The embodiment of the invention discloses a vehicle control method and device and a camera device, and the vehicle control method comprises the steps that a control end obtains a lane center line equation inputted by the camera device on a vehicle, the lane center line equation is a lane center line equation in a certain time domain in the future after the current moment obtained by fitting calculation after the camera device detects a lane line in front of the vehicle; the control end plans a vehicle expected tracking trajectory according to the lane center line equation, and judges whether the road geometric structure sensed by the camera is changed or not; when it is judged that the geometric structure of the road sensed by the camera device changes, secondary fitting is carried out on the lane line in front of the vehicle detected by the camera device, and linear fitting is carried out again to obtain a secondary optimized lane center line equation. According to the vehicle control method, the control device and the camera device disclosed by the embodiment of the invention, the perception layer information can be subjected to secondary optimization, and the effectiveness and the stability of the perception layer information are improved.

    本公开实施例公开了一种车辆控制方法、控制装置及摄像头装置,车辆控制方法可以包括:控制端获取车辆上摄像头装置输入的车道中心线方程,车道中心线方程为摄像头装置对车辆前方车道线的检测后拟合计算得到当前时刻之后的未来一定时域内的车道中心线方程;控制端根据车道中心线方程规划车辆期望跟踪轨迹,判断摄像头感知的道路几何结构是否发生变化;在判定摄像头装置感知的道路几何结构发生变化时,对摄像头装置检测的车辆前方车道线进行二次拟合,以重新线性拟合得到二次优化的车道中心线方程。本公开实施例公开的车辆控制方法、控制装置及摄像头装置,可对感知层信息进行二次优化,提高感知层信息的有效性和稳定性。


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    Titel :

    Vehicle control method, control device and camera device


    Weitere Titelangaben:

    一种车辆控制方法、控制装置及摄像头装置


    Beteiligte:
    CHEN JUNJIE (Autor:in) / WANG YE (Autor:in)

    Erscheinungsdatum :

    08.11.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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