The invention provides a vehicle lane keeping and lane changing control method and device, equipment and a medium, and the method comprises the steps: carrying out the detection of a road image right ahead a target vehicle through an existing lane line detection model, and obtaining a lane line; according to the speed of the target vehicle, determining a pixel reference point in the image of the road in front of the target vehicle; traversing and screening pixel points, closest to the pixel reference point, in the pixel point group corresponding to each lane line by using a greedy algorithm to obtain a nearest pixel point group; the pixel points in the nearest pixel point group are sorted, the mean value of the adjacent nearest pixel points is calculated according to the sorting result, a lane center pixel point is determined, and lane keeping or lane changing of the target vehicle is controlled according to the determined lane center pixel point; the requirement of the lane keeping system for computing resources is reduced, and the real-time performance and the stability of the system are improved.

    本发明提出一种车辆车道保持与变道控制方法、装置、设备及介质,可通过现有的车道线检测模型对目标车辆正前方道路图像进行检测,得到车道线;根据目标车辆的速度,确定目标车辆正前方道路图像中像素参考点;利用贪心算法遍历筛选每一条车道线对应的像素点组与所述像素参考点距离最近的像素点,得到最近像素点组;对最近像素点组中像素点进行排序,根据排序结果计算相邻最近像素点的均值,确定车道中心像素点,根据所确定的车道中心像素点,对目标车辆的车道保持或变道进行控制;降低了车道保持系统对计算资源的需求,提高了系统的实时性和稳定性。


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    Title :

    Vehicle lane keeping and lane changing control method, device, equipment and medium


    Additional title:

    一种车辆车道保持与变道控制方法、装置、设备及介质


    Contributors:
    ZHANG JIAQI (author) / QU YUAN (author) / LIU WEI (author) / CHEN SONGSHAN (author) / SHAN YUEJUN (author)

    Publication date :

    2025-02-07


    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



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