METHODS AND APPARATUS FOR CONDUCTING LINE MAINTENANCE AND LINE CHANGES, DEVICES, AND MEDIA

Abstract

A method for controlling lane keeping and lane changing, relating to the technical field of vehicle travel and comprising: obtaining (process 1) an image of a road directly in front of a target vehicle; determining (process 2) a lane line in the image by detecting the image; determining (process 3) a pixel reference point in the image based on the speed of the target vehicle; obtaining (process 4) a group of nearby pixel points by searching and filtering, using a greedy algorithm, the pixel points closest to the pixel reference point from the group of pixel points corresponding to each lane line; and sorting (process 5) the pixel points in the group of nearby pixel points, determining a lane center pixel point by calculating an average value of the adjacent nearest pixel points based on the sorting result, and controlling the lane keeping or lane changing of the target vehicle based on the lane center pixel point.