The invention discloses a lane keeping control method and device, terminal equipment and a storage medium. The method comprises the steps of obtaining a left lane line bending angle, a right lane line bending angle, a left lane line bending number, a right lane line bending number, a left lane line adjacent bending distance and a right lane line adjacent bending distance of a current vehicle traveling lane; when bending exists in the driving lane of the current vehicle, determining the number of bending which the current vehicle needs to pass within a preset time; if the number of the bends needing to pass is 1, the lane width and the first estimated lane center line of the current vehicle before passing through the first bend are obtained; before the current vehicle passes through the bend, determining a first virtual lane offset according to the lane width and the initial offset coefficient, and generating a first virtual lane center line according to the first virtual lane offset and the first estimated lane center line; and controlling the current vehicle to drive along the first virtual lane center line when reaching the starting point of the first virtual lane center line. According to the invention, the driving safety can be improved.
本发明公开了一种车道保持控制方法、装置、终端设备及存储介质,方法包括:获取当前车辆行进车道的左车道线折弯角度、右车道线折弯角度、左车道线折弯数量、右车道线折弯数量、左车道线相邻折弯间距离和右车道线相邻折弯间距离;在当前车辆行进车道中存在折弯时,确定当前车辆在预设时间内需通过折弯数量;若需通过折弯数量为1,获取当前车辆通过第一折弯前的车道宽度和第一预估车道中线;在当前车辆通过折弯前,根据车道宽度和初始偏移系数确定第一虚拟车道偏移量,并根据第一虚拟车道偏移量和第一预估车道中线生成第一虚拟车道中线;控制当前车辆在到达第一虚拟车道中线起点时沿第一虚拟车道中线行驶。通过实施本发明能提高驾驶安全性。
Lane keeping control method and device, terminal equipment and storage medium
一种车道保持控制方法、装置、终端设备及存储介质
2025-01-24
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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