The invention discloses a lane centering control method, a controller, a storage medium and a vehicle. The lane centering control method comprises the following steps: acquiring a vehicle driving road image; acquiring fluctuation state information of the vehicle driving road surface according to the vehicle driving road image; and according to the fluctuation state information of the road surface of the vehicle driving road, vehicle aligning torque is obtained, and the vehicle is controlled to be aligned according to the vehicle aligning torque. The method can control the vehicle to return in time according to the fluctuation state information of the road surface, so that the deviation between the vehicle driving track and the target track is reduced, and the transverse control precision and the centering control reliability are improved.

    本发明公开了一种车道居中控制方法及控制器、存储介质和车辆,车道居中控制方法包括:获取车辆行驶道路图像;根据车辆行驶道路图像获得车辆行驶道路路面的起伏状态信息;根据车辆行驶道路路面的起伏状态信息获得车辆回正力矩,以根据车辆回正力矩控制车辆进行回正。该方法可以根据路面的起伏状态信息控制车辆及时回正,使车辆行驶轨迹与目标轨迹偏差减小,提高横向控制精度以及居中控制的可靠性。


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    Title :

    Lane centering control method and controller, storage medium and vehicle


    Additional title:

    车道居中控制方法及控制器、存储介质和车辆


    Contributors:
    LI BINGYAN (author) / YANG YOUTIAN (author) / WANG XIAOYING (author) / YANG ZHENJIE (author) / DING CHENG (author) / JI YUANXIN (author) / WEN XIAO (author)

    Publication date :

    2025-01-24


    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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