The embodiment of the invention discloses a lane keeping method and device, electronic equipment and a storage medium. Obtaining road image information and vehicle motion parameters, and determining lane line coordinates of the lane line under the vehicle coordinate system according to the road image information; determining a preview distance according to the motion parameters of the vehicle and preset preview parameters; determining a target turning angle of a steering wheel of the vehicle according to the preview distance, the lane line coordinates and the motion parameters of the vehicle based on a front wheel feedback control mode; and controlling the vehicle to keep running in the middle in the lane according to the target turning angle. According to the embodiment of the invention, the accuracy and universality of lane keeping are improved.
本申请实施例公开了一种车道保持方法、装置、电子设备和存储介质。获取道路图像信息和本车运动参数,并根据道路图像信息确定车道线在车辆坐标系下的车道线坐标;根据本车运动参数和预设预瞄参数,确定预瞄距离;基于前轮反馈控制方式,根据预瞄距离、车道线坐标和本车运动参数,确定本车方向盘的目标转角;根据目标转角,控制车辆在车道中保持居中行驶。本申请实施例提高了车道保持的准确性和通用性。
Lane keeping method and device, electronic equipment and storage medium
车道保持方法、装置、电子设备和存储介质
2025-01-07
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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