Lateral control method and device for road vehicle, medium and electronic equipment

Abstract

The invention provides a transverse control method and device for a road vehicle, a medium and electronic equipment. According to the method, the road type of the road is determined through the sensing parameter value; obtaining key road parameter values of the road type based on the road type and the perception parameter values; determining a virtual guide lane line in a target continuous image of the road based on the key road parameter value of the road type; and determining how the self-vehicle runs according to the virtual guide lane line based on the self-vehicle speed parameter value. The instability of special road type scene control is made up, and the use continuity of the lane keeping function is improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a lateral control method, device, medium and electronic device for a road vehicle. Background Art

[0002] Vehicles equipped with driving assistance cameras can detect the road information ahead (number and changes of lane lines, lane curvature, lane width, lateral and longitudinal distances, lane stop lines, road attributes, etc.) in real time, and can realize the lane keeping function, keeping the car in the middle of the lane, and even passing through roads without lane lines.

[0003] However, during actual debugging or road testing, it was found that the systems that implement the above functions, especially the low-cost pure driving assistance camera solutions, may cause function exit or unstable control in some special scenarios, such as roads (lane lines are aligned or not), changes in the number of lane lines (one to two, or disconnection in the middle, lane lines are aligned or not), and gaps, such as random turning of the steering wheel and deviation from the driving direction, which is inconsistent with the driver's expectations.

[0004] Therefore, the present application provides a lateral control method for a road vehicle to solve the above technical problems. Summary of the invention

[0005] The purpose of this application is to provide a lateral control method, device, medium and electronic device for a road vehicle, which can solve at least one of the above-mentioned technical problems. The specific solution is as follows:

[0006] According to a specific implementation of the present application, in a first aspect, the present application provides a lateral control method for a road vehicle, comprising:

[0007] Acquire a perception parameter value of the vehicle on the road, wherein the perception parameter value includes a vehicle speed parameter value;

[0008] determining a road type of the road based on the perception parameter value;

[0009] Obtaining a key road parameter value of the road type based on the road type and the perception parameter value;

[0010] Determining a virtual guide lane line in a target continuous image of the road based on a key road parameter value of the road type;

[0011] How the vehicle travels along the virtual guide lane line is determined based on the vehicle speed parameter value.

[0012] Optionally, determining the road type of the road based on the perception parameter value includes:

[0013] When the perception parameter values ​​include a clear presence mark of the stop line at the intersection, a mark of no obstruction ahead, and a clear sense segmentation mark, when the vertical distance from the first stop line of the 5th lane to the second stop line opposite the intersection is less than or equal to a preset short intersection distance threshold, and when, the road type is determined to be a short intersection type;

[0014] When the perception parameter values ​​include a clear presence mark of the stop line at the intersection, a mark of no obstruction ahead, and a clear sense segmentation mark, and when the vertical distance from the first stop line of the 5th lane to the second stop line opposite the intersection is greater than a preset short intersection distance threshold, the road type is determined to be a long intersection type;

[0015] Accordingly, the step of determining a virtual guide lane line in a target continuous image of the road based on the key road parameter value of the road type includes:

[0016] When the road type is the short intersection type or the long intersection type, when the absolute value of the lateral distance deviation parameter value between the target lane line of the 5th lane and the target lane line of any lane traveling in the same direction opposite to the intersection is less than or equal to the preset lateral distance deviation threshold, and the first angle parameter value is within the preset first angle range, in the target continuous image of the road, a virtual guide lane line between the 5th lane and the any lane is determined, wherein the first angle parameter value refers to the angle value of the line connecting the first intersection point of the 5th lane to the second intersection point of the any lane and the first stop line of the 5th lane, the first intersection point refers to the intersection point of the target lane line of the 5th lane and the first stop line of the 5th lane, and the second intersection point refers to the intersection point of the target lane line of any lane and the stop line of any lane.

[0017] Optionally, the determining a virtual guide lane line in a target continuous image of the road based on a key road parameter value of the road type includes:

[0018] When the road type is the short intersection type or the long intersection type, when the absolute values ​​of the lateral distance deviation parameter values ​​from the target lane line of the 5-lane and the target lane line of each lane traveling in the same direction opposite to the intersection are greater than the preset lateral distance deviation threshold, when the width parameter values ​​of any two adjacent lanes are within the preset lane width range, and the second angle parameter values ​​of any two adjacent lanes are within the preset second angle range, and the first curvature radius parameter values ​​of any two adjacent lanes are greater than or equal to the preset curvature radius threshold, the target lane is determined from the two adjacent lanes, wherein the second angle parameter The value refers to the angle value between the line from the first intersection of the 5 lanes to the second intersection of any lane and the first stop line from the 5 lanes, the first intersection refers to the intersection of the target lane line from the 5 lanes and the first stop line from the 5 lanes, and the second intersection refers to the intersection of the target lane line of any lane and the stop line of any lane; the second angle parameter value of the target lane is less than or equal to the second angle parameter value of the other lane of the two adjacent lanes, and the first curvature radius parameter value of the target lane is less than or equal to the first curvature radius parameter value of the other lane of the two adjacent lanes;

[0019] In the target continuous image of the road, a virtual guide lane line is determined between the self-lane and the target lane.

[0020] Optionally, determining the road type of the road based on the perception parameter value includes:

[0021] When the perception parameter value includes clear existence marks of two lane lines from lane 5, and the curvature radius parameter value of the right lane line from lane 5 is greater than or equal to the preset straight line curvature radius threshold, and the lost length parameter value of the lost line of the right lane from lane 5 and the lost length parameter value of the lost line of the left lane from lane 5 are both less than or equal to the preset lost length threshold, and the incremental width parameter value of the current detection cycle is greater than the preset incremental width threshold, and the current width parameter value of lane 5 is greater than the current width parameter value of the left adjacent lane, and the inner angle parameter value of the curb of the adjacent left lane is within the preset first curb inner angle range, it is determined that the road type is the first one-divided-two type, wherein the inner angle parameter value of the curb of the adjacent left lane refers to the inner angle value of the left lane line from lane 5 and the curb straight line of the adjacent left lane;

[0022] When the perception parameter value includes a clear existence mark of the right lane line from lane 5, and the curvature radius parameter value of the right lane line from lane 5 is greater than or equal to the preset straight line curvature radius threshold, and the lost length parameter value of the lost line of the right lane from lane 5 and the lost length parameter value of the lost line of the left lane from lane 5 are both less than or equal to the preset lost length threshold, and the incremental width parameter value of the current detection cycle is greater than the preset incremental width threshold, and the current width parameter value of lane 5 is greater than the current width parameter value of the left adjacent lane, and the curb inner angle parameter value of the adjacent left lane is within the preset second curb inner angle range, it is determined that the road type is the second one-divided-two type, wherein the maximum angle value of the preset second curb inner angle range is greater than the maximum angle value of the preset first curb inner angle range;

[0023] Accordingly, the step of determining a virtual guide lane line in a target continuous image of the road based on the key road parameter value of the road type includes:

[0024] When the road type is the first one-divided-into-two type or the second one-divided-into-two type, in the target continuous image of the road, a virtual guide lane line is determined based on the right lane line of the self-5 lane.

[0025] Optionally, determining the road type of the road based on the perception parameter value includes:

[0026] When the perception parameter value includes a non-intersection mark and a lane line stagger mark, determining that the road type is a non-intersection lane line stagger type;

[0027] Accordingly, the step of determining a virtual guide lane line in a target continuous image of the road based on the key road parameter value of the road type includes:

[0028] When the road type is the non-intersection lane line staggered type, when the width parameter values ​​of any two adjacent lanes staggered from the front of lane 5 are within the preset lane width range, and the third angle parameter values ​​of any two adjacent lanes are within the preset third angle range, and the second curvature radius parameter values ​​of any two adjacent lanes are greater than or equal to the preset curvature radius threshold, the target lane is determined from the two adjacent lanes, wherein the third angle parameter value of any lane of the two adjacent lanes refers to the angle value between the line between the end point of the target lane line from lane 5 and the starting point of the target lane line of any lane and the target lane line from lane 5, the third angle parameter value of the target lane is less than or equal to the third angle parameter value of the other lane of the two adjacent lanes, and the second curvature radius parameter value of the target lane is less than or equal to the second curvature radius parameter value of the other lane of the two adjacent lanes;

[0029] In the target continuous image of the road, a virtual guide lane line is determined between the self-lane and the target lane.

[0030] Optionally, determining how the vehicle travels according to the virtual guide lane line based on the vehicle speed parameter value includes:

[0031] When the road type is a long intersection type, a first one-in-two type, or a second one-in-two type, obtaining an expected execution time and an expected speed value based on the vehicle speed parameter value, and controlling the vehicle to travel along the virtual guide lane line based on the expected execution time and the expected speed value;

[0032] When the road type is a short intersection type or a non-intersection lane line staggered type, the vehicle is controlled to travel along the virtual guide lane line based on the vehicle speed parameter value.

[0033] Optionally, determining how the vehicle travels according to the virtual guide lane line based on the vehicle speed parameter value includes:

[0034] Acquire a virtual forward range value and a virtual length value, an absolute value of a virtual radius of curvature value, an absolute value of a virtual lane width value, and a pixel length value of the virtual guide lane line from the target continuous image of the road;

[0035] When the virtual forward range value is less than a preset virtual forward range threshold, the virtual length value is greater than a preset virtual length threshold, the absolute value of the virtual lane width value is less than a preset virtual lane width threshold, and the pixel length value is greater than a preset pixel length threshold, the virtual guide lane line is determined to be of a determined shape type;

[0036] When the shape type is a lane change type, when the absolute value of the virtual curvature radius value is less than a preset first virtual curvature radius threshold, determining how the vehicle should travel according to the virtual guide lane line based on the vehicle speed parameter value;

[0037] When the morphology type is a straight-ahead type, when the absolute value of the virtual curvature radius value is less than a preset second virtual curvature radius threshold, how the vehicle travels according to the virtual guide lane line is determined based on the vehicle speed parameter value, wherein the preset second virtual curvature radius threshold is greater than the preset first virtual curvature radius threshold.

[0038] According to a specific embodiment of the present application, in a second aspect, the present application provides a lateral control device for a road vehicle, comprising:

[0039] An acquisition unit, used for acquiring a perception parameter value of the vehicle on the road, wherein the perception parameter value includes a speed parameter value of the vehicle;

[0040] a type determination unit, configured to determine a road type of the road based on the perception parameter value;

[0041] a parameter obtaining unit, configured to obtain a key road parameter value of the road type based on the road type and the perception parameter value;

[0042] a guidance determination unit, configured to determine a virtual guidance lane line in a target continuous image of the road based on a key road parameter value of the road type;

[0043] An execution unit is used to determine how the vehicle travels according to the virtual guide lane line based on the vehicle speed parameter value.

[0044] Optionally, determining the road type of the road based on the perception parameter value includes:

[0045] When the perception parameter values ​​include a clear presence mark of the stop line at the intersection, a mark of no obstruction ahead, and a clear sense segmentation mark, when the vertical distance from the first stop line of the 5th lane to the second stop line opposite the intersection is less than or equal to a preset short intersection distance threshold, and when, the road type is determined to be a short intersection type;

[0046] When the perception parameter values ​​include a clear presence mark of the stop line at the intersection, a mark of no obstruction ahead, and a clear sense segmentation mark, and when the vertical distance from the first stop line of the 5th lane to the second stop line opposite the intersection is greater than a preset short intersection distance threshold, the road type is determined to be a long intersection type;

[0047] Accordingly, the step of determining a virtual guide lane line in a target continuous image of the road based on the key road parameter value of the road type includes:

[0048] When the road type is the short intersection type or the long intersection type, when the absolute value of the lateral distance deviation parameter value between the target lane line of the 5th lane and the target lane line of any lane traveling in the same direction opposite to the intersection is less than or equal to the preset lateral distance deviation threshold, and the first angle parameter value is within the preset first angle range, in the target continuous image of the road, a virtual guide lane line between the 5th lane and the any lane is determined, wherein the first angle parameter value refers to the angle value of the line connecting the first intersection point of the 5th lane to the second intersection point of the any lane and the first stop line of the 5th lane, the first intersection point refers to the intersection point of the target lane line of the 5th lane and the first stop line of the 5th lane, and the second intersection point refers to the intersection point of the target lane line of any lane and the stop line of any lane.

[0049] Optionally, the determining a virtual guide lane line in a target continuous image of the road based on a key road parameter value of the road type includes:

[0050] When the road type is the short intersection type or the long intersection type, when the absolute values ​​of the lateral distance deviation parameter values ​​from the target lane line of the 5-lane and the target lane line of each lane traveling in the same direction opposite to the intersection are greater than the preset lateral distance deviation threshold, when the width parameter values ​​of any two adjacent lanes are within the preset lane width range, and the second angle parameter values ​​of any two adjacent lanes are within the preset second angle range, and the first curvature radius parameter values ​​of any two adjacent lanes are greater than or equal to the preset curvature radius threshold, the target lane is determined from the two adjacent lanes, wherein the second angle parameter The value refers to the angle value between the line from the first intersection of the 5 lanes to the second intersection of any lane and the first stop line from the 5 lanes, the first intersection refers to the intersection of the target lane line from the 5 lanes and the first stop line from the 5 lanes, and the second intersection refers to the intersection of the target lane line of any lane and the stop line of any lane; the second angle parameter value of the target lane is less than or equal to the second angle parameter value of the other lane of the two adjacent lanes, and the first curvature radius parameter value of the target lane is less than or equal to the first curvature radius parameter value of the other lane of the two adjacent lanes;

[0051] In the target continuous image of the road, a virtual guide lane line is determined between the self-lane and the target lane.

[0052] Optionally, determining the road type of the road based on the perception parameter value includes:

[0053] When the perception parameter value includes clear existence marks of two lane lines from lane 5, and the curvature radius parameter value of the right lane line from lane 5 is greater than or equal to the preset straight line curvature radius threshold, and the lost length parameter value of the lost line of the right lane from lane 5 and the lost length parameter value of the lost line of the left lane from lane 5 are both less than or equal to the preset lost length threshold, and the incremental width parameter value of the current detection cycle is greater than the preset incremental width threshold, and the current width parameter value of lane 5 is greater than the current width parameter value of the left adjacent lane, and the inner angle parameter value of the curb of the adjacent left lane is within the preset first curb inner angle range, it is determined that the road type is the first one-divided-two type, wherein the inner angle parameter value of the curb of the adjacent left lane refers to the inner angle value of the left lane line from lane 5 and the curb straight line of the adjacent left lane;

[0054] When the perception parameter value includes a clear existence mark of the right lane line from lane 5, and the curvature radius parameter value of the right lane line from lane 5 is greater than or equal to the preset straight line curvature radius threshold, and the lost length parameter value of the lost line of the right lane from lane 5 and the lost length parameter value of the lost line of the left lane from lane 5 are both less than or equal to the preset lost length threshold, and the incremental width parameter value of the current detection cycle is greater than the preset incremental width threshold, and the current width parameter value of lane 5 is greater than the current width parameter value of the left adjacent lane, and the curb inner angle parameter value of the adjacent left lane is within the preset second curb inner angle range, it is determined that the road type is the second one-divided-two type, wherein the maximum angle value of the preset second curb inner angle range is greater than the maximum angle value of the preset first curb inner angle range;

[0055] Accordingly, the step of determining a virtual guide lane line in a target continuous image of the road based on the key road parameter value of the road type includes:

[0056] When the road type is the first one-divided-into-two type or the second one-divided-into-two type, in the target continuous image of the road, a virtual guide lane line is determined based on the right lane line of the self-5 lane.

[0057] Optionally, determining the road type of the road based on the perception parameter value includes:

[0058] When the perception parameter value includes a non-intersection mark and a lane line stagger mark, determining that the road type is a non-intersection lane line stagger type;

[0059] Accordingly, the step of determining a virtual guide lane line in a target continuous image of the road based on the key road parameter value of the road type includes:

[0060] When the road type is the non-intersection lane line staggered type, when the width parameter values ​​of any two adjacent lanes staggered from the front of lane 5 are within the preset lane width range, and the third angle parameter values ​​of any two adjacent lanes are within the preset third angle range, and the second curvature radius parameter values ​​of any two adjacent lanes are greater than or equal to the preset curvature radius threshold, the target lane is determined from the two adjacent lanes, wherein the third angle parameter value of any lane of the two adjacent lanes refers to the angle value between the line between the end point of the target lane line from lane 5 and the starting point of the target lane line of any lane and the target lane line from lane 5, the third angle parameter value of the target lane is less than or equal to the third angle parameter value of the other lane of the two adjacent lanes, and the second curvature radius parameter value of the target lane is less than or equal to the second curvature radius parameter value of the other lane of the two adjacent lanes;

[0061] In the target continuous image of the road, a virtual guide lane line is determined between the self-lane and the target lane.

[0062] Optionally, determining how the vehicle travels according to the virtual guide lane line based on the vehicle speed parameter value includes:

[0063] When the road type is a long intersection type, a first one-in-two type, or a second one-in-two type, obtaining an expected execution time and an expected speed value based on the vehicle speed parameter value, and controlling the vehicle to travel along the virtual guide lane line based on the expected execution time and the expected speed value;

[0064] When the road type is a short intersection type or a non-intersection lane line staggered type, the vehicle is controlled to travel along the virtual guide lane line based on the vehicle speed parameter value.

[0065] Optionally, determining how the vehicle travels according to the virtual guide lane line based on the vehicle speed parameter value includes:

[0066] Acquire a virtual forward range value and a virtual length value, an absolute value of a virtual radius of curvature value, an absolute value of a virtual lane width value, and a pixel length value of the virtual guide lane line from the target continuous image of the road;

[0067] When the virtual forward range value is less than a preset virtual forward range threshold, the virtual length value is greater than a preset virtual length threshold, the absolute value of the virtual lane width value is less than a preset virtual lane width threshold, and the pixel length value is greater than a preset pixel length threshold, the virtual guide lane line is determined to be of a determined shape type;

[0068] When the shape type is a lane change type, when the absolute value of the virtual curvature radius value is less than a preset first virtual curvature radius threshold, determining how the vehicle should travel according to the virtual guide lane line based on the vehicle speed parameter value;

[0069] When the morphology type is a straight-ahead type, when the absolute value of the virtual curvature radius value is less than a preset second virtual curvature radius threshold, how the vehicle travels according to the virtual guide lane line is determined based on the vehicle speed parameter value, wherein the preset second virtual curvature radius threshold is greater than the preset first virtual curvature radius threshold.

[0070] According to a specific implementation of the present application, in a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method for lateral control of a road vehicle as described in any one of the above items is implemented.

[0071] According to the specific implementation of the present application, in a fourth aspect, the present application provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the lateral control method of a road vehicle as described in any of the above items.

[0072] Compared with the prior art, the above solution of the embodiment of the present application has at least the following beneficial effects:

[0073] The present application provides a lateral control method, device, medium and electronic device for a road vehicle. The present application determines the road type of the road through the perception parameter value; obtains the key road parameter value of the road type based on the road type and the perception parameter value; determines the virtual guide lane line in the target continuous image of the road based on the key road parameter value of the road type; and determines how the vehicle drives according to the virtual guide lane line based on the vehicle speed parameter value. The instability of the control of special road type scenes is compensated, and the continuity of the lane keeping function is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 A flow chart showing a lateral control method for a road vehicle according to an embodiment of the present application is shown;

[0075] Figure 2 A schematic diagram of an intersection showing a method for lateral control of a road vehicle according to an embodiment of the present application;

[0076] Figure 3 A schematic diagram of a one-to-two road is shown for a lateral control method of a road vehicle according to an embodiment of the present application;

[0077] Figure 4 A schematic diagram of a road with staggered lane lines at a non-intersection is shown according to a lateral control method for a road vehicle according to an embodiment of the present application;

[0078] Figure 5 A schematic diagram of an unaligned intersection showing a lateral control method for a road vehicle according to an embodiment of the present application is shown;

[0079] Figure 6 A unit block diagram of a lateral control device for a road vehicle according to an embodiment of the present application is shown.

[0080] Description of reference numerals:

[0081] 1-self-vehicle, 2-self-5-lane, 3-virtual guide lane line, 4-left adjacent lane;

[0082] 21-intersection, 22-first stop line, 23-second stop line, 24-first intersection, 25-second intersection;

[0083] 31-left lane lost line, 32-right lane lost line, 33-curb inner angle;

[0084] 41-The third angle. DETAILED DESCRIPTION

[0085] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0086] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0087] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0088] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0089] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0090] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0091] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0092] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0093] The embodiment provided in the present application is an embodiment of a lateral control method for a road vehicle.

[0094] Combine the following Figure 1 The embodiments of the present application are described in detail.

[0095] Step S101, obtaining perception parameter values ​​of the vehicle 1 on the road.

[0096] Perception parameter values ​​are the parameter values ​​of the road environment around the vehicle collected by sensors and cameras;

[0097] The perception parameter value includes but is not limited to the vehicle speed parameter value.

[0098] Step S102: determining the road type of the road based on the perception parameter value.

[0099] The embodiment of the present application identifies the road type according to the perception parameter values ​​of the roads around the vehicle, with the purpose of generating virtual guide lane lines 3 in a targeted manner according to different road types, so as to assist the vehicle to pass through special road sections safely and stably.

[0100] In some specific embodiments, Figure 2 As shown, the determining the road type of the road based on the perception parameter value includes:

[0101] Step S102a-1, when the perception parameter value includes a clear existence mark of the stop line at the intersection, an unobstructed mark ahead and a clear perception segmentation mark, and when the vertical distance between the first stop line 22 of the self-lane 2 and the second stop line 23 opposite the intersection 21 is less than or equal to a preset short intersection distance threshold, the road type is determined to be a short intersection type.

[0102] Lane 2 is the lane where vehicle 1 is traveling.

[0103] The preset short-circuit distance threshold is an empirical value obtained through experiments. For example, the preset short-circuit distance threshold is 10m.

[0104] Step S102a-2, when the perception parameter values ​​include a clear presence mark of the stop line at the intersection, an unobstructed mark ahead, and a clear mark of perceived segmentation, and when the vertical distance between the first stop line 22 of the self-lane 2 and the second stop line 23 opposite the intersection 21 is greater than a preset short intersection distance threshold, the road type is determined to be a long intersection type.

[0105] In some specific embodiments, Figure 3 As shown, the determining the road type of the road based on the perception parameter value includes:

[0106] Step S102b-1, when the perception parameter value includes clear existence marks of the two lane lines of the own lane 2, and the curvature radius parameter value of the right lane line of the own lane 2 is greater than or equal to the preset straight line curvature radius threshold, and the lost length parameter value of the right lane lost line 32 of the own lane 2 and the lost length parameter value of the left lane lost line 31 of the own lane 2 are both less than or equal to the preset lost length threshold, and the incremental width parameter value of the current detection cycle is greater than the preset incremental width threshold, and the current width parameter value of the own lane 2 is greater than the current width parameter value of the left adjacent lane 4, and the curb inner angle parameter value of the adjacent left lane is within the preset first curb inner angle range, it is determined that the road type is the first one-divided-two type.

[0107] The parameter value of the inner angle of the curb of the adjacent left lane refers to the inner angle between the left lane line of lane 2 and the straight line of the curb of the adjacent left lane.

[0108] For example, the preset straight line curvature radius threshold is equal to 1000m, indicating that the right lane line is a straight line.

[0109] The preset loss length threshold is an empirical value obtained through experiments. For example, the preset loss length threshold is equal to 15m.

[0110] The incremental width parameter value refers to the difference between the lane width parameter value of the current detection cycle and the lane width parameter value of the previous detection cycle immediately before the current detection cycle. For example, the preset incremental width threshold is equal to 1.5m.

[0111] The curb inner angle parameter value is the angle value of the curb inner angle 33. For example, the preset first curb inner angle range is [25°, 90°].

[0112] Step S102b-2, when the perception parameter value includes a clear presence mark of the right lane line of the own lane 2, and the curvature radius parameter value of the right lane line of the own lane 2 is greater than or equal to the preset straight line curvature radius threshold, and the lost length parameter value of the right lane lost line 32 of the own lane 2 and the lost length parameter value of the left lane lost line 31 of the own lane 2 are both less than or equal to the preset lost length threshold, and the incremental width parameter value of the current detection cycle is greater than the preset incremental width threshold, and the current width parameter value of the own lane 2 is greater than the current width parameter value of the left adjacent lane 4, and the curb inner angle parameter value of the adjacent left lane is within the preset second curb inner angle range, it is determined that the road type is the second one-divided-two type.

[0113] The maximum angle value of the preset second curb inner angle range is greater than the maximum angle value of the preset first curb inner angle range. For example, the preset second curb inner angle range is [25°, 155°].

[0114] In some specific embodiments, Figure 4 As shown, the determining the road type of the road based on the perception parameter value includes:

[0115] Step S102c: when the perception parameter value includes a non-intersection mark and a lane line staggered mark, determine that the road type is a non-intersection lane line staggered type.

[0116] Step S103: obtaining a key road parameter value of the road type based on the road type and the perception parameter value.

[0117] The key road parameter value is calculated by using the road type and the perception parameter value.

[0118] Step S104: determining a virtual guide lane line 3 in the target continuous image of the road based on the key road parameter value of the road type.

[0119] The target continuous image of the road can be a real-time video, and the virtual guide lane line 3 is added to the real-time video to simulate the real lane line and assist the vehicle in safe driving; the target continuous image can also be a dynamic image of a simulated road on a 3D electronic map, and the virtual guide lane line 3 is added to the dynamic image of the simulated road on the 3D electronic map to become a part of the 3D electronic map, which is used to guide the vehicle to drive safely.

[0120] In some specific embodiments, Figure 2 As shown, the method of determining the virtual guide lane line 3 in the target continuous image of the road based on the key road parameter value of the road type includes:

[0121] Step S104a, when the road type is the short intersection type or the long intersection type, when the absolute value of the lateral distance deviation parameter value between the target lane line of the self-lane 2 and the target lane line of any lane traveling in the same direction opposite to the intersection 21 is less than or equal to the preset lateral distance deviation threshold, and the first angle parameter value is within the preset first angle range, in the target continuous image of the road, a virtual guide lane line 3 between the self-lane 2 and any lane is determined.

[0122] Among them, the first angle parameter value refers to the angle value between the line from the first intersection 24 of the self-lane 2 to the second intersection 25 of the any lane and the first stop line 22 of the self-lane 2, the first intersection 24 refers to the intersection of the target lane line of the self-lane 2 and the first stop line 22 of the self-lane 2, and the second intersection 25 refers to the intersection of the target lane line of any lane and the stop line of any lane.

[0123] The target lane line can be either the left lane line or the right lane line.

[0124] The preset lateral distance deviation threshold is an empirical value obtained through experiments. For example, the preset lateral distance deviation threshold is equal to 0.3m.

[0125] The preset first angle range is an empirical value range obtained through experiments. For example, the preset first angle range is [88°, 92°].

[0126] In some specific embodiments, Figure 5 As shown, the method of determining the virtual guide lane line 3 in the target continuous image of the road based on the key road parameter value of the road type includes:

[0127] Step S104b-1, when the road type is the short intersection type or the long intersection type, when the absolute values ​​of the lateral distance deviation parameter values ​​between the target lane line of lane 2 and the target lane line of each lane traveling in the same direction opposite to the intersection 21 are greater than the preset lateral distance deviation threshold, when the width parameter values ​​of any two adjacent lanes are within the preset lane width range, and the second angle parameter values ​​of any two adjacent lanes are within the preset second angle range, and the first curvature radius parameter values ​​of any two adjacent lanes are greater than or equal to the preset curvature radius threshold, the target lane is determined from the two adjacent lanes.

[0128] Among them, the second angle parameter value refers to the angle value between the line from the first intersection 24 of the self-lane 2 to the second intersection 25 of the any lane and the first stop line 22 of the self-lane 2, the first intersection 24 refers to the intersection of the target lane line of the self-lane 2 and the first stop line 22 of the self-lane 2, and the second intersection 25 refers to the intersection of the target lane line of the any lane and the stop line of the any lane; the second angle parameter value of the target lane is less than or equal to the second angle parameter value of the other lane of the two adjacent lanes, and the first curvature radius parameter value of the target lane is less than or equal to the first curvature radius parameter value of the other lane of the two adjacent lanes.

[0129] This specific embodiment is a road with misaligned intersections.

[0130] The preset lane width range is an empirical value range obtained through experiments. For example, the preset lane width range is [2.4m, 5.5m]. This prevents the function from exiting due to lane width being too large or too small.

[0131] The preset second angle range is an empirical value range obtained through experiments. For example, the preset second angle range is equal to [30°, 150°] to avoid the angle of the virtual guide lane line 3 being too large or too small.

[0132] The preset curvature radius threshold is an empirical value obtained through experiments. For example, the preset curvature radius threshold is equal to 600m. The first curvature radius parameter value should be as small as possible to avoid unstable control and excessive steering wheel swing.

[0133] Step S104b-2, determining a virtual guide lane line 3 between the own lane 2 and the target lane in the target continuous image of the road.

[0134] In some specific embodiments, Figure 3 As shown, the method of determining the virtual guide lane line 3 in the target continuous image of the road based on the key road parameter value of the road type includes:

[0135] Step S104c, when the road type is the first one-divided-into-two type or the second one-divided-into-two type, in the target continuous image of the road, a virtual guide lane line 3 is determined based on the right lane line of the own lane 2.

[0136] In some specific embodiments, the determining of the virtual guide lane line 3 in the target continuous image of the road based on the key road parameter value of the road type includes:

[0137] Step S104d-1, when the road type is the non-intersection lane line staggered type, when the width parameter values ​​of any two adjacent lanes staggered in front of lane 2 are within the preset lane width range, and the third angle parameter values ​​of any two adjacent lanes are within the preset third angle range, and the second curvature radius parameter values ​​of any two adjacent lanes are greater than or equal to the preset curvature radius threshold, determine the target lane from the two adjacent lanes.

[0138] Among them, the third angle parameter value of any lane of any two adjacent lanes refers to the angle value between the line between the end point of the target lane line of the self-lane 2 and the starting point of the target lane line of any lane and the target lane line of the self-lane 2, the third angle parameter value of the target lane is less than or equal to the third angle parameter value of the other lane of the two adjacent lanes, and the second curvature radius parameter value of the target lane is less than or equal to the second curvature radius parameter value of the other lane of the two adjacent lanes.

[0139] like Figure 4 As shown, the third angle parameter is the parameter value of the third angle 41.

[0140] The preset lane width range is an empirical value range obtained through experiments. For example, the preset lane width range is [2.4m, 5.5m]. This prevents the function from exiting due to lane width being too large or too small.

[0141] The preset third angle range is an empirical value range obtained through experiments. For example, the preset third angle range is equal to [150°, 250°] to avoid the angle of the virtual guide lane line 3 being too large or too small.

[0142] The preset curvature radius threshold is an empirical value obtained through experiments. For example, the preset curvature radius threshold is equal to 600m. The first curvature radius parameter value should be as small as possible to avoid unstable control and excessive steering wheel swing.

[0143] Step S104d-2, determining a virtual guide lane line 3 between the own lane 2 and the target lane in the target continuous image of the road.

[0144] Step S105 , determining how the vehicle 1 travels along the virtual guide lane line 3 based on the vehicle speed parameter value.

[0145] In some specific embodiments, determining how the vehicle 1 travels according to the virtual guide lane line 3 based on the vehicle speed parameter value includes:

[0146] Step S105a-1, when the road type is a long intersection type or a first one-in-two type or a second one-in-two type, an expected execution time and an expected speed value are obtained based on the vehicle speed parameter value, and based on the expected execution time and the expected speed value, the vehicle 1 is controlled to travel along the virtual guide lane line 3.

[0147] According to the correspondence between the vehicle speed parameter value and the expected execution time and the expected speed value, the expected execution time and the expected speed value are obtained by looking up the vehicle speed parameter value table.

[0148] The expected execution time and expected speed values ​​are both empirical values ​​obtained through experiments.

[0149] The control of the vehicle 1 to drive along the virtual guide lane line 3 based on the expected execution time and the expected speed value means that the vehicle 1 drives along the expected speed value and the virtual guide lane line 3 within the expected execution time, and can drive freely outside the expected execution time. This specific embodiment uses the expected execution time and the expected speed value to perform lane keeping control.

[0150] Step S105a-2, when the road type is a short intersection type or a non-intersection 21 lane line staggered type, the vehicle 1 is controlled to travel along the virtual guide lane line 3 based on the vehicle speed parameter value.

[0151] In some specific embodiments, determining how the vehicle 1 travels according to the virtual guide lane line 3 based on the vehicle speed parameter value includes:

[0152] Step S105b-1, obtaining the virtual forward range value and the virtual length value, the absolute value of the virtual curvature radius value, the absolute value of the virtual lane width value and the pixel length value of the virtual guide lane line 3 from the target continuous image of the road.

[0153] Step S105b-2, when the virtual forward range value is less than the preset virtual forward range threshold, the virtual length value is greater than the preset virtual length threshold, and the absolute value of the virtual lane width value is less than the preset virtual lane width threshold, and the pixel length value is greater than the preset pixel length threshold, the virtual guide lane line 3 is determined to determine the morphological type.

[0154] The preset virtual forward range threshold, the preset virtual length threshold, the preset virtual lane width threshold and the preset pixel length threshold are all empirical values ​​obtained through experiments. For example, the preset virtual forward range threshold is equal to 20m, the preset virtual length threshold is equal to 10m, the preset virtual lane width threshold is equal to 6m, and the preset pixel length threshold is equal to 150 pixels.

[0155] Step S105b-3, when the morphology type is a lane change type, when the absolute value of the virtual curvature radius value is less than a preset first virtual curvature radius threshold, determine how the vehicle 1 travels according to the virtual guide lane line 3 based on the vehicle speed parameter value.

[0156] The preset first virtual curvature radius threshold is an empirical value obtained through experiments. For example, the preset first virtual curvature radius threshold is equal to 3.3 m.

[0157] Step S105b-4, when the morphology type is a straight-ahead type, when the absolute value of the virtual curvature radius value is less than a preset second virtual curvature radius threshold, determine how the vehicle 1 travels along the virtual guide lane line 3 based on the vehicle speed parameter value.

[0158] Wherein, the preset second virtual curvature radius threshold is greater than the preset first virtual curvature radius threshold.

[0159] The preset second virtual curvature radius threshold is an empirical value obtained through experiments. For example, the preset second virtual curvature radius threshold is equal to 10m.

[0160] This specific embodiment verifies the virtual guide lane line 3 before execution to avoid performing erroneous guidance.

[0161] The embodiment of the present application determines the road type of the road through the perception parameter value; obtains the key road parameter value of the road type based on the road type and the perception parameter value; determines the virtual guide lane line 3 in the target continuous image of the road based on the key road parameter value of the road type; and determines how the vehicle 1 drives according to the virtual guide lane line 3 based on the vehicle speed parameter value. This makes up for the instability of the control of the special road type scene and improves the continuity of the lane keeping function.

[0162] The present application also provides a device embodiment that is based on the above embodiment, which is used to implement the method steps described in the above embodiment. The explanation based on the same name meaning is the same as the above embodiment, and has the same technical effect as the above embodiment, which will not be repeated here.

[0163] like Figure 6 As shown, the present application provides a lateral control device 600 for a road vehicle, comprising:

[0164] An acquisition unit 601 is used to acquire a perception parameter value of the vehicle on the road, wherein the perception parameter value includes a vehicle speed parameter value;

[0165] A type determination unit 602, configured to determine a road type of the road based on the perception parameter value;

[0166] A parameter obtaining unit 603, configured to obtain a key road parameter value of the road type based on the road type and the perception parameter value;

[0167] A guidance determination unit 604, configured to determine a virtual guidance lane line in a target continuous image of the road based on a key road parameter value of the road type;

[0168] The execution unit 605 is used to determine how the vehicle should travel along the virtual guide lane line based on the vehicle speed parameter value.

[0169] Optionally, determining the road type of the road based on the perception parameter value includes:

[0170] When the perception parameter values ​​include a clear presence mark of the stop line at the intersection, a mark of no obstruction ahead, and a clear sense segmentation mark, when the vertical distance from the first stop line of the 5th lane to the second stop line opposite the intersection is less than or equal to a preset short intersection distance threshold, and when, the road type is determined to be a short intersection type;

[0171] When the perception parameter values ​​include a clear presence mark of the stop line at the intersection, a mark of no obstruction ahead, and a clear sense segmentation mark, and when the vertical distance from the first stop line of the 5th lane to the second stop line opposite the intersection is greater than a preset short intersection distance threshold, the road type is determined to be a long intersection type;

[0172] Accordingly, the step of determining a virtual guide lane line in a target continuous image of the road based on the key road parameter value of the road type includes:

[0173] When the road type is the short intersection type or the long intersection type, when the absolute value of the lateral distance deviation parameter value between the target lane line of the 5th lane and the target lane line of any lane traveling in the same direction opposite to the intersection is less than or equal to the preset lateral distance deviation threshold, and the first angle parameter value is within the preset first angle range, in the target continuous image of the road, a virtual guide lane line between the 5th lane and the any lane is determined, wherein the first angle parameter value refers to the angle value of the line connecting the first intersection point of the 5th lane to the second intersection point of the any lane and the first stop line of the 5th lane, the first intersection point refers to the intersection point of the target lane line of the 5th lane and the first stop line of the 5th lane, and the second intersection point refers to the intersection point of the target lane line of any lane and the stop line of any lane.

[0174] Optionally, the determining a virtual guide lane line in a target continuous image of the road based on a key road parameter value of the road type includes:

[0175] When the road type is the short intersection type or the long intersection type, when the absolute values ​​of the lateral distance deviation parameter values ​​from the target lane line of the 5-lane and the target lane line of each lane traveling in the same direction opposite to the intersection are greater than the preset lateral distance deviation threshold, when the width parameter values ​​of any two adjacent lanes are within the preset lane width range, and the second angle parameter values ​​of any two adjacent lanes are within the preset second angle range, and the first curvature radius parameter values ​​of any two adjacent lanes are greater than or equal to the preset curvature radius threshold, the target lane is determined from the two adjacent lanes, wherein the second angle parameter The value refers to the angle value between the line from the first intersection of the 5 lanes to the second intersection of any lane and the first stop line from the 5 lanes, the first intersection refers to the intersection of the target lane line from the 5 lanes and the first stop line from the 5 lanes, and the second intersection refers to the intersection of the target lane line of any lane and the stop line of any lane; the second angle parameter value of the target lane is less than or equal to the second angle parameter value of the other lane of the two adjacent lanes, and the first curvature radius parameter value of the target lane is less than or equal to the first curvature radius parameter value of the other lane of the two adjacent lanes;

[0176] In the target continuous image of the road, a virtual guide lane line is determined between the self-lane and the target lane.

[0177] Optionally, determining the road type of the road based on the perception parameter value includes:

[0178] When the perception parameter value includes clear existence marks of two lane lines from lane 5, and the curvature radius parameter value of the right lane line from lane 5 is greater than or equal to the preset straight line curvature radius threshold, and the lost length parameter value of the lost line of the right lane from lane 5 and the lost length parameter value of the lost line of the left lane from lane 5 are both less than or equal to the preset lost length threshold, and the incremental width parameter value of the current detection cycle is greater than the preset incremental width threshold, and the current width parameter value of lane 5 is greater than the current width parameter value of the left adjacent lane, and the inner angle parameter value of the curb of the adjacent left lane is within the preset first curb inner angle range, it is determined that the road type is the first one-divided-two type, wherein the inner angle parameter value of the curb of the adjacent left lane refers to the inner angle value of the left lane line from lane 5 and the curb straight line of the adjacent left lane;

[0179] When the perception parameter value includes a clear existence mark of the right lane line from lane 5, and the curvature radius parameter value of the right lane line from lane 5 is greater than or equal to the preset straight line curvature radius threshold, and the lost length parameter value of the lost line of the right lane from lane 5 and the lost length parameter value of the lost line of the left lane from lane 5 are both less than or equal to the preset lost length threshold, and the incremental width parameter value of the current detection cycle is greater than the preset incremental width threshold, and the current width parameter value of lane 5 is greater than the current width parameter value of the left adjacent lane, and the curb inner angle parameter value of the adjacent left lane is within the preset second curb inner angle range, it is determined that the road type is the second one-divided-two type, wherein the maximum angle value of the preset second curb inner angle range is greater than the maximum angle value of the preset first curb inner angle range;

[0180] Accordingly, the step of determining a virtual guide lane line in a target continuous image of the road based on the key road parameter value of the road type includes:

[0181] When the road type is the first one-divided-into-two type or the second one-divided-into-two type, in the target continuous image of the road, a virtual guide lane line is determined based on the right lane line of the self-5 lane.

[0182] Optionally, determining the road type of the road based on the perception parameter value includes:

[0183] When the perception parameter value includes a non-intersection mark and a lane line stagger mark, determining that the road type is a non-intersection lane line stagger type;

[0184] Accordingly, the step of determining a virtual guide lane line in a target continuous image of the road based on the key road parameter value of the road type includes:

[0185] When the road type is the non-intersection lane line staggered type, when the width parameter values ​​of any two adjacent lanes staggered from the front of lane 5 are within the preset lane width range, and the third angle parameter values ​​of any two adjacent lanes are within the preset third angle range, and the second curvature radius parameter values ​​of any two adjacent lanes are greater than or equal to the preset curvature radius threshold, the target lane is determined from the two adjacent lanes, wherein the third angle parameter value of any lane of the two adjacent lanes refers to the angle value between the line between the end point of the target lane line from lane 5 and the starting point of the target lane line of any lane and the target lane line from lane 5, the third angle parameter value of the target lane is less than or equal to the third angle parameter value of the other lane of the two adjacent lanes, and the second curvature radius parameter value of the target lane is less than or equal to the second curvature radius parameter value of the other lane of the two adjacent lanes;

[0186] In the target continuous image of the road, a virtual guide lane line is determined between the self-lane and the target lane.

[0187] Optionally, determining how the vehicle travels according to the virtual guide lane line based on the vehicle speed parameter value includes:

[0188] When the road type is a long intersection type, a first one-in-two type, or a second one-in-two type, obtaining an expected execution time and an expected speed value based on the vehicle speed parameter value, and controlling the vehicle to travel along the virtual guide lane line based on the expected execution time and the expected speed value;

[0189] When the road type is a short intersection type or a non-intersection lane line staggered type, the vehicle is controlled to travel along the virtual guide lane line based on the vehicle speed parameter value.

[0190] Optionally, determining how the vehicle travels according to the virtual guide lane line based on the vehicle speed parameter value includes:

[0191] Acquire a virtual forward range value and a virtual length value, an absolute value of a virtual radius of curvature value, an absolute value of a virtual lane width value, and a pixel length value of the virtual guide lane line from the target continuous image of the road;

[0192] When the virtual forward range value is less than a preset virtual forward range threshold, the virtual length value is greater than a preset virtual length threshold, the absolute value of the virtual lane width value is less than a preset virtual lane width threshold, and the pixel length value is greater than a preset pixel length threshold, the virtual guide lane line is determined to be of a determined shape type;

[0193] When the shape type is a lane change type, when the absolute value of the virtual curvature radius value is less than a preset first virtual curvature radius threshold, determining how the vehicle should travel according to the virtual guide lane line based on the vehicle speed parameter value;

[0194] When the morphology type is a straight-ahead type, when the absolute value of the virtual curvature radius value is less than a preset second virtual curvature radius threshold, how the vehicle travels according to the virtual guide lane line is determined based on the vehicle speed parameter value, wherein the preset second virtual curvature radius threshold is greater than the preset first virtual curvature radius threshold.

[0195] The embodiment of the present application determines the road type of the road through the perception parameter value; obtains the key road parameter value of the road type based on the road type and the perception parameter value; determines the virtual guide lane line in the target continuous image of the road based on the key road parameter value of the road type; and determines how the vehicle drives according to the virtual guide lane line based on the vehicle speed parameter value. This makes up for the instability of the control of special road type scenes and improves the continuity of the lane keeping function.

[0196] Example 3

[0197] This embodiment provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method steps described in the above embodiment.

[0198] Example 4

[0199] An embodiment of the present application provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the method steps described in the above embodiment.

[0200] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0201] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for lateral control of a road vehicle, characterized in that: include: Acquiring a perception parameter value of the vehicle (1) on the road, wherein the perception parameter value includes a vehicle speed parameter value of the vehicle; determining a road type of the road based on the perception parameter value; Obtaining a key road parameter value of the road type based on the road type and the perception parameter value; Determining a virtual guide lane line in a target continuous image of the road based on a key road parameter value of the road type (3); How the own vehicle (1) travels along the virtual guide lane line (3) is determined based on the own vehicle speed parameter value.

2. The method according to claim 1, characterized in that The determining the road type of the road based on the perception parameter value comprises: When the perception parameter values ​​include a clear presence mark of the stop line at the intersection, a mark of no obstruction ahead, and a clear perception segmentation mark, and when the vertical distance between the first stop line (22) of the self-lane (2) and the second stop line (23) opposite the intersection (21) is less than or equal to a preset short intersection distance threshold, and when the road type is determined to be a short intersection type; When the perception parameter values ​​include a clear presence mark of the stop line at the intersection, a mark of no obstruction ahead, and a clear perception segmentation mark, and when the vertical distance between the first stop line (22) of the self-lane (2) and the second stop line (23) opposite the intersection (21) is greater than a preset short intersection distance threshold, the road type is determined to be a long intersection type; Accordingly, the determining of the virtual guide lane line (3) in the target continuous image of the road based on the key road parameter value of the road type comprises: When the road type is the short intersection type or the long intersection type, when the absolute value of the lateral distance deviation parameter value between the target lane line of the self-lane (2) and the target lane line of any lane traveling in the same direction opposite to the intersection (21) is less than or equal to a preset lateral distance deviation threshold, and the first angle parameter value is within a preset first angle range, a virtual guide lane line (3) between the self-lane (2) and any lane is determined in the target continuous image of the road, wherein the first angle parameter value refers to the angle value between the line from the first intersection point (24) of the self-lane (2) to the second intersection point (25) of any lane and the first stop line (22) of the self-lane (2), the first intersection point (24) refers to the intersection point of the target lane line of the self-lane (2) and the first stop line (22) of the self-lane (2), and the second intersection point (25) refers to the intersection point of the target lane line of any lane and the stop line of any lane.

3. The method according to claim 2, characterized in that The step of determining a virtual guide lane line (3) in a target continuous image of the road based on a key road parameter value of the road type comprises: When the road type is the short intersection type or the long intersection type, when the absolute values ​​of the lateral distance deviation parameter values ​​of the target lane line of the self-lane (2) and the target lane line of each lane traveling in the same direction opposite to the intersection (21) are both greater than a preset lateral distance deviation threshold, when the width parameter values ​​of any two adjacent lanes are both within a preset lane width range, and the second angle parameter values ​​of any two adjacent lanes are both within a preset second angle range, and the first curvature radius parameter values ​​of any two adjacent lanes are both greater than or equal to the preset curvature radius threshold, the target lane is determined from the two adjacent lanes, wherein the second angle parameter value refers to the second curvature radius parameter value of the self-lane (2). an angle value between a line from an intersection point (24) to a second intersection point (25) of any lane and a first stop line (22) of the own lane (2), wherein the first intersection point (24) refers to an intersection point between a target lane line of the own lane (2) and the first stop line (22) of the own lane (2), and the second intersection point (25) refers to an intersection point between a target lane line of any lane and the stop line of any lane; the second angle parameter value of the target lane is less than or equal to the second angle parameter value of the other lane of the two adjacent lanes, and the first curvature radius parameter value of the target lane is less than or equal to the first curvature radius parameter value of the other lane of the two adjacent lanes; In the target continuous image of the road, a virtual guide lane line (3) is determined between the own lane (2) and the target lane.

4. The method according to claim 1, characterized in that: The determining the road type of the road based on the perception parameter value comprises: When the perception parameter value includes clear existence marks of the two lane lines of the self-lane (2), and the curvature radius parameter value of the right lane line of the self-lane (2) is greater than or equal to the preset straight line curvature radius threshold, and the lost length parameter value of the right lane lost line (32) of the self-lane (2) and the lost length parameter value of the left lane lost line (31) of the self-lane (2) are both less than or equal to the preset lost length threshold, and the incremental width parameter value of the current detection cycle is greater than the preset incremental width threshold, and the current width parameter value of the self-lane (2) is greater than the current width parameter value of the left adjacent lane (4), and the inner angle parameter value of the curb of the adjacent left lane is within the preset first curb inner angle range, the road type is determined to be the first one-divided-two type, wherein the inner angle parameter value of the curb of the adjacent left lane refers to the inner angle value between the left lane line of the self-lane (2) and the curb straight line of the adjacent left lane; When the perception parameter value includes a clear presence mark of the right lane line of the own lane (2), and the curvature radius parameter value of the right lane line of the own lane (2) is greater than or equal to the preset straight line curvature radius threshold, and the lost length parameter value of the right lane lost line (32) of the own lane (2) and the lost length parameter value of the left lane lost line (31) of the own lane (2) are both less than or equal to the preset lost length threshold, and the incremental width parameter value of the current detection cycle is greater than the preset incremental width threshold, and the current width parameter value of the own lane (2) is greater than the current width parameter value of the left adjacent lane (4), and the curb inner angle parameter value of the adjacent left lane is within a preset second curb inner angle range, the road type is determined to be the second one-divided-two type, wherein the maximum angle value of the preset second curb inner angle range is greater than the maximum angle value of the preset first curb inner angle range; Accordingly, the determining of the virtual guide lane line (3) in the target continuous image of the road based on the key road parameter value of the road type comprises: When the road type is the first one-in-two type or the second one-in-two type, in the target continuous image of the road, a virtual guide lane line (3) is determined based on the right lane line of the own lane (2).

5. The method according to claim 1, characterized in that The determining the road type of the road based on the perception parameter value comprises: When the perception parameter value includes a non-intersection mark and a lane line stagger mark, determining that the road type is a non-intersection lane line stagger type; Accordingly, the determining of the virtual guide lane line (3) in the target continuous image of the road based on the key road parameter value of the road type comprises: When the road type is the non-intersection lane line staggered type, when the width parameter values ​​of any two adjacent lanes staggered in front of the self-lane (2) are both within the preset lane width range, and the third angle parameter values ​​of any two adjacent lanes are both within the preset third angle range, and the second curvature radius parameter values ​​of any two adjacent lanes are both greater than or equal to the preset curvature radius threshold, the target lane is determined from the two adjacent lanes, wherein the third angle parameter value of any lane in the two adjacent lanes refers to the angle between the line between the end point of the target lane line of the self-lane (2) and the starting point of the target lane line of any lane and the target lane line of the self-lane (2), the third angle parameter value of the target lane is less than or equal to the third angle parameter value of the other lane in the two adjacent lanes, and the second curvature radius parameter value of the target lane is less than or equal to the second curvature radius parameter value of the other lane in the two adjacent lanes; In the target continuous image of the road, a virtual guide lane line (3) is determined between the own lane (2) and the target lane.

6. The method according to claim 1, characterized in that The determining, based on the vehicle speed parameter value, how the vehicle (1) travels along the virtual guide lane line (3) comprises: When the road type is a long intersection type, a first one-two type, or a second one-two type, an expected execution time and an expected speed value are obtained based on the vehicle speed parameter value, and the vehicle (1) is controlled to travel along the virtual guide lane line (3) based on the expected execution time and the expected speed value; When the road type is a short intersection type or a non-intersection lane line staggered type, the vehicle (1) is controlled to travel along the virtual guide lane line (3) based on the vehicle speed parameter value.

7. The method according to claim 1, characterized in that The determining, based on the vehicle speed parameter value, how the vehicle (1) travels along the virtual guide lane line (3) comprises: Acquire a virtual forward range value and a virtual length value, an absolute value of a virtual radius of curvature value, an absolute value of a virtual lane width value and a pixel length value of the virtual guide lane line (3) from the target continuous image of the road; When the virtual forward range value is less than a preset virtual forward range threshold, the virtual length value is greater than a preset virtual length threshold, the absolute value of the virtual lane width value is less than a preset virtual lane width threshold, and the pixel length value is greater than a preset pixel length threshold, the virtual guide lane line (3) is determined to determine the shape type; When the morphology type is a lane change type, when the absolute value of the virtual curvature radius value is less than a preset first virtual curvature radius threshold, determining how the self-vehicle (1) drives according to the virtual guide lane line (3) based on the self-vehicle speed parameter value; When the morphology type is a straight-ahead type, when the absolute value of the virtual curvature radius value is less than a preset second virtual curvature radius threshold, it is determined how the vehicle (1) travels along the virtual guide lane line (3) based on the vehicle speed parameter value, wherein the preset second virtual curvature radius threshold is greater than the preset first virtual curvature radius threshold.

8. A lateral control device for a road vehicle, characterized in that: include: An acquisition unit, used for acquiring a perception parameter value of the vehicle on the road, wherein the perception parameter value includes a speed parameter value of the vehicle; a type determination unit, configured to determine a road type of the road based on the perception parameter value; a parameter obtaining unit, configured to obtain a key road parameter value of the road type based on the road type and the perception parameter value; a guidance determination unit, configured to determine a virtual guidance lane line in a target continuous image of the road based on a key road parameter value of the road type; An execution unit is used to determine how the vehicle travels according to the virtual guide lane line based on the vehicle speed parameter value.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1 to 7.

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