The invention relates to the technical field of automobile auxiliary driving, and discloses a control method, device and equipment of a lane keeping system and a medium, and when a lane center line is invalid, a delay timer is started. Under the condition that the timing time of the delay timer is smaller than a time threshold value, the lane keeping system is controlled to be continuously activated, and a road scene is determined according to the lane line type, the visible length of the left/right side road edge and the visible length of the left/right side lane line. Determining a transverse control mode according to the road scene; the transverse control mode comprises transverse control of crossroad scenes with invalid lane center lines according to a steering wheel angle keeping mode or transverse control of other road scenes according to the lane center lines. And when the timing time of the delay timer reaches the time threshold value and the lane center line is invalid, exiting the lane keeping system. And transverse control is performed in an intersection road scene with an invalid lane center line according to a steering wheel rotation angle keeping mode, so that the driving safety is improved.

    本发明涉及汽车辅助驾驶技术领域,公开了一种车道保持系统的控制方法、装置、设备和介质,在车道中心线无效时,启动延时计时器。在延时计时器的计时时间小于时间阈值的情况下,控制车道保持系统持续激活,并根据车道线类型、左/右侧道路边缘可视长度、左/右侧车道线可视长度,确定出道路场景。根据道路场景确定横向控制方式;横向控制方式包括车道中心线无效的十字路口场景按照方向盘转角保持方式进行横向控制或其他道路场景按照车道中心线进行横向控制。在延时计时器的计时时间达到时间阈值并且车道中心线无效的情况下,则退出车道保持系统。在车道中心线无效的路口道路场景按照方向盘转角保持方式进行横向控制,提升了驾驶安全性。


    Access

    Download


    Export, share and cite



    Title :

    Control method, device and equipment of lane keeping system and medium


    Additional title:

    一种车道保持系统的控制方法、装置、设备和介质


    Contributors:
    WANG CAIHONG (author) / YAN JIAWEI (author) / LI SHUANGJIANG (author)

    Publication date :

    2024-07-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Lane keeping control method, device, equipment and medium

    WU LIPENG / CUI YINGHUI | European Patent Office | 2023

    Free access

    Vehicle lane keeping and lane changing control method, device, equipment and medium

    ZHANG JIAQI / QU YUAN / LIU WEI et al. | European Patent Office | 2025

    Free access

    Lane keeping control method, device and equipment and storage medium

    WANG YIPENG / ZHAO YUCHAO / TIAN LEI et al. | European Patent Office | 2024

    Free access

    Control method and device of lane keeping auxiliary system, equipment and medium

    TONG YUQI / WU HAOYUAN / MENG JUNFENG et al. | European Patent Office | 2023

    Free access

    Lane keeping control method, system and equipment integrating positioning and lane line, and medium

    LIU BEI / FAN MINGLEI / XU XIN | European Patent Office | 2023

    Free access