The invention relates to a lane keeping assisting method and device, a vehicle and a storage medium. Comprises: determining whether a current vehicle satisfies a preset lane departure condition; if the current vehicle meets the preset lane departure condition, determining the target deceleration of the current vehicle based on the current vehicle speed of a target vehicle when the target vehicle meeting the preset collision risk exists in an adjacent lane in the departure direction of the current vehicle; and performing deceleration control on the current vehicle based on the target deceleration, and performing transverse control on the current vehicle when it is recognized that the current vehicle meets the preset lane departure condition again in the deceleration process. Therefore, when the vehicle deviates from the current driving lane and a potential collision risk is detected, the driving track of the vehicle is gradually corrected by finely adjusting the speed and the steering of the vehicle, so that the problem that a user feels uncomfortable due to the fact that the vehicle is controlled by adopting a relatively abrupt correction action in a traditional system is solved; the safety and comfort of the lane keeping system are effectively improved, and the user experience is improved.

    本申请涉及一种车道保持辅助方法、装置、车辆及存储介质。包括:判断当前车辆是否满足预设车道偏离条件;若当前车辆满足预设车道偏离条件,则在当前车辆偏离方向的相邻车道存在满足预设碰撞风险的目标车辆时,基于目标车辆的当前车速确定当前车辆的目标减速度;基于目标减速度对当前车辆进行减速控制,并在减速过程中识别到当前车辆再次满足预设车道偏离条件时,对当前车辆进行横向控制。由此,在车辆偏离当前行驶车道并检测到潜在的碰撞风险时,通过微调车辆的速度和转向来逐步纠正车辆的行驶轨迹,解决了传统系统采用较为突兀的纠偏动作控制车辆,导致用户感到不适的问题,有效提高车道保持系统的安全性和舒适性,提升用户体验。


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    Title :

    Lane keeping assisting method and device, vehicle and storage medium


    Additional title:

    车道保持辅助方法、装置、车辆及存储介质


    Contributors:
    WANG YANG (author) / WANG YIFAN (author) / WU HAOYUAN (author) / YUAN WENJIAN (author) / HOU YU (author)

    Publication date :

    2024-07-12


    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



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