Lane keeping control method and system based on optimization strategy, equipment and vehicle

The invention discloses a lane keeping control method and system based on an optimization strategy, equipment and a vehicle. The method comprises the following steps: defining a vehicle state error according to a pre-established vehicle model; constructing an optimization control model for the vehicle state error, determining an objective function of the optimization control model by taking vehicle state error minimization as a constraint, and optimizing the objective function by adopting a linear quadratic regulator; discretizing the current vehicle speed state of the vehicle based on an optimization result to obtain a discrete Raccati equation; performing iterative solution on the discrete Raccati equation to generate an optimization strategy; the optimization strategy comprises an LQR control coefficient corresponding to the current vehicle speed, a vehicle speed state error feedback quantity corresponding to the LQR control coefficient and a front wheel turning angle of the vehicle; and the optimization s