The invention discloses a lane keeping assistance control method and device, equipment and a storage medium. The method comprises the steps that whether a vehicle is in a straight driving state currently or not is judged; and when the vehicle is currently in the straight driving state, calculating an actual steering wheel zero angle of the vehicle, compensating the actual steering wheel zero angle to the steering wheel request angle, and controlling the vehicle to keep assisting in the lane. According to the method, the zero angle of the steering wheel can be calculated in real time, and the calculated zero angle is compensated to the request angle, so that timely response can be realized when the intelligent vehicle is controlled, and meanwhile, the safety risk caused by deviation of the zero angle of the steering wheel is also avoided.

    本发明公开了一种车道保持辅助的控制方法、装置、设备及存储介质,其中该方法包括步骤:判断车辆当前是否处于直线行驶状态;当所述车辆当前处于直线行驶状态时,计算所述车辆的实际方向盘零位角度将所述实际方向盘零位角度补偿到方向盘请求角度中,控制车辆在车道保持辅助。本申请能够实时计算方向盘零位角度,并将计算的零位角度补偿到请求角度中,以在控制智能车辆时能够及时响应,同时也避免了方向盘零位角度偏差产生的安全风险。


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    Title :

    Lane keeping assistance control method, device and equipment and storage medium


    Additional title:

    一种车道保持辅助的控制方法、装置、设备及存储介质


    Contributors:
    LU PENGFEI (author) / LIU XIAO (author) / LI YANG (author)

    Publication date :

    2023-11-17


    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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