The invention relates to the technical field of driving assistance, and discloses a control method, a vehicle, electronic equipment and a readable medium. The control method comprises the following steps: acquiring first lane line data corresponding to a first lane line and second lane line data corresponding to a second lane line on two sides of a vehicle at a first moment; determining that the relative angle between the first section of the second lane line and the first section of the first lane line is within a preset parallel range and the relative angle between the second section of the second lane line and the second section of the first lane line is not within the preset parallel range based on the first lane line data and the second lane line data; determining an unsuppressed lane line in the first lane line and the second lane line; generating a virtual lane line, wherein the relative angle between the virtual lane line and the non-suppressed lane line is within a preset parallel range; and generating a driving path of the vehicle based on the non-suppressed lane line and the virtual lane line. According to the scheme, unnecessary driving path change of the vehicle can be avoided, and a driver is prevented from perceiving unexpected shaking.

    本申请涉及驾驶辅助技术领域,公开了一种控制方法、车辆、电子设备及可读介质。本申请的控制方法包括:获取第一时刻车辆两侧的第一车道线对应的第一车道线数据和第二车道线对应的第二车道线数据;基于第一车道线数据和第二车道线数据确定第二车道线的第一段与第一车道线的第一段的相对角度在预设平行范围内,第二车道线的第二段与第一车道线的第二段的相对角度未处于预设平行范围内;确定第一车道线和第二车道线中的非抑制车道线;生成与非抑制车道线的相对角度在预设平行范围内的虚拟车道线;基于非抑制车道线和虚拟车道线生成车辆的行驶路径。上述方案能够避免车辆进行不必要的行驶路径更改,避免驾驶员感知到非预期抖动。


    Access

    Download


    Export, share and cite



    Title :

    Control method, vehicle, electronic equipment and readable medium


    Additional title:

    控制方法、车辆、电子设备及可读介质


    Contributors:

    Publication date :

    2023-12-12


    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



    Vehicle control method, electronic equipment and computer readable medium

    YANG JUNTAO | European Patent Office | 2021

    Free access

    Vehicle control method, vehicle, computer readable storage medium and electronic equipment

    PAN FULI / LIAO DINGYAN / DUAN YANYAN et al. | European Patent Office | 2024

    Free access

    Vehicle control method, vehicle, electronic equipment and computer readable storage medium

    ZHAO BOWEN / SUN ZHENGHAO | European Patent Office | 2023

    Free access

    Vehicle, vehicle control method, electronic equipment and computer readable storage medium

    MENG LEI / XU JING / CHU ZAOPEI et al. | European Patent Office | 2023

    Free access

    Vehicle control method, electronic equipment and computer readable storage medium

    WANG FENG / WANG PEI / YANG BO | European Patent Office | 2023

    Free access