The invention discloses a lane centering control method, device and equipment and a storage medium, and relates to the technical field of vehicle control, and the method comprises the steps: determining a width difference value according to the lane width of a current position and the lane width of a preview position; when the width difference value is greater than the first width difference threshold value and less than or equal to the second width difference threshold value, determining that the risk of lane change exists; determining an optimized lane center line based on the historical lane width and the unilateral lane line; and performing centering control based on the optimized lane center line, and outputting road condition reminding information. Through the mode, the scene of lane change is pre-judged in advance, and when the lane change possibly occurs, the most appropriate lane center line is fitted, and the centering control function is optimized, so that the situation of disordered steering or sudden degradation is avoided, the driving experience is improved, and meanwhile, the driving safety can be ensured.

    本申请公开了一种车道居中控制方法、装置、设备及存储介质,涉及车辆控制技术领域,该方法包括:根据当前位置的车道宽度与预瞄位置的车道宽度,确定宽度差值;在宽度差值大于第一宽度差阈值且小于等于第二宽度差阈值时,确定存在车道变化的风险;基于历史车道宽度与单边车道线,确定优化车道中心线;基于优化车道中心线进行居中控制,并输出路况提醒信息。通过上述方式,提前对车道变化的场景进行预判,在可能发生车道变化时,拟合最合适的车道中心线,优化居中控制功能,避免出现乱打方向或者突然降级的情况,提高驾驶体验,同时能够保证驾驶安全性。


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    Title :

    Lane centering control method, device and equipment and storage medium


    Additional title:

    车道居中控制方法、装置、设备及存储介质


    Contributors:
    DING CHEN (author) / CHEN GONG (author)

    Publication date :

    2024-09-24


    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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