Lane keeping method and system based on multi-point preview

• Main Authors: HE YANWU, HOU KUNFENG, YANG JIANCHONG, CHEN XIANGXIAN, WANG SHIJUN, CHANG PEIYU
• Format: Patent
• Language: Chinese; English
• Published: 12.10.2021
• Subjects: LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING

The invention provides a lane keeping method and system based on multi-point preview, and belongs to the technical field of automotive electronics. The method comprises the following steps: determining a target track of vehicle driving, and selecting at least two near preview points and at least two far preview points on the target track; calculating a steering angle required by the vehicle running from the current position to each preview point, and obtaining at least two near preview point steering angles and at least two far preview point steering angles; obtaining a near target steering angle according to all the near preview point steering angles, and obtaining a far target steering angle according to all the far preview point steering angles; obtaining a final target steering angle according to the near target steering angle and the far target steering angle; and performing steering control on the vehicle through the final target steering angle. According to the method, at least two near preview points