Lane keeping method, system and equipment and storage medium

The embodiment of the invention relates to the technical field of vehicle control, and discloses a lane keeping method, system and device and a storage medium, and the method comprises the steps: obtaining the lateral force and driving speed of a vehicle on an inclined road surface; acquiring a first straightening angle according to the lateral force and the running speed of the vehicle on the inclined road surface; planning a second straightening angle through a vision algorithm; superposing the first straightening angle and the second straightening angle to form a third straightening angle; and controlling the steering wheel to rotate at a third straightening angle, so that the vehicle is kept in the lane. According to the embodiment of the invention, the correction angle planned through the visual algorithm and the correction angle calculated according to the lateral force and the driving speed are superposed, the final control angle of the steering wheel is output, the output final control angle of the st