The invention relates to the technical field of vehicles, and discloses a self-adaptive lane keeping auxiliary control method and system, electronic equipment, a storage medium and a vehicle, and the method comprises the steps: obtaining a current lane line image, and constructing a Cartesian coordinate system with a front bumper of the vehicle as the center; in response to the lane line image, identifying left and right lane line information of the current road condition, fitting the lane line information in a cubic equation form, and calculating an offset distance of the vehicle relative to the lane line information; in response to a triggering result of LKA correction, evaluating whether the current working condition accords with a preset adjustment requirement range or not; and if the current working condition accords with the adjustment requirement range, steering zero point adjustment is carried out based on the deviation distance difference until the deviation correction distance difference is smaller than a preset threshold value, and a zero point adjustment value is updated. The method can effectively solve the problem that left and right deviation correction of the LKA function is inconsistent due to EPS zero point errors and the like, so that the left and right forces tend to be consistent in the subsequent deviation correction process of the vehicle, and the user experience is improved.
本发明涉及车辆技术领域,公开了一种自适应车道保持辅助控制方法、系统、电子设备、存储介质及车辆,包括获取当前车道线图像,并构建以车辆前保险杠为中心的笛卡尔坐标系;响应于车道线图像,识别当前路况的左右车道线信息,以三次方程形式对所述车道线信息进行拟合,计算车辆相对于车道线信息的偏移距离;响应于LKA纠偏的触发结果,评估当前工况是否符合预设的调整要求范围;若当前工况符合调整要求范围,基于偏移距离差异进行转向零点调节,直至纠偏距离差异小于预设阈值,并更新零点调节值。本发明可以有效解决因EPS零点误差等问题导致LKA功能左右纠偏不一致的问题,使车辆在后续的纠偏过程中左右力度趋于保持一致,提升用户体验。
Self-adaptive lane keeping auxiliary control method and system and vehicle
一种自适应车道保持辅助控制方法、系统及车辆
2024-11-15
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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