The invention relates to a lane keeping method, device and equipment, a storage medium and a vehicle. According to the invention, the driving track of the vehicle is drawn by determining the existence of the guide line on the externally-expanded lane line and acquiring the sensing position on the guide line, the sensing position on the non-externally-expanded lane line and the current position of the vehicle, and the vehicle is controlled to drive according to the driving track, so that the vehicle is prevented from being damaged after entering the externally-expanded lane. And the vehicle deviates from the normal driving lane due to the influence of the expanded lane line and the guide line, so that the driving safety of the vehicle and the flexibility of the lane keeping method are 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。本公开通过确定外扩车道线存在引导线,获取引导线上的感知位置、非外扩的车道线上的感知位置、以及车辆的当前位置,从而绘制车辆的行驶轨迹,并控制车辆按照该行驶轨迹进行行驶,避免车辆进入外扩车道后,受外扩的车道线和引导线的影响导致偏离正常行驶车道,提高了车辆行驶的安全性和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 :

    2024-01-05


    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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