Lane keeping method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a lane keeping method and device, electronic equipment and a storage medium. Obtaining road image information and vehicle motion parameters, and determining lane line coordinates of the lane line under the vehicle coordinate system according to the road image information; determining a preview distance according to the motion parameters of the vehicle and preset preview parameters; determining a target turning angle of a steering wheel of the vehicle according to the preview distance, the lane line coordinates and the motion parameters of the vehicle based on a front wheel feedback control mode; and controlling the vehicle to keep running in the middle in the lane according to the target turning angle. According to the embodiment of the invention, the accuracy and universality of lane keeping are improved.

Description

Technical Field

[0001] Embodiments of the present application relate to intelligent driving technology, and in particular, to a lane keeping method, device, electronic device, and storage medium. Background Art

[0002] As the number of cars increases, traffic safety issues have also attracted much attention. Studies have found that lane departure accounts for a high proportion of the many factors that cause traffic accidents.

[0003] In the prior art, the lateral deviation of the vehicle is usually considered to determine the adjustment angle of the steering wheel. However, only considering the lateral deviation of the vehicle to control the vehicle in the lane cannot adapt to the changes in the real-time state of the vehicle, resulting in large errors and poor versatility. Summary of the invention

[0004] The present application provides a lane keeping method, device, electronic device and storage medium to improve the accuracy and versatility of lane keeping.

[0005] In a first aspect, an embodiment of the present application provides a lane keeping method, the lane keeping method comprising:

[0006] Obtaining road image information and vehicle motion parameters, and determining lane line coordinates in the vehicle coordinate system based on the road image information;

[0007] Determine the preview distance according to the vehicle's motion parameters and preset preview parameters;

[0008] Based on the front wheel feedback control method, the target steering angle of the vehicle's steering wheel is determined according to the preview distance, lane line coordinates and vehicle motion parameters;

[0009] Based on the target turning angle, the vehicle is controlled to stay centered in the lane.

[0010] In a second aspect, an embodiment of the present application further provides a lane keeping device, the lane keeping device comprising:

[0011] A parameter acquisition module is used to acquire road image information and vehicle motion parameters, and determine the lane line coordinates in the vehicle coordinate system according to the road image information;

[0012] A preview distance determination module is used to determine the preview distance according to the vehicle motion parameters and preset preview parameters;

[0013] A target turning angle determination module is used to determine the target turning angle of the steering wheel of the vehicle based on the front wheel feedback control method according to the preview distance, lane line coordinates and vehicle motion parameters;

[0014] The vehicle driving control module is used to control the vehicle to keep centered in the lane according to the target turning angle.

[0015] In a third aspect, an embodiment of the present application further provides an electronic device, the electronic device comprising:

[0016] one or more processors;

[0017] A storage device for storing one or more programs;

[0018] When one or more programs are executed by one or more processors, the one or more processors implement any lane keeping method provided in the embodiments of the present application.

[0019] In a fourth aspect, an embodiment of the present application further provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute any lane keeping method provided in the embodiment of the present application.

[0020] The present application obtains road image information and vehicle motion parameters, and determines the lane line coordinates of the lane line in the vehicle coordinate system according to the road image information; determines the preview distance according to the vehicle motion parameters and preset preview parameters, and determines the preview distance according to the vehicle motion state, and can adjust the preview distance according to the motion state in real time to ensure the accuracy and smoothness of the lane control effect; based on the front wheel feedback control method, the target turning angle of the steering wheel of the vehicle is determined according to the preview distance, lane line coordinates and the vehicle motion parameters, and when determining the target turning angle, the vehicle motion parameters are considered, so that the control of the target turning angle can adapt to vehicles in different driving states, and ensure the accuracy of the lane keeping effect and the versatility of the target turning angle determination method; according to the target turning angle, the vehicle is controlled to keep driving in the center of the lane, and the control of the vehicle lane keeping is realized to ensure the safety of driving. Therefore, through the technical solution of the present application, the problem of only considering the lateral deviation of the vehicle, being unable to adapt to the changes in the real-time state of the vehicle, having large errors and poor versatility is solved, and the effect of improving the accuracy and versatility of lane keeping is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a flow chart of a lane keeping method in Embodiment 1 of the present application;

[0022] Figure 2 is a flow chart of a lane keeping method in Embodiment 2 of the present application;

[0023] Figure 3 is a schematic structural diagram of a lane keeping device in Embodiment 3 of the present application;

[0024] Figure 4 It is a structural diagram of an electronic device in Embodiment 4 of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0026] It should be noted that the terms "first" and "second" etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1 This is a flow chart of a lane keeping method provided in Example 1 of the present application. This embodiment can be applied to the situation where lane keeping is performed for vehicles traveling at different speeds. The method can be executed by a lane keeping device, which can be implemented in software and / or hardware and specifically configured in the vehicle end.

[0029] See also Figure 1 The lane keeping method shown specifically includes the following steps:

[0030] S110, acquiring road image information and vehicle motion parameters, and determining lane line coordinates of the lane line in the vehicle coordinate system according to the road image information.

[0031] The road image information may be road condition image information collected by various sensors on the vehicle, and is used to determine the lane line coordinates in the vehicle coordinate system. The vehicle motion parameters may be parameters describing the vehicle motion state, and may be used to determine the preview distance, and further determine the target steering angle of the vehicle steering wheel.

[0032] Optionally, determining the lane line coordinates of the lane line in the vehicle coordinate system according to the road image information includes: determining lane line parameters from the road image information, and determining the lane line coordinates of the lane line in the vehicle coordinate system according to the lane line parameters.

[0033] Exemplarily, the lane line parameters may include: a lateral distance C0 of the lane line from the center line of the sensor optical axis, a heading angle C1 of the vehicle relative to the lane line, a curvature C2 of the lane line, a curvature change rate C3 of the lane line, etc.

[0034] The lane line equation can be used to calculate the coordinates (x, y) of the lane line in front of the vehicle's driving lane in the vehicle coordinate system.

[0035] Exemplarily, the lane line equation calculation formula is as follows:

[0036] y=C0+C1*x+C2*x 2 +C3*x 3 .

[0037] By determining the lane line coordinates in the vehicle coordinate system according to the lane line parameters, the lane line coordinates can be converted to the vehicle coordinate system to unify the reference system for subsequent calculations.

[0038] The vehicle motion parameters can be obtained from the vehicle's controller area network bus. Exemplarily, the vehicle motion parameters can include all vehicle motion information required for lane keeping control, such as the vehicle's longitudinal speed and the vehicle's steering wheel angle.

[0039] S120: Determine the preview distance according to the vehicle motion parameters and preset preview parameters.

[0040] The preset preview parameters may be pre-set parameters for determining the preview distance. Exemplarily, the preset preview parameters may include a preset forward distance and forward time, etc., which are not specifically limited in this application. The preview parameters may be a reaction distance reserved for the driver to adapt to different motion states of the vehicle.

[0041] Since the faster the vehicle speed, the longer the vehicle travels per unit time, the corresponding preview distance should be farther. Therefore, the determination of the preview distance needs to be based on the vehicle motion parameters. Exemplarily, the vehicle motion parameters may include the vehicle speed. Specifically, the preview distance may be proportional to the vehicle speed.

[0042] The preview distance may be the distance between the vehicle and the preview point, and is used to adjust the lane keeping effect. Exemplarily, the reaction distance may be determined according to the vehicle motion parameter and the forward time, and the lane control effect may be adjusted according to the forward distance. For example, the sum of the product of the vehicle motion parameter and the forward time and the forward distance may be used as the preview distance.

[0043] In an optional embodiment, the preset preview parameters include a forward time and a forward distance; accordingly, the preview distance is determined according to the vehicle motion parameters and the preset preview parameters, including: determining the preview distance according to the vehicle longitudinal speed, the forward time and the forward distance.

[0044] The control effect based on the front wheel feedback control method depends on the selection of the preview distance. The longer the preview distance, the smaller the expected steering wheel target angle change will be, and the smoother the control effect will be; the shorter the preview distance, the more precise the control effect will be, but it will also bring some shocks. The forward distance can be the distance between the vehicle and the preview point when the vehicle speed is 0. The forward time can be used to measure the driver's reaction time.

[0045] Preview distance x and vehicle longitudinal speed v x The relationship is as follows:

[0046] x=v x *T pre +l0;

[0047] Where: v x is the longitudinal speed of the vehicle, T pre To simulate the driver's forward time, l0 is the forward distance.

[0048] The preview parameters include forward time and forward distance. The preview distance is determined according to the longitudinal speed, forward time and forward distance of the vehicle. The smoothness and accuracy of the lane keeping process control effect are adjusted through the forward time and forward distance.

[0049] S130: Based on the front wheel feedback control method, the target steering angle of the vehicle steering wheel is determined according to the preview distance, the lane line coordinates and the vehicle motion parameters.

[0050] According to the preview distance and the lane line coordinates, the lateral deviation between the preview point on the center line of the forward lane of the simulated driver and the vehicle can be determined; according to the lateral deviation and the vehicle motion parameters, the angle to offset the lateral deviation can be determined in real time according to the vehicle's motion state, and then the target steering angle of the vehicle's steering wheel can be determined according to the angle of the current vehicle driving section. Exemplarily, when determining the target steering angle of the vehicle's steering wheel, the vehicle's motion parameters that need to be used may include the vehicle's heading angle relative to the lane line, the transmission ratio of the steering wheel angle to the wheel angle, the correction coefficient, and the vehicle's longitudinal speed, etc., which are not specifically limited in this application.

[0051] S140: Control the vehicle to keep driving centered in the lane according to the target turning angle.

[0052] According to the target turning angle, the steering wheel of the vehicle is controlled to turn according to the target turning angle so that the vehicle remains centered in the lane.

[0053] In recent years, the number of cars has been increasing, and traffic safety issues have also attracted much attention. Among the many factors that cause traffic accidents, lane departure accounts for a high proportion. With the development of automobile intelligence and networking, some advanced driver assistance systems have emerged. Lane keeping assist technology, as one of the key functions of advanced driver assistance systems, can greatly reduce the incidence of traffic accidents and reduce the driver's operating load. Its research is of great significance to the development of intelligent and networked automobiles.

[0054] The research on lane keeping assist system mainly includes two parts: perception layer and control layer. The perception layer is the analysis of lane line information by sensors to obtain the lateral position of the vehicle; the control layer mainly adjusts the lateral position of the vehicle or makes the vehicle follow the track through the lateral control algorithm. The key to the lane keeping assist system is to achieve vehicle lateral position correction with high efficiency and low cost.

[0055] The technical solution of this embodiment obtains road image information and the motion parameters of the vehicle, and determines the lane line coordinates of the lane line in the vehicle coordinate system according to the road image information; determines the preview distance according to the motion parameters of the vehicle and the preset preview parameters, and determines the preview distance according to the motion state of the vehicle, and can adjust the preview distance according to the motion state in real time to ensure the accuracy and smoothness of the lane control effect; based on the front wheel feedback control method, the target turning angle of the steering wheel of the vehicle is determined according to the preview distance, the lane line coordinates and the motion parameters of the vehicle. When determining the target turning angle, the motion parameters of the vehicle are considered, so that the control of the target turning angle can adapt to vehicles in different driving states, and ensure the accuracy of the lane keeping effect and the versatility of the target turning angle determination method; according to the target turning angle, the vehicle is controlled to keep driving in the center of the lane, and the control of the vehicle lane keeping is realized to ensure the safety of driving. Therefore, through the technical solution of this application, the problem of only considering the lateral deviation of the vehicle, being unable to adapt to the changes in the real-time state of the vehicle, having large errors and poor versatility is solved, and the effect of improving the accuracy and versatility of lane keeping is achieved.

[0056] Embodiment 2

[0057] Figure 2 This is a flow chart of a lane keeping method provided in Example 2 of the present application. The technical solution of this embodiment is further refined on the basis of the above technical solution.

[0058] Furthermore, the vehicle motion parameters include the vehicle's heading angle relative to the lane line, the transmission ratio of the steering wheel angle to the wheel angle, the correction coefficient and the longitudinal speed of the vehicle. "Based on the front wheel feedback control method, determine the target steering angle of the vehicle's steering wheel according to the preview distance, the lane line coordinates and the vehicle motion parameters" is refined into: "Determine the lateral deviation according to the preview distance; determine the target steering angle of the vehicle's steering wheel according to the vehicle's heading angle relative to the lane line, the transmission ratio of the steering wheel angle to the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle" to determine the target steering angle of the vehicle's steering wheel.

[0059] See also Figure 2 A lane keeping method is shown, comprising:

[0060] S210, acquiring road image information and vehicle motion parameters, and determining lane line coordinates of the lane line in the vehicle coordinate system according to the road image information.

[0061] S220: Determine the preview distance according to the vehicle motion parameters and preset preview parameters.

[0062] S230: Determine the lateral deviation according to the preview distance.

[0063] According to the preview distance, the position of the preview point can be determined on the lane line, and the lateral deviation can be determined according to the position of the preview point. Specifically, the lateral deviation can be determined by the following formula:

[0064]

[0065] In the formula, e y To simulate the lateral deviation between the preview point and the vehicle on the center line of the forward lane where the driver is driving; L To simulate the lateral deviation between the preview point and the vehicle on the left lane line ahead of the driver, y R It simulates the lateral deviation between the driver's preview point and the vehicle on the right lane line.

[0066] S240: Determine a target steering angle of the vehicle according to the heading angle of the vehicle relative to the lane line, the transmission ratio between the steering wheel angle and the wheel angle, the lateral deviation, the correction coefficient, and the longitudinal speed of the vehicle.

[0067] Based on the lateral deviation, correction coefficient and longitudinal speed of the vehicle, the wheel adjustment angle for lane keeping of the vehicle can be determined in real time according to the longitudinal speed of the vehicle; then, the adjustment angle of the steering wheel of the vehicle can be determined according to the wheel adjustment angle and the transmission ratio between the steering wheel angle and the wheel angle; based on the adjustment angle of the steering wheel of the vehicle and the heading angle of the vehicle relative to the lane line, the target angle of the steering wheel of the vehicle can be determined.

[0068] In an optional embodiment, the target steering angle of the vehicle's steering wheel is determined based on the vehicle's heading angle relative to the lane line, the transmission ratio of the steering wheel angle to the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle, including: determining an adjustment angle based on the transmission ratio of the steering wheel angle to the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle; and taking the sum of the adjustment angle and the vehicle's heading angle relative to the lane line as the target steering angle of the vehicle's steering wheel.

[0069] The adjustment angle may be an angle used to balance the lateral deviation. The correction coefficient may be a correction coefficient obtained according to a calibration test, which is used to correct the adjustment angle and improve the accuracy of the adjustment angle. The adjustment angle is determined according to the transmission ratio between the steering wheel angle and the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle. The lateral deviation is adjusted accordingly in consideration of the real-time change in speed, so that the lane keeping control can adapt to the real-time change in speed, and the correction is made through the correction coefficient to further improve the accuracy of the adjustment angle.

[0070] The heading angle of the vehicle relative to the lane line can be the angle that needs to be maintained when driving along the curvature of the lane. The sum of the adjustment angle and the heading angle of the vehicle relative to the lane line is used as the target turning angle of the steering wheel of the vehicle. This can reduce lateral deviation while driving along the lane and control the vehicle to drive in the center.

[0071] In an optional embodiment, the adjustment angle is determined based on the transmission ratio of the steering wheel angle to the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle, including: multiplying the ratio of the lateral deviation to the longitudinal speed of the vehicle by the correction coefficient to obtain the wheel adjustment angle tangent value; obtaining the wheel adjustment angle based on the wheel adjustment angle tangent value; obtaining the adjustment angle based on the wheel adjustment angle and the transmission ratio of the steering wheel angle to the wheel angle.

[0072] The ratio of the lateral deviation to the longitudinal speed of the vehicle multiplied by the correction coefficient is based on the wheel as a reference. Therefore, the tangent value of the wheel adjustment angle can be obtained by multiplying the ratio of the lateral deviation to the longitudinal speed of the vehicle by the correction coefficient. The wheel adjustment angle can be obtained by performing an inverse tangent operation on the tangent value of the wheel adjustment angle. The adjustment angle can be obtained based on the transmission ratio between the wheel adjustment angle and the steering wheel angle and the wheel angle.

[0073] Specifically, the target rotation angle can be obtained according to the following formula:

[0074]

[0075] In the formula, is the target corner, The heading angle of the vehicle relative to the lane line, k is the correction coefficient, and i is the transmission ratio between the steering wheel angle and the wheel angle.

[0076] S250: Control the vehicle to keep driving centered in the lane according to the target turning angle.

[0077] According to the technical solution of this embodiment, the motion parameters of the vehicle include the heading angle of the vehicle relative to the lane line, the transmission ratio of the steering wheel angle and the wheel angle, the correction coefficient and the longitudinal speed of the vehicle. The lateral deviation is determined according to the preview distance. The target angle of the steering wheel of the vehicle is determined according to the heading angle of the vehicle relative to the lane line, the transmission ratio of the steering wheel angle and the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle. The target angle can be adjusted in real time according to the longitudinal speed and lateral deviation of the vehicle, thereby achieving precise control of lane keeping, adapting to different vehicle speeds, and improving the versatility of the target angle determination method.

[0078] Embodiment 3

[0079] Figure 3 The structure diagram of a lane keeping device provided in the third embodiment of the present application is shown. This embodiment is applicable to the situation where vehicles traveling at different speeds are performing lane keeping. It is configured at the vehicle end. The specific structure of the lane keeping device is as follows:

[0080] The parameter acquisition module 310 is used to acquire the road image information and the vehicle motion parameters, and determine the lane line coordinates of the lane line in the vehicle coordinate system according to the road image information;

[0081] A preview distance determination module 320, for determining a preview distance according to the vehicle motion parameters and preset preview parameters;

[0082] The target turning angle determination module 330 is used to determine the target turning angle of the steering wheel of the vehicle based on the front wheel feedback control mode according to the preview distance, the lane line coordinates and the vehicle motion parameters;

[0083] The vehicle driving control module 340 is used to control the vehicle to keep driving centered in the lane according to the target turning angle.

[0084] The technical solution of this embodiment obtains road image information and the motion parameters of the vehicle, and determines the lane line coordinates of the lane line in the vehicle coordinate system according to the road image information; determines the preview distance according to the motion parameters of the vehicle and the preset preview parameters, and determines the preview distance according to the motion state of the vehicle, and can adjust the preview distance according to the motion state in real time to ensure the accuracy and smoothness of the lane control effect; based on the front wheel feedback control method, the target turning angle of the steering wheel of the vehicle is determined according to the preview distance, the lane line coordinates and the motion parameters of the vehicle. When determining the target turning angle, the motion parameters of the vehicle are considered, so that the control of the target turning angle can adapt to vehicles in different driving states, and ensure the accuracy of the lane keeping effect and the versatility of the target turning angle determination method; according to the target turning angle, the vehicle is controlled to keep driving in the center of the lane, and the control of the vehicle lane keeping is realized to ensure the safety of driving. Therefore, through the technical solution of this application, the problem of only considering the lateral deviation of the vehicle, being unable to adapt to the changes in the real-time state of the vehicle, having large errors and poor versatility is solved, and the effect of improving the accuracy and versatility of lane keeping is achieved.

[0085] Optionally, the vehicle motion parameters include the heading angle of the vehicle relative to the lane line, the transmission ratio between the steering wheel angle and the wheel angle, the correction coefficient and the longitudinal speed of the vehicle;

[0086] Accordingly, the target angle determination module 330 includes:

[0087] A lateral deviation determination unit, used for determining a lateral deviation according to a preview distance;

[0088] The target angle determination unit is used to determine the target angle of the steering wheel of the vehicle according to the heading angle of the vehicle relative to the lane line, the transmission ratio of the steering wheel angle to the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle.

[0089] Optionally, the target angle determination unit includes:

[0090] The adjustment angle determination subunit is used to determine the adjustment angle according to the transmission ratio between the steering wheel angle and the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle;

[0091] The target turning angle determination subunit is used to take the sum of the adjustment angle and the heading angle of the vehicle relative to the lane line as the target turning angle of the steering wheel of the vehicle.

[0092] Optionally, the angle determination subunit is adjusted, specifically for:

[0093] The ratio of the lateral deviation to the longitudinal speed of the vehicle is multiplied by the correction coefficient to obtain the tangent value of the wheel adjustment angle;

[0094] The wheel adjustment angle is obtained according to the tangent value of the wheel adjustment angle;

[0095] The adjustment angle is obtained according to the wheel adjustment angle and the transmission ratio between the steering wheel angle and the wheel angle.

[0096] Optionally, the preset preview parameters include forward time and forward distance;

[0097] Accordingly, the preview distance determination module 320 includes:

[0098] The preview distance determination unit is used to determine the preview distance according to the longitudinal speed, forward time and forward distance of the vehicle.

[0099] The lane keeping device provided in the embodiments of the present application can execute the lane keeping method provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects for executing the lane keeping method.

[0100] Embodiment 4

[0101] Figure 4 A schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present application is shown in FIG. Figure 4 As shown, the electronic device includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of the processor 410 in the electronic device can be one or more. Figure 4 A processor 410 is taken as an example; the processor 410, the memory 420, the input device 430 and the output device 440 in the electronic device can be connected via a bus or other means. Figure 4 The example of connecting through bus is taken in the following.

[0102] The memory 420, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the lane keeping method in the embodiment of the present application (for example, parameter acquisition module 310, preview distance determination module 320, target angle determination module 330 and vehicle driving control module 340). The processor 410 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the memory 420, that is, realizing the above-mentioned lane keeping method.

[0103] The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 420 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 420 may further include a memory remotely arranged relative to the processor 410, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0104] The input device 430 may be used to receive input character information and generate key signal input related to user settings and function control of the electronic device. The output device 440 may include a display device such as a display screen.

[0105] According to an embodiment of the present invention, the present invention also provides an electronic device, a readable storage medium and a computer program product.

[0106] Embodiment 5

[0107] Embodiment 5 of the present application also provides a storage medium containing computer executable instructions, which are used to execute a lane keeping method when executed by a computer processor. The method includes: acquiring road image information and vehicle motion parameters, and determining the lane line coordinates of the lane line in the vehicle coordinate system based on the road image information; determining the preview distance based on the vehicle motion parameters and preset preview parameters; determining the target steering angle of the vehicle steering wheel based on the preview distance, lane line coordinates and vehicle motion parameters based on the front wheel feedback control method; and controlling the vehicle to keep driving centered in the lane based on the target angle.

[0108] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present application, whose computer executable instructions are not limited to the method operations described above, can also execute related operations in the lane keeping method provided in any embodiment of the present application.

[0109] Through the above description of the implementation method, the technicians in the relevant field can clearly understand that the present application can be implemented with the help of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for an electronic device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0110] It is worth noting that in the above-mentioned embodiment of the lane keeping device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0111] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A lane keeping method, characterized in that: include: Acquire road image information and vehicle motion parameters, and determine lane line coordinates of the lane line in the vehicle coordinate system according to the road image information; Determining a preview distance according to the vehicle motion parameters and preset preview parameters; Based on the front wheel feedback control mode, determining the target steering angle of the steering wheel of the vehicle according to the preview distance, the lane line coordinates and the vehicle motion parameters; According to the target turning angle, the vehicle is controlled to keep traveling centered in the lane.

2. The method according to claim 1, characterized in that: The vehicle motion parameters include the vehicle's heading angle relative to the lane line, the transmission ratio between the steering wheel angle and the wheel angle, the correction coefficient, and the vehicle's longitudinal speed; Accordingly, the front wheel feedback control method is based on the preview distance, the lane line coordinates and the vehicle motion parameters to determine the target steering angle of the vehicle steering wheel, including: determining a lateral deviation according to the preview distance; The target steering wheel angle of the vehicle is determined based on the heading angle of the vehicle relative to the lane line, the transmission ratio of the steering wheel angle to the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle.

3. The method according to claim 2, characterized in that The method of determining the target steering angle of the vehicle's steering wheel according to the heading angle of the vehicle relative to the lane line, the transmission ratio of the steering wheel angle to the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle comprises: Determining an adjustment angle according to the transmission ratio of the steering wheel angle to the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle; The sum of the adjustment angle and the heading angle of the vehicle relative to the lane line is used as the target turning angle of the steering wheel of the vehicle.

4. The method according to claim 3, characterized in that Determining an adjustment angle according to a transmission ratio between the steering wheel angle and the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle includes: The ratio of the lateral deviation to the longitudinal speed of the vehicle is multiplied by the correction coefficient to obtain a tangent value of the wheel adjustment angle; Obtaining a wheel adjustment angle according to the wheel adjustment angle tangent value; The adjustment angle is obtained according to the wheel adjustment angle and the transmission ratio between the steering wheel angle and the wheel angle.

5. The method according to claim 1, characterized in that The preset preview parameters include forward time and forward distance; Accordingly, determining the preview distance according to the vehicle motion parameters and the preset preview parameters includes: The preview distance is determined according to the longitudinal speed of the vehicle, the forward time and the forward distance.

6. A lane keeping device, characterized in that: include: A parameter acquisition module, used to acquire road image information and vehicle motion parameters, and determine the lane line coordinates of the lane line in the vehicle coordinate system according to the road image information; A preview distance determination module, used to determine the preview distance according to the vehicle motion parameters and preset preview parameters; A target turning angle determination module, used to determine the target turning angle of the steering wheel of the vehicle based on the front wheel feedback control mode according to the preview distance, the lane line coordinates and the vehicle motion parameters; The vehicle driving control module is used to control the vehicle to keep driving centered in the lane according to the target turning angle.

7. The device according to claim 6, characterized in that The vehicle motion parameters include the vehicle's heading angle relative to the lane line, the transmission ratio between the steering wheel angle and the wheel angle, the correction coefficient, and the vehicle's longitudinal speed; Accordingly, the target angle determination module includes: A lateral deviation determining unit, used for determining the lateral deviation according to the preview distance; The target turning angle determination unit is used to determine the target turning angle of the steering wheel of the vehicle according to the heading angle of the vehicle relative to the lane line, the transmission ratio of the steering wheel angle to the wheel angle, the lateral deviation, the correction coefficient and the longitudinal speed of the vehicle.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the lane keeping method as described in any one of claims 1-5 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the lane keeping method as described in any one of claims 1 to 5 is implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the lane keeping method according to any one of claims 1 to 5.

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