The invention relates to the technical field of unmanned driving, in particular to a road centering keeping method and device based on vehicle driving track prediction, and is used for lane centering keeping of large-curvature turning. According to the method, the curvature of the lane is determined by using an image to recognize the lane line, and if the curvature is large, the method is switched to the road centering keeping method based on trajectory prediction. According to the method, the position of the next moment is predicted by obtaining the driving state data of the vehicle and combining the vehicle kinematics model during centering keeping, and due to the fact that the time interval is small, the prediction result is accurate. Then determining a drivable area of a lane and a center line of the drivable area by combining image recognition and millimeter wave radar, and intercepting a reference position from the center line; comparing the predicted position with the reference position, if the deviation is large, adjusting the driving state data of the vehicle, and circularly executing the process to continuously correct the position of the vehicle when the vehicle is close to the center line of the drivable area.

    本发明涉及无人驾驶技术领域,具体涉及一种基于车辆行驶轨迹预测的道路居中保持方法及装置,本申请用于大曲率过弯的车道居中保持。本申请利用图像识别车道线的方式来确定车道的曲率,如果曲率较大,则切换至本申请中的基于轨迹预测的道路居中保持方法。在进行居中保持时,通过获取车辆的行驶状态数据结合车辆运动学模型来对下一时刻的位置进行预测,由于时间间隔较小,因此预测结果较为准确。然后利用图像识别和毫米波雷达结合来确定车道的可行驶区域以及可行驶区域的中心线,从中心线中截取参考位置。对比预测位置和参考位置,如果偏差较大,则对车辆的行驶状态数据进行调整,车辆靠近可行驶区域的中心线,循环执行该过程,不断修正车辆位置。


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    Title :

    Road centering keeping method and device based on vehicle driving track prediction


    Additional title:

    一种基于车辆行驶轨迹预测的道路居中保持方法及装置


    Contributors:
    WANG JUNJIE (author) / HUANG JICHOU (author) / LI XUYANG (author)

    Publication date :

    2025-02-14


    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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