The invention relates to a lane keeping control method, device and equipment, a medium and a program product. The method comprises the steps of obtaining lane line information and an obstacle area around a vehicle, determining a vehicle driving track according to the lane line information and a preset offset, then determining a first track coefficient of the center of a front axle of the vehicle and the obstacle area according to the driving track, and if the first track coefficient is smaller than a preset first threshold value, determining that the vehicle is in the obstacle area. If yes, determining a preview point according to the driving track and executing lane keeping operation. The driving track of the vehicle safety regression is determined by using the lane line, so that the track acquisition difficulty can be reduced under the condition of ensuring the vehicle driving safety, the lane keeping control process is simplified, and the computing resources occupied by lane keeping are reduced.

    本发明涉及一种车道保持控制方法、装置、设备、介质及程序产品。该方法包括:获取车辆周围的车道线信息和障碍区域,根据车道线信息和预设的偏移量确定车辆行驶轨迹,再根据行驶轨迹确定车辆前轴中心与障碍区域的第一轨迹系数,若该第一轨迹系数小于预设的第一阈值,则根据行驶轨迹确定预瞄点并执行车道保持操作。通过利用车道线确定车辆安全回归的行驶轨迹,可以在保障车辆行驶安全的情况下降低轨迹获取难度,简化车道保持控制过程,减少车道保持占用的计算资源。


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    Title :

    Lane keeping control method, device, equipment, medium and program product


    Additional title:

    车道保持控制方法、装置、设备、介质及程序产品


    Contributors:
    ZHANG YINA (author) / HU WANG (author) / WAN KAILIN (author)

    Publication date :

    2025-04-25


    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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