The embodiment of the invention provides an automatic driving lane keeping method, system and device and a storage medium. The high-precision lane keeping function on a straight lane with weak positioning signals and/or a narrow straight lane can be achieved. The method comprises the steps that according to a control period, a second position estimation value corresponding to the current moment is determined based on a lane detection result corresponding to the current moment, a first position estimation value and a Kalman coefficient matrix, and the lane detection result is the relative position, determined by an image acquisition device, of a vehicle relative to a lane center line; based on the second position estimation value, the current position of the vehicle corresponding to the current moment is corrected, and the corrected position of the vehicle at the current moment is determined; acquiring lane center line information in a preset range of the correction position; and generating a current path of the vehicle based on the corrected position and the lane center line information, and performing lane keeping control on the vehicle based on the current path.
本说明书实施例提供一种自动驾驶车道保持方法、系统、装置及存储介质,可以实现在定位信号较弱的直行车道和/或狭窄的直行车道上的高精度车道保持功能。该方法包括:按照控制周期,基于当前时刻对应的车道检测结果、第一位置估计值及卡尔曼系数矩阵,确定当前时刻对应的第二位置估计值,其中,车道检测结果为图像获取装置确定的自车相对于车道中心线的相对位置;基于第二位置估计值,对当前时刻对应的自车的当前位置进行修正,确定自车在当前时刻的修正位置;获取修正位置预设范围内的车道中心线信息;基于修正位置和车道中心线信息,生成自车的当前路径,并基于当前路径对自车进行车道保持控制。
Automatic driving lane keeping method, system and device and storage medium
一种自动驾驶车道保持方法、系统、装置及存储介质
2023-10-13
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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