Lane keeping auxiliary method and system based on comprehensive corner control

The invention belongs to the technical field of automobile intelligent driving, and discloses a lane keeping auxiliary method and system based on comprehensive corner control, and the method comprises the steps: 1, obtaining the vehicle speed V and the yaw angle alpha of a vehicle through a sensor, taking a camera as an origin of coordinates, and obtaining the transverse distance Dist from the origin of coordinates to the intersection of an abscissa axis and a deviating side lane line, the coordinate system takes a vehicle center line as a longitudinal coordinate axis; 2, whether the transverse distance Dist and the transverse deviation speed Vy meet preset conditions or not is judged, and when the preset conditions are met, a lane keeping assistance LKA system is activated; and step 3, calculating a comprehensive rotation angle, and taking the comprehensive rotation angle as an input control quantity of the lane assistance LKA system. According to the invention, the problems of low accuracy and weak robustne