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。


    Access

    Download


    Export, share and cite



    Title :

    Lane keeping method and device, electronic equipment and storage medium


    Additional title:

    车道保持方法、装置、电子设备和存储介质


    Contributors:
    LI ZUOWEN (author) / ZHANG JIAN (author) / WANG YU (author) / LI HANG (author) / ZHANG HONG (author) / ZHU KEFU (author) / LEE SUNG GUK (author) / LI XINPENG (author) / ZHOU YUHANG (author)

    Publication date :

    2025-01-07


    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



    Lane keeping method and device, equipment and storage medium

    LI CHENG | European Patent Office | 2024

    Free access

    Lane keeping auxiliary control method and device, electronic equipment and storage medium

    HE JIAORONG / YU XIAOYANG / ZHU XIAOLIN et al. | European Patent Office | 2023

    Free access

    Lane keeping method and device, equipment and storage medium

    WANG XIANYU / GUAN SHUWEI | European Patent Office | 2022

    Free access

    Lane keeping control method and system, electronic equipment and storage medium

    ZHU DUNYAO / ZHOU FENGMING / HAO JIANGBO | European Patent Office | 2021

    Free access