The invention relates to a lane keeping method. The method comprises the following steps: acquiring real-time driving data of a vehicle, wherein the real-time driving data comprises a real-time position and a reference position corresponding to the real-time position; calculating a vehicle steering curvature corresponding to the real-time position based on the position deviation between the real-time position and the reference position; calculating a target steering wheel turning angle corresponding to the vehicle steering curvature; controlling the vehicle to keep the lane according to the target steering wheel angle. The invention further relates to a lane keeping device, equipment and a storage medium. According to the embodiment of the invention, the lane keeping system can accurately control the vehicle to keep running on a specified lane all the time based on the target steering wheel angle, so that the comfort and reliability of lane keeping are improved, and the comfortable and reliable lane cruising requirement is met.

    本公开涉及一种车道保持方法。该方法包括:获取车辆的实时行驶数据,实时行驶数据包括实时位置和实时位置对应的参考位置;基于实时位置与参考位置之间的位置偏差,计算实时位置对应的车辆转向曲率;计算车辆转向曲率对应的目标方向盘转角;根据目标方向盘转角控制车辆进行车道保持。本公开还涉及一种车道保持装置、设备及存储介质。根据本公开实施例,车道保持系统可以精准地基于目标方向盘转角控制车辆一直保持在规定的某个车道上行驶,提高了车道保持的舒适性和可靠性,进而满足舒适可靠的车道巡航需求。


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    Title :

    Lane keeping method and device, equipment and storage medium


    Additional title:

    车道保持方法、装置、设备及存储介质


    Contributors:
    WANG XIANYU (author) / GUAN SHUWEI (author)

    Publication date :

    2022-12-09


    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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