The invention discloses a driving vehicle lane deviation rectification method, which comprises the steps that N control points on a lane are determined based on a current position point of a vehicle under the condition that the vehicle deviates from the lane in the driving process, N is an integer greater than or equal to 4, the N control points comprise the current position point, and the current position point is a starting point of the N control points; bezier curve fitting is carried out on the N control points, and a deviation rectification track curve is obtained; predicting driving information of the vehicle at the next moment based on the position point of the vehicle at the current moment and the deviation correction track curve; and performing lane correction on the vehicle based on the driving information of the vehicle at the next moment. Through the steps, the deviation rectification track curve is obtained through Bezier curve fitting, deviation rectification is conducted on the vehicle through the deviation rectification track curve, and the accuracy of lane deviation rectification conducted on the running vehicle can be improved.

    本申请公开了一种行驶车辆的车道纠偏方法,包括:在车辆行驶过程中偏离车道的情况下,基于车辆的当前位置点,确定车道上的N个控制点,其中,N为大于或等于4的整数,N个控制点包括当前位置点,且当前位置点为N个控制点的起始点;对N个控制点进行贝塞尔曲线拟合,获得纠偏轨迹曲线;基于车辆在当前时刻的位置点和纠偏轨迹曲线,预测车辆在下一时刻的行驶信息;基于车辆在下一时刻的行驶信息,对车辆进行车道纠偏。通过上述步骤,采用贝塞尔曲线拟合获得纠偏轨迹曲线,并利用纠偏轨迹曲线对车辆进行纠偏,可提高对行驶车辆进行车道纠偏的精准度。


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    Title :

    Method for correcting lane deviation of running vehicle


    Additional title:

    行驶车辆的车道纠偏方法


    Contributors:
    SANG DONGGANG (author) / JU CHENGYUN (author) / XU SHUAI (author) / YANG CHUANZHOU (author)

    Publication date :

    2024-02-02


    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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