The invention discloses a lane keeping control method based on road conditions, and the method comprises the steps: detecting the information of a lane line and the information of two sides of the lane line in real time; judging whether the lane line is kept to control the vehicle according to a lane centering control strategy or not based on the detected lane line information and the information on the two sides of the lane line; if yes, adopting a lane centering control strategy to control the vehicle, and otherwise, adopting an active deviation strategy to control the vehicle; wherein the active departure strategy means that the vehicle is controlled to run in the lane and deviate towards the two sides in the lane. The control target of the whole system is properly adjusted according to the current scene, the transverse lane keeping function cannot keep the vehicle running in the center of the lane at a glance, a reasonable path needs to be planned according to the current scene, the driving behavior of the system is more humanoid, and a user has better functional experience.
本发明公开了基于道路情况的车道保持控制方法,包括,实时检测车道线信息以及车道线两侧的信息;基于检测的检测车道线信息以及车道线两侧的信息来判断车道线保持是否按照车道居中控制策略控制车辆;若是,则采用车道居中控制策略控制车辆,否则采用主动偏离策略控制车辆;其中主动偏离策略是指控制车辆在车道内行驶且向车道内两侧偏离行驶。本发明根据当前场景适当调整整个系统的控制目标,对于横向车道保持功能不会一味地保持车辆在车道中心行驶,需要根据当前场景规划合理路径,使系统驾驶行为更加类人化,让用户有更好的功能体验。
Lane keeping control method based on road condition
基于道路情况的车道保持控制方法
2025-02-14
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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