According to the track planning method, device and equipment with the lane centering function and the medium, when it is determined that a left side lane line and a right side lane line of a lane where a vehicle is located are not parallel, a final track with the lane centering function is planned according to a line with the minimum curvature absolute value in a lane center line, the left side lane line or the right side lane line. The technical problem that vehicle control is unstable when the lane centering function senses that the left and right lane lines are not parallel or abnormal in the prior art is solved, and when the left and right lane lines are not parallel or abnormal in the sensing mode, the vehicle running track is planned according to the line with the minimum curvature. When the vehicle is controlled in the middle, the stability and comfort of steering wheel vehicle control can be guaranteed, and the confidence and safety of a user are improved.
公开了一种车道居中功能的轨迹规划方法、装置、设备和介质,通过当确定车辆所在车道的左侧车道线和右侧车道线不平行时,根据车道中心线、左侧车道线或者右侧车道线中曲率绝对值最小的线路规划车道居中功能的最终轨迹,解决了相关技术中车道居中功能在感知检测到的车道线左右不平行或者异常时控车不稳的技术问题,实现了当感知检测到车道线左右不平行或者异常时,根据曲率最小的线路规划车辆运行轨迹,在车辆居中控车时可以保证方向盘控车的稳定性和舒适性,增加用户信心感和安全感。
Track planning method and device with lane centering function, equipment and medium
一种车道居中功能的轨迹规划方法、装置、设备及介质
2024-06-21
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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