The embodiment of the invention relates to the technical field of vehicle control, and discloses a lane keeping method, system and device and a storage medium, and the method comprises the steps: obtaining the lateral force and driving speed of a vehicle on an inclined road surface; acquiring a first straightening angle according to the lateral force and the running speed of the vehicle on the inclined road surface; planning a second straightening angle through a vision algorithm; superposing the first straightening angle and the second straightening angle to form a third straightening angle; and controlling the steering wheel to rotate at a third straightening angle, so that the vehicle is kept in the lane. According to the embodiment of the invention, the correction angle planned through the visual algorithm and the correction angle calculated according to the lateral force and the driving speed are superposed, the final control angle of the steering wheel is output, the output final control angle of the steering wheel takes the influence of the lateral force on the inclined road surface into consideration, and the vehicle control is more accurate.

    本公开实施例涉及车辆控制技术领域,公开了一种车道保持方法、系统、设备及存储介质,所述方法包括:获取车辆在倾斜路面上的侧向力和行驶速度;根据所述车辆在倾斜路面上的侧向力和行驶速度获取第一摆正角度;通过视觉算法规划出第二摆正角度;将所述第一摆正角度与第二摆正角度叠加,形成第三摆正角度;控制方向盘以第三摆正角度进行转动,使车辆保持在车道中。本公开的示例性实施例,通过视觉算法规划出的摆正角度与依据侧向力和行驶速度计算出的摆正角度进行叠加,输出为方向盘的最终控制角度,输出的方向盘的最终控制角度考虑到倾斜路面上侧向力的影响,对车辆控制更加准确。


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    Title :

    Lane keeping method, system and equipment and storage medium


    Additional title:

    一种车道保持方法、系统、设备及存储介质


    Contributors:
    ZHU ZONGSHENG (author) / LIANG TAONIAN (author) / WU TAO (author) / CHEN MUJIA (author)

    Publication date :

    2023-11-03


    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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