Lane departure suppression method, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a lane departure suppression method, electronic equipment and a storage medium. The method comprises the steps that when the absolute value of the lateral distance between a vehicle and any lane line on a lane where the vehicle is located is smaller than a set threshold value, at least one parallel line which is distributed between the vehicle and the lane center line and is parallel to the lane center line is determined; selecting an unselected line closest to the current position of the vehicle from the at least one parallel line and the lane center line as a target line; determining a target position on the target line, planning a driving track from the current position to the target position, and controlling the vehicle to reach the target position along the driving track; and taking the target position as a new current position, and returning to the selection operation of the target line until the vehicle arrives at the lane center line. According to the embodiment, an overlarge steering angle is prevented from being generated during lane departure suppression.

Description

technical field [0001] Embodiments of the present invention relate to the field of intelligent driving, and in particular, to a lane departure suppression method, an electronic device and a storage medium. Background technique [0002] Ideally, the center of the vehicle travels along the centerline of the lane. When the vehicle is about to deviate from its lane, the lane departure suppression system will correct and suppress the vehicle, so that the center of the vehicle can smoothly return to the center line of the lane. [0003] In the prior art, the lane departure suppression system controls the vehicle to return to the lane center line along the trajectory by planning the trajectory from the vehicle's current position to the lane center line, such as: figure 1 shown. Due to the limited range of distances achievable by trajectory planning, the longitudinal distance D from the current position to the end of the trajectory plan It has a certain value range, which makes l...

AI Technical Summary

Problems solved by technology

Due to the limited range of distances that can be achieved by trajectory planning, the longitudinal distance D from the current position to the end of the trajectory is plan It has a certain value range, which makes it possible for large vehicles to reach the end of the track only through a large steering angle at high speeds, which is prone to safety hazards

Especially in the case of high-speed driving of large commercial vehicles, due to the complex dynamic characteristics of commercial vehicles, it will bring greater safety hazards

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