and lane lines on the two sides of the lane where the vehicle is located; if yes, the deviation state of the vehicle is detected according to the state of a steering lamp of the vehicle, the yaw angle of the vehicle and the driver hand torque and the deviation correction torque corresponding to a steering wheel of the vehicle; and after detecting that the deviation state of the vehicle is that the driver actively deviates from the lane, controlling the lane keeping assistance system to turn off the lane keeping assistance function. According to the embodiment of the invention, in the process that the vehicle deviates from the lane where the vehicle is located, whether the deviation state of the vehicle is that a driver unconsciously deviates from the lane or the driver actively deviates from the lane can be accurately detected according to the state of the steering lamp of the vehicle, the yaw angle and the torque corresponding to the steering wheel.

    本发明公开了一种车道保持辅助系统的控制方法、装置、设备及介质。其中,方法包括:在车道保持辅助系统开启车道保持辅助功能之后,定时根据车辆与车辆所处的车道的两侧车道线之间的距离,检测车辆是否偏离车辆所处的车道;若是,则根据车辆的转向灯的状态、车辆的偏航角以及与车辆的方向盘对应的驾驶员手力矩和纠偏力矩,检测车辆的偏离状态;在检测到车辆的偏离状态是驾驶员主动偏离车道之后,控制车道保持辅助系统关闭车道保持辅助功能。本发明实施例可以在车辆偏离车辆所处的车道的过程中,根据车辆的转向灯的状态、偏航角以及方向盘对应的力矩,准确地检测车辆的偏离状态是驾驶员无意识偏离车道还是驾驶员主动偏离车道。


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    Title :

    Control method and device of lane keeping auxiliary system, equipment and medium


    Additional title:

    车道保持辅助系统的控制方法、装置、设备及介质


    Contributors:
    TONG YUQI (author) / WU HAOYUAN (author) / MENG JUNFENG (author) / BAI LISHA (author) / HOU YU (author) / LU BING (author)

    Publication date :

    2023-09-05


    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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