The invention provides a lane keeping control method, device and equipment and a storage medium, and relates to the technical field of aided driving, and the method comprises the steps: if it is determined that lane keeping is activated, executing the following steps: according to a left lane line equation and a right lane line equation of a lane where a target vehicle is located, obtaining lane keeping information; determining an initial path equation of a driving path of the target vehicle according to the transverse deviation value of the target vehicle relative to the left lane line and the transverse deviation value of the target vehicle relative to the right lane line; according to the initial path equation, deviating the driving path of the target vehicle from the lane center line of the lane by a target distance to serve as an expected path of the target vehicle, and according to an expected path equation, calculating an expected steering wheel angle of the target vehicle; and adjusting the target vehicle steering wheel angle to the expected steering wheel angle. According to the invention, the target distance can be set to be different according to the actual situation to avoid the large transverse deviation of the target vehicle relative to the expected path, so that the problem caused by the large transverse deviation of the vehicle relative to the expected path in the prior art is solved.

    本申请提供一种车道保持控制方法、装置、设备及存储介质,涉及辅助驾驶技术领域,包括若确定激活车道保持,则执行:根据目标车辆所处车道的左车道线方程及右车道线方程,目标车辆相对左车道线的横向偏差值、相对右车道线的横向偏差值,确定目标车辆行驶路径的初始路径方程;根据初始路径方程,将目标车辆行驶路径向车道的车道中心线偏移目标距离后,作为目标车辆的期望路径,根据期望路径方程,计算目标车辆的期望方向盘转角;将目标车辆方向盘转角调节为期望方向盘转角。本申请中目标距离可以根据实际情况设置为不同的大小来避免目标车辆相对期望路径横向偏差较大,从而解决了现有技术中车辆相对期望路径横向偏差较大导致的问题。


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    Title :

    Lane keeping control method, device and equipment and storage medium


    Additional title:

    车道保持控制方法、装置、设备及存储介质


    Contributors:
    WANG YIPENG (author) / ZHAO YUCHAO (author) / TIAN LEI (author) / LIU YUHANG (author) / SHEN ZEYU (author) / ZHAO XIAOLONG (author) / LI FUXIANG (author) / QIN TAO (author) / DING WEIYUN (author)

    Publication date :

    2024-10-11


    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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