The invention discloses a lane departure control method and device, electronic equipment, a storage medium and a vehicle, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining a first distance between the vehicle and a center line of a road under the condition that the vehicle starts to deviate from the road, and obtaining a second distance between the vehicle and a preset reference line according to the first distance and a preset deviation value, course deviation information of the vehicle and curvature information of a road are obtained, a third distance between a preset preview point and a reference line is obtained according to the course deviation information, the curvature information, a preset preview distance and a second distance, then a preview curvature is obtained according to the second distance, the third distance and the preview distance, and then the preview curvature is obtained according to the preview curvature. And controlling the vehicle to run to the preview point to keep the vehicle in the road, thereby correcting lane departure, avoiding traffic accidents caused by lane departure, and solving the problem of traffic accidents caused by lane departure in the process of driving the vehicle by the user.
本发明公开了一种车道偏离的控制方法、装置、电子设备、存储介质及车辆,涉及车辆控制技术领域,通过在车辆开始偏离道路的情况下,获取车辆与道路的中心线的第一距离,并根据第一距离、预设偏差量,获得车辆与预设的参考线的第二距离,再获取车辆的航向偏差信息、道路的曲率信息,并根据航向偏差信息、曲率信息、预设的预瞄距离以及第二距离,获得预设的预瞄点与参考线的第三距离,然后根据第二距离、第三距离以及预瞄距离,获得预瞄曲率,再根据预瞄曲率,控制车辆行驶至预瞄点,以保持车辆处于道路内,从而纠正车道偏离,避免了车道偏离导致的交通事故的发生,解决了在用户驾驶车辆行驶的过程中,发生车道偏离,导致交通事故的发生的问题。
Lane departure control method and device, electronic equipment, storage medium and vehicle
车道偏离的控制方法、装置、电子设备、存储介质及车辆
2024-09-24
Patent
Electronic Resource
Chinese
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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