The invention relates to a lane keeping method, device and equipment, a storage medium and a vehicle. The sensing position on the non-expanded lane line and the current position of the vehicle are determined, the target driving track of the vehicle is drawn, and the vehicle is controlled to drive according to the target driving track, so that the problem that the vehicle deviates from the current lane due to the influence of the expanded lane line after driving into the expanded lane is avoided; the driving safety of the vehicle is improved, and the flexibility of the lane keeping method can be improved.

    本公开涉及一种车道保持方法、装置、设备、存储介质及车辆。本公开通过确定非外扩的车道线上的感知位置、以及车辆的当前位置,绘制车辆的目标行驶轨迹,并控制车辆按照目标行驶轨迹进行行驶,避免车辆驶入外扩车道后,受外扩的车道线的影响导致偏离当前车道的问题,不仅提高了车辆行驶的安全性,还能提高车道保持方法的灵活性。


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    Title :

    Lane keeping method, device and equipment, storage medium and vehicle


    Additional title:

    车道保持方法、装置、设备、存储介质及车辆


    Contributors:

    Publication date :

    2023-10-27


    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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