Lane departure judgment method and device, equipment and medium

• Main Authors: JIANG ZIMING, LIU KEWANG, FU RENTAO
• Format: Patent
• Language: Chinese; English
• Published: 03.11.2023
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The embodiment of the invention discloses a lane departure judgment method and device, equipment and a medium. The method comprises the steps that according to the current position and driving parameters of a target vehicle, the position of a target part on the target vehicle after a preset time interval is predicted, and a predicted position is obtained; determining the distance between the predicted position and a target intersection point as a target distance; the target intersection point is an intersection point of an extension line and a lane line, which is obtained by making the extension line at a prediction position along a target direction; the lane line is a lane line of a lane where the target vehicle is located; based on a Kalman filter, determining the deviation speed of the target part at the predicted position along the target direction; and judging whether the target vehicle is about to deviate from the lane according to the target distance and the deviation speed. According to the technical