The invention belongs to the technical field of vehicle control, and discloses a vehicle transverse control method, device and equipment and a storage medium. The method comprises the following steps: acquiring lane image information; selecting a reference lane line according to the lane image information; determining a lane center line at the current moment according to the reference lane line; and performing vehicle transverse control according to the lane center line at the current moment. According to the method, the most accurate lane line is selected as the reference lane line for transverse control according to the lane image information, so that transverse control can be realized more robustly under the scene that obvious difference of the lane lines is detected, sudden turning of a steering wheel caused by the difference of the lane lines is avoided, a vehicle is controlled more stably, and the comfort and the safety of transverse control can be obviously improved.
本发明属于车辆控制技术领域,公开了一种车辆横向控制方法、装置、设备及存储介质。该方法包括:获取车道图像信息;根据所述车道图像信息选取基准车道线;根据所述基准车道线确定当前时刻车道中心线;根据所述当前时刻车道中心线进行车辆横向控制。根据车道图像信息选取最准确的车道线作为基准车道线来横向控制,可以在检测到车道线出现明显差异的场景下,更鲁棒地实现横向控制,避免因车道线差异造成的方向盘急打,更平稳地控车,可以明显提升横向控制的舒适性和安全性。
Vehicle transverse control method, device and equipment and storage medium
车辆横向控制方法、装置、设备及存储介质
2024-10-29
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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