Vehicle control method, device, equipment and medium

Abstract

The invention relates to the field of vehicle control, in particular to a vehicle control method, device and equipment and a medium. When the vehicle speed is larger than the preset vehicle speed, whether the vehicle enters the crosswind area or not is actively recognized, the early warning wind power level is obtained, and the crosswind risk can be sensed in advance. Whether the crosswind pre-control function is activated or not is determined according to whether the vehicle enters the crosswind area or not and the early-warning wind power level, and the phenomenon that in the prior art, measures are taken after the vehicle deviates due to crosswind is avoided. After the pre-control function is activated, working parameters of a vehicle chassis control part are adjusted in time, for example, steering hand force becomes heavy, the height of an air spring is reduced, the rigidity is increased and the like, corresponding preparation is actively made before crosswind influences the vehicle, the stability of the vehicle is enhanced, the situation that the vehicle seriously rolls and deviates from a driving route due to the crosswind is effectively avoided, and the service life of the vehicle is prolonged. And the driving safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a vehicle control method, device, equipment and medium. Background Art

[0002] When crossing high bridges, mountain passes, canyon entrances, or in strong winds, cars are susceptible to crosswinds, which can cause the car body to tilt and affect its path. Especially at high speeds, even a small roll can cause the vehicle to quickly deviate from its original path, resulting in a serious accident.

[0003] Existing crosswind stabilization functions basically control the chassis to restore the vehicle to its original driving route as much as possible after the vehicle has been deflected by the crosswind. This is a typical feedback control type and is mainly used to compensate for the impact of crosswind after it occurs. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a vehicle control method, device, equipment and medium to solve the problem of lack of forward-looking prediction and active preventive control of crosswinds, and inability to take effective measures before crosswinds affect the vehicle.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle control method, the method comprising:

[0006] When the vehicle speed is greater than a preset speed, identifying whether the vehicle enters a crosswind area and obtaining a warning wind force level at the location of the vehicle;

[0007] determining whether to activate a crosswind pre-control function of the vehicle according to whether the vehicle enters a crosswind area and / or the warning wind level;

[0008] If the crosswind pre-control function is activated, operating parameters of the chassis control components of the vehicle are adjusted.

[0009] In a second aspect, an embodiment of the present invention provides a vehicle control device, wherein the method includes:

[0010] an acquisition module, configured to identify whether the vehicle has entered a crosswind area and acquire a warning wind force level at a location of the vehicle when the vehicle speed is greater than a preset speed;

[0011] an analysis module, configured to determine whether to activate a crosswind pre-control function of the vehicle according to whether the vehicle enters a crosswind area and / or the warning wind level;

[0012] An adjustment module is used to adjust operating parameters of chassis control components of the vehicle if the crosswind pre-control function is activated.

[0013] In a third aspect, an embodiment of the present invention provides a computer device comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, computer instructions being stored in the memory, and the processor executing the method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0014] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method of the first aspect or any corresponding embodiment thereof.

[0015] When the vehicle speed is greater than the preset speed, this application actively identifies whether the vehicle has entered a crosswind area and obtains a warning wind level, allowing it to sense crosswind risks in advance. Based on whether the vehicle has entered a crosswind area and the warning wind level, it determines whether to activate the crosswind pre-control function, avoiding the situation where measures are taken only after the crosswind has caused the vehicle to deviate, as in the prior art. After activating the pre-control function, the operating parameters of the vehicle chassis control components are adjusted in a timely manner, such as increasing the steering hand force, reducing the air spring height to increase the stiffness, etc., proactively preparing for responses before the crosswind affects the vehicle, enhancing vehicle stability, and effectively preventing the vehicle from severely tilting or deviating from the driving route due to crosswinds, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 is a flow chart of a vehicle control method according to some embodiments of the present invention;

[0018] Figure 2 is a flow chart of another vehicle control method according to some embodiments of the present invention;

[0019] Figure 3 is a flow chart of another vehicle control method according to some embodiments of the present invention;

[0020] Figure 4 is a structural block diagram of a vehicle control device according to an embodiment of the present invention;

[0021] Figure 5 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0023] According to an embodiment of the present invention, a vehicle control method, device, equipment and medium are provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0024] In this embodiment, a vehicle control method is provided. Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0025] Step S101: When the vehicle speed is greater than a preset speed, it is identified whether the vehicle enters a crosswind area to obtain an identification result and acquire a warning wind force level at the location of the vehicle.

[0026] In the embodiment of the present application, while the vehicle is traveling, its speed sensor monitors the vehicle speed in real time and transmits the data to the vehicle's electronic control unit (ECU). If the ECU determines that the vehicle speed is greater than a preset speed, the subsequent crosswind identification step is executed.

[0027] Specifically, based on vehicle-to-infrastructure (V2I) communication technology, wind speed and direction sensors that can sense crosswinds are arranged on the roads where vehicles are traveling. These sensors will collect crosswind information, such as the geographical location and intensity range of the crosswind, and send it to the server of the traffic management center in real time through the wireless communication network.

[0028] The vehicle's central control unit establishes a connection with the traffic management center server via its onboard communication module and sends the vehicle's current location information. The server then performs a matching query against the crosswind zone database. If the vehicle's location is within a detected crosswind zone, it returns a result indicating that the vehicle has entered the crosswind zone; otherwise, it returns a result indicating that the vehicle has not entered the crosswind zone.

[0029] In addition, the vehicle's location information is sent to the meteorological service platform through wireless communication connection with the meteorological service platform. The meteorological service platform feeds back the local real-time warning wind level based on the location information, and the vehicle receives and stores the warning wind level.

[0030] Step S102 : determining whether to activate the vehicle's crosswind pre-control function based on whether the vehicle enters a crosswind area and / or the warning wind level.

[0031] In the embodiment of the present application, after the vehicle's electronic control unit obtains the recognition result of whether the vehicle has entered the crosswind area and the warning wind level data, it makes a judgment according to the preset logical rules. If the recognition result shows that the vehicle has entered the crosswind area, the crosswind pre-control function will be activated regardless of the warning wind level. If the recognition result shows that the vehicle has not entered the crosswind area, but the warning wind level reaches or exceeds the preset threshold (for example, the yellow warning level of strong wind or above), the crosswind pre-control function will also be activated.

[0032] The crosswind pre-control function is deactivated only when the vehicle is not in the crosswind area and the warning wind level is below the preset threshold. Based on the above judgment results, the ECU generates the corresponding control command to decide whether to activate the crosswind pre-control function.

[0033] It should be noted that the crosswind pre-control function can be understood as the vehicle's crosswind function being in the on (ON) or automatic (Auto) state, and when crosswind is identified, the crosswind pre-control is achieved by increasing the steering hand force, lowering the air spring height and increasing the stiffness, increasing the damping of the continuously variable damping shock absorber, and increasing the active stabilizer bar torque control method. After being activated in the automatic state, it will be exited after driving for 30 minutes or 10 kilometers. If the conditions are met again during the journey, the force will be accumulated again.

[0034] Step S103: If the crosswind pre-control function is activated, the operating parameters of the vehicle's chassis control components are adjusted.

[0035] In an embodiment of the present application, when the electronic control unit determines to activate the crosswind pre-control function, it will send corresponding control signals to the various chassis control components of the vehicle. For the steering system, the ECU controls the electric power steering module to increase the steering hand force so that the driver can control the steering wheel more stably under the action of crosswind. For the air suspension system, the ECU sends instructions to the air spring control module to reduce the height of the air spring and increase its stiffness to improve the stability of the vehicle. For the continuously variable damping shock absorber (Continuous Damping Control, CDC), the ECU adjusts the opening of the CDC control valve, increases the damping of the CDC, and reduces the roll and shaking of the vehicle in crosswind.

[0036] At the same time, the ECU sends a signal to the active stabilizer bar control module to increase the torque of the active stabilizer bar, further enhancing the vehicle's anti-roll capability when driving in crosswinds. By adjusting the working parameters of various chassis control components as mentioned above, the vehicle can better cope with the influence of crosswinds.

[0037] When the vehicle speed is greater than the preset speed, this application actively identifies whether the vehicle has entered a crosswind area and obtains a warning wind level, allowing it to sense crosswind risks in advance. Based on whether the vehicle has entered a crosswind area and the warning wind level, it determines whether to activate the crosswind pre-control function, avoiding the situation where measures are taken only after the crosswind has caused the vehicle to deviate, as in the prior art. After activating the pre-control function, the operating parameters of the vehicle chassis control components are adjusted in a timely manner, such as increasing the steering hand force, reducing the air spring height to increase the stiffness, etc., proactively preparing for responses before the crosswind affects the vehicle, enhancing vehicle stability, and effectively preventing the vehicle from severely tilting or deviating from the driving route due to crosswinds, thereby improving driving safety.

[0038] Figure 2 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0039] Step S201: Acquire the vehicle speed during driving.

[0040] In the embodiment of the present application, the vehicle is equipped with a dedicated vehicle speed sensor, which is generally installed near the output shaft of the transmission or on the wheel hub. The vehicle speed sensor continuously senses the rotation of the vehicle's transmission components and converts it into an electrical signal. This electrical signal is transmitted to the vehicle's electronic control unit (ECU) in real time. The ECU has preset algorithms and programs that can analyze and calculate the received electrical signals to accurately determine the vehicle's current speed and store the speed data in the ECU's memory for subsequent call and use by other functional modules.

[0041] Step S202 : When the vehicle speed is greater than a preset speed, an environmental image collected during the vehicle's driving is acquired.

[0042] In an embodiment of the present application, a high-definition camera is installed on the vehicle, usually arranged on the inside of the front windshield of the vehicle, near the rearview mirror, or around the vehicle body, for all-round collection of environmental images during the vehicle's driving process. When the electronic control unit (ECU) receives the vehicle speed data from the speed sensor and compares it with the preset speed, if it is determined that the vehicle speed is greater than the preset speed, the ECU will immediately send a command to the camera control module. After receiving the command, the camera control module quickly starts the camera and starts working, continuously collecting environmental images around the vehicle at a set frequency (such as 30 frames per second), and transmits these image data in the form of digital signals to the ECU for subsequent processing.

[0043] Step S203 , determining whether the vehicle enters a crosswind area based on whether a crosswind mark is present in the environment image and / or whether a crosswind area is prompted in the vehicle's onboard navigation system.

[0044] In an embodiment of the present application, after the electronic control unit (ECU) obtains the environmental image data, it will use the image recognition algorithm to analyze and process the image. The algorithm will pre-store the characteristic information of the crosswind sign, such as the specific warning sign shape, color, pattern, etc. The ECU will compare the collected environmental image with the stored crosswind sign features. If a matching crosswind sign is found in the image, it will be determined that there is a crosswind sign in the environmental image. At the same time, the ECU will also interact with the on-board navigation system for data to obtain prompt information about the crosswind area in the navigation system. The navigation system can determine whether the vehicle is in the crosswind area by receiving the crosswind area geographic information data released by the meteorological department and combining it with the real-time position of the vehicle.

[0045] In an embodiment of the present application, the vehicle navigation system may prompt whether there is a crosswind area based on the geographical environment, or may prompt whether there is a crosswind area based on the vehicle's historical driving data.

[0046] Specifically, various detailed information on each crosswind encounter is continuously collected and stored, including vehicle dynamic parameters such as speed, wind direction and speed, roll angle, yaw angular velocity, as well as geographical location and environmental conditions such as temperature and air pressure, gradually building a comprehensive historical crosswind event database.

[0047] Secondly, when the vehicle starts moving again, the ECU instructs various sensors installed on the vehicle to collect current driving data in real time, covering the current vehicle speed, geographic location, environmental conditions and vehicle dynamic parameters.

[0048] The ECU's data analysis module then meticulously compares this real-time data with data from a historical crosswind event database. Using a similarity algorithm, it calculates the degree of match between the real-time data and each historical crosswind event. If the similarity between the real-time data and a specific historical crosswind event reaches a preset high threshold, the likelihood of a crosswind encounter is significantly increased, thereby increasing the confidence level of crosswind identification. Finally, based on the judgment result, the driver is notified of the presence of a crosswind area through the in-vehicle display screen and voice prompts.

[0049] In an embodiment of the present application, if a crosswind indicator is present in the environment image, the following method may be performed to further determine whether the vehicle has entered a crosswind area. The method includes:

[0050] The vehicle's electronic control unit (ECU) uses the vehicle's onboard wireless communication module (such as DSRC, LTE-V2X or 5G-V2X, etc.) to establish a vehicle network communication connection with surrounding vehicles and receive real-time driving dynamic information sent by surrounding vehicles, mainly including speed change data (the magnitude and direction of acceleration and deceleration), steering angle (steering wheel angle or wheel steering angle) and body posture information (roll angle, pitch angle, yaw angle, etc., obtained by sensors such as gyroscopes and accelerometers).

[0051] Secondly, at the same time, the ECU monitors the surrounding environment through on-board cameras, millimeter-wave radars and other sensing devices, identifies objects such as trees and telephone poles on both sides of the road, and collects the swing information of these objects in real time, such as the swing amplitude of tree branches and leaves (such as the swing angle of the crown exceeds 30°), the shaking frequency of telephone poles (such as shaking 2-3 times per second) and the swing amplitude (such as deviating from the vertical direction by more than 5°), etc.

[0052] Secondly, the electronic control unit conducts real-time comprehensive analysis of the received dynamic information of surrounding vehicles and the swing information of objects such as trees and telephone poles. Within the set time window of 5-10 seconds, it continuously monitors the dynamic changes of multiple vehicles around the vehicle, and at the same time calls the vehicle behavior characteristic model under the action of crosswinds and the swing characteristic model of objects such as trees and telephone poles pre-stored in the system. The vehicle behavior characteristic model is based on a large amount of experimental data and actual cases, and describes the typical change pattern of speed, steering and body posture when the vehicle is affected by crosswinds. The swing characteristic model records the common swing amplitude and frequency range of tree branches and telephone poles under different wind speeds.

[0053] Finally, the electronic control unit compares the actual dynamic changes of surrounding vehicles with the vehicle behavior characteristic model under the action of crosswind, and matches the actual swing of trees and telephone poles with the corresponding swing characteristic model. If multiple surrounding vehicles simultaneously show abnormal dynamics consistent with the characteristics of crosswind action within the time window (such as abnormal lateral acceleration, excessive steering angle, vehicle body roll angle out of range, etc.), and the swing angle of tree branches and leaves and the amplitude and frequency of telephone pole shaking all meet the characteristic standards under the action of crosswind, it is determined that the vehicle has currently entered the crosswind area.

[0054] As an example, the ECU compares the actual dynamic changes of surrounding vehicles with the crosswind action characteristic model. Assume that the current time window is set to 8 seconds, and four surrounding vehicles are monitored within a range of 50 meters ahead - including two cars and two trucks. During these 8 seconds, the ECU finds that the lateral acceleration of these four vehicles suddenly increases to 0.8m / s. 2 Above (lateral acceleration during normal driving usually does not exceed 0.3m / s 2 ), while the car's steering angle instantly increased from 5° to 15°, and the truck's body roll angle reached 8° (exceeding the 3° range during normal driving). These actual dynamic changes matched the description of the crosswind action characteristic model: "multiple vehicles simultaneously experience a sudden increase in lateral acceleration, abnormally amplified steering angles, and excessive body roll angles." Therefore, the electronic control unit determined that a crosswind existed in that area of ​​the highway.

[0055] In addition, if there is a crosswind mark in the environmental image, the vehicle can detect the crosswind area by the solution provided in the above embodiment when driving during the day. If the vehicle is driving at night, the crosswind area can be identified by the following solution:

[0056] When the vehicle is driving at night, the vehicle's electronic control unit recording sensor continuously collects and stores detailed information every time it encounters a crosswind at night, including the vehicle speed, geographic location, temperature distribution characteristics of objects such as trees and grass captured by the infrared thermal imaging camera (such as temperature value, temperature difference range, etc.), crosswind level and corresponding vehicle dynamic parameters, etc., to build a historical database of nighttime crosswind events; on the other hand, the infrared thermal imaging camera is instructed to detect the heat distribution of the vehicle's surrounding environment in real time to obtain temperature data on the surfaces of objects such as trees and grass.

[0057] Secondly, the real-time collected temperature distribution data of surrounding objects are analyzed to extract temperature characteristics, such as the average temperature of a certain grass area and the temperature difference changes at different locations. At the same time, the corresponding environmental temperature characteristic model in the night crosswind event history database is called. The environmental temperature characteristic model is based on multiple night crosswind cases and records the typical temperature distribution patterns of objects such as trees and grass due to accelerated heat dissipation under the action of crosswinds, such as the temperature in a specific area is 2-3°C lower than when there is no wind, and the temperature difference fluctuation amplitude is increased.

[0058] Then, the temperature features extracted in real time are compared with the nighttime crosswind environment temperature feature model in the historical database, and the degree of matching is calculated using a similarity algorithm. If the similarity reaches a preset higher threshold, and combined with the historical data showing that crosswinds have occurred multiple times at this geographic location, it is determined that the vehicle has entered the crosswind area.

[0059] As an example, the vehicle's electronic control unit controls the data recording system to continuously collect and store information: This section of road has previously encountered crosswinds many times. The infrared thermal imaging camera recorded the temperature distribution characteristics of the roadside bushes: an average temperature of 18°C, a temperature difference of 2.5°C within the area, corresponding to a crosswind level of 3. The vehicle dynamic parameters showed a lateral acceleration of 0.6m / s. 2 At the same time, the ECU instructed the infrared thermal imaging camera to conduct real-time detection and found that the average temperature of the same type of bushes on the roadside at the current location was 17.8°C, and the temperature difference within the area was 2.3°C.

[0060] Secondly, the electronic control unit analyzes the real-time data and extracts the temperature characteristics of "average temperature close to 18°C, temperature difference of about 2.3°C". At the same time, it calls the environmental temperature characteristic model of the road section in the historical database of night crosswind events. The model shows that under the action of crosswind, the bushes accelerate heat dissipation, and the temperature is usually 2-3°C lower than when there is no wind (historical records of no wind are 20°C, temperature difference 1°C), and the temperature difference increases to 2-3°C.

[0061] The electronic control unit then compares the real-time temperature characteristics with the historical model and uses a similarity algorithm to calculate a match of 92% (the preset upper threshold is 85%). Historical data shows that there have been 7 crosswind records at this geographic location in the past six months, so it is determined that the vehicle has entered the crosswind area.

[0062] Step S204 : Determine whether to activate the vehicle's crosswind pre-control function based on whether the vehicle enters a crosswind area and / or the warning wind level.

[0063] In an embodiment of the present application, determining whether to activate the vehicle's crosswind pre-control function based on whether the vehicle enters a crosswind area and / or the warning wind level includes:

[0064] ① If the vehicle is detected to be entering a crosswind area, the vehicle's crosswind pre-control function is activated.

[0065] If the vehicle is identified as entering a crosswind area, it means that the vehicle is in an environment directly affected by crosswinds. At this time, the crosswind may have a significant impact on the vehicle's driving stability at any time, such as causing the body to tilt, the driving path to deviate, etc. In order to respond to the crosswind hazards in advance and ensure driving safety, the vehicle's crosswind pre-control function will be directly activated, and the vehicle's ability to resist crosswinds will be enhanced by adjusting chassis component parameters and other measures.

[0066] ② If the warning wind level at the vehicle's location is greater than the preset wind level, determine to activate the vehicle's crosswind pre-control function.

[0067] When the warning wind level at the vehicle's location is greater than the preset wind level, it means that even if the vehicle has not yet entered an obvious crosswind area, it is about to face strong wind weather. The strong wind is very likely to form a crosswind effect and pose a threat to the vehicle's driving. Therefore, it is determined to activate the vehicle's crosswind pre-control function to prevent possible crosswind effects.

[0068] ③ If the vehicle is identified as entering a crosswind area and the warning wind level at the vehicle's location is greater than the preset wind level, the vehicle's crosswind pre-control function is activated.

[0069] If it is simultaneously identified that the vehicle has entered a crosswind area and the warning wind level at the vehicle's location is greater than the preset wind level, it indicates that the vehicle is both in a crosswind environment and facing severe weather with high wind levels. These two factors significantly increase the risk of the vehicle being harmed by crosswinds. Therefore, it is decisively decided to activate the vehicle's crosswind pre-control function to ensure vehicle driving safety to the greatest extent.

[0070] ④ If it is identified that the vehicle has not entered the crosswind area and the warning wind level at the vehicle's location is greater than the preset wind level, it is determined that the vehicle's crosswind pre-control function will not be activated.

[0071] However, when it is identified that the vehicle has not entered the crosswind area and the warning wind level at the vehicle's location is greater than the preset wind level, although there is a high wind force, the vehicle has not yet entered the actual range of the crosswind. Activating the crosswind pre-control function at this time may cause unnecessary energy consumption and component loss, so it is determined not to activate the vehicle's crosswind pre-control function.

[0072] In an embodiment of the present application, the method also includes: if it is identified that the vehicle has not entered the crosswind area, or, if the warning wind level at the vehicle's location is less than or equal to the preset wind level, or, if it is identified that the vehicle has not entered the crosswind area, and the warning wind level at the vehicle's location is greater than the preset wind level, or, if it is identified that the vehicle has not entered the crosswind area, and the warning wind level at the vehicle's location is less than or equal to the preset wind level, then detecting whether the vehicle has turned on the crosswind feedback control function; if the vehicle has turned on the crosswind feedback control function, then activating the vehicle's crosswind pre-control function.

[0073] Specifically, image recognition technology combined with navigation system information is used to determine whether the vehicle has entered a crosswind area. The system also communicates with the meteorological service platform to obtain the warning wind level for the vehicle's location. If the vehicle has not entered the crosswind area, or the warning wind level is less than or equal to the preset wind level, or the warning wind level is greater than the preset level but the vehicle has not entered the crosswind area, or if the vehicle has not entered the crosswind area and the warning wind level is less than or equal to the preset level, the electronic control unit (ECU) will send a command to the vehicle's human-machine interface system to inquire about the activation status of the crosswind feedback control function.

[0074] The driver can pre-set the function's activation status via the in-vehicle control panel and store it in the ECU. If the ECU detects that crosswind feedback control is enabled, it determines that activation conditions have been met and sends an activation command to the vehicle's chassis control system. This command adjusts the operating parameters of chassis control components like steering and suspension, such as increasing steering force, lowering the air spring height, and increasing its stiffness, thereby activating the vehicle's crosswind feedback control function.

[0075] It should be noted that the crosswind control function can be understood as the crosswind function being on (ON) or automatic (Auto), and judging that it is disturbed by crosswind, while the stability control function (ABS / TCS / VDC / DTC, etc.) and the intelligent driving LKA function are not activated, the additional yaw torque control is generated by the braking system to reduce the impact of crosswind.

[0076] The embodiment of the present application determines whether the vehicle has entered a crosswind area, the warning wind level at the location, and the preset wind level, and activates the crosswind pre-control function when the vehicle turns on the crosswind feedback control function. This can more comprehensively cover different crosswind-related scenarios and prepare for vehicle stability control in advance, thereby further improving the stability and safety of the vehicle when it may be affected by crosswinds, reducing the interference of crosswinds on vehicle driving, and providing more reliable driving protection for drivers and passengers.

[0077] Step S205: If the crosswind pre-control function is activated, the operating parameters of the vehicle's chassis control components are adjusted.

[0078] In an embodiment of the present application, after the crosswind pre-control function is activated, the electronic control unit will quickly send instructions to various control modules of the vehicle's chassis. After receiving the instructions, the steering control module will adjust the working state of the power-assist motor to make the steering hand force heavier, so that the driver can more accurately perceive the direction changes and stabilize the control; the suspension control module will adjust the inflation volume of the air spring, lower the vehicle height to lower the center of gravity, and at the same time increase the spring stiffness to reduce the body roll amplitude; the continuously variable damping shock absorber control module will increase the damping according to the instructions to suppress the body shaking; the active stabilizer bar control module will increase the torque of the stabilizer bar to further enhance the body's anti-roll ability, and coordinately adjust the working parameters through various chassis control components to improve the vehicle's driving stability in crosswind environments.

[0079] For example, when a vehicle is driving on a highway and detects that it has not entered a crosswind area, but the warning wind level at its location is level 6 and the preset wind level is level 5, the system will detect whether the vehicle's crosswind feedback control function is enabled. Secondly, if the crosswind feedback control function is found to be enabled, the vehicle's crosswind pre-control function will be activated. After the crosswind pre-control function is activated, the electronic control unit immediately sends instructions to the various control modules of the chassis. The steering control module adjusts the working state of the power assist motor, increasing the steering hand force from the normal 2.5N to 4. 0N, making the driver's control more stable; the suspension control module reduces the air spring height from the standard 150mm to 130mm, and at the same time increases the spring stiffness from 200N / mm to 250N / mm; the continuously variable damping shock absorber control module increases the damping coefficient from 1.2 to 1.8; the active stabilizer bar control module increases the stabilizer bar torque from 300N·m to 450N·m; finally, through the coordinated adjustment of these components, the vehicle's anti-roll ability and driving stability are significantly enhanced, which can better cope with possible crosswind effects and ensure driving safety.

[0080] When the vehicle speed is greater than the preset speed, this application actively identifies whether the vehicle has entered a crosswind area and obtains a warning wind level, allowing it to sense crosswind risks in advance. Based on whether the vehicle has entered a crosswind area and the warning wind level, it determines whether to activate the crosswind pre-control function, avoiding the situation where measures are taken only after the crosswind has caused the vehicle to deviate, as in the prior art. After activating the pre-control function, the operating parameters of the vehicle chassis control components are adjusted in a timely manner, such as increasing the steering hand force, reducing the air spring height to increase the stiffness, etc., proactively preparing for responses before the crosswind affects the vehicle, enhancing vehicle stability, and effectively preventing the vehicle from severely tilting or deviating from the driving route due to crosswinds, thereby improving driving safety.

[0081] The present application embodiment provides a complete example, such as Figure 3 As shown:

[0082] The embodiment of the present application is applied to a smart car with advanced sensors and intelligent control systems. The vehicle is equipped with a high-precision vehicle speed sensor, an intelligent navigation system, an intelligent driving recognition system, a weather forecast data interface, and a crosswind feedback control device.

[0083] (1) Vehicle speed determination

[0084] After the vehicle starts, the speed sensor monitors the vehicle's speed in real time and transmits the data to the vehicle control system. The control system compares the real-time speed with a preset set speed (e.g., 80 km / h). If the speed is less than the set speed, the vehicle maintains normal driving and continues to monitor the speed. If the speed is greater than the set speed, the system proceeds to the next step.

[0085] (2) Identification of crosswind areas.

[0086] The intelligent driving system uses sensors such as cameras to identify crosswind signs on the road. If a crosswind sign is detected, it indicates that the vehicle is about to enter a crosswind area and enters the steering characteristics judgment step.

[0087] The navigation system uses pre-stored map data and real-time positioning information to determine whether the vehicle is about to enter an area prone to crosswinds. If so, the system also proceeds to the steering characteristics determination step.

[0088] (3) Steering characteristics judgment and basic control torque acquisition.

[0089] If the navigation system or intelligent driving system identifies that the vehicle has entered a crosswind area, it will further determine the steering characteristics of the feedforward control. For example, based on parameters such as the vehicle's steering angle and steering speed, it will determine whether the steering characteristics are left, right, or straight-ahead.

[0090] According to the steering degree corresponding to the determined steering characteristic, a basic control torque corresponding to the steering characteristic is obtained through a preset algorithm and database.

[0091] (4) Judgment of weather factors.

[0092] The vehicle control system obtains real-time weather information through the weather forecast data interface. If the weather forecast shows strong winds, the crosswind pre-control function is activated based on the crosswind area identification results. If the weather is normal, the crosswind feedback control function is determined.

[0093] (5) Judgment of crosswind feedback control.

[0094] If there is no strong wind in the weather forecast, but the crosswind feedback control device detects crosswind action while the vehicle is driving (for example, the vehicle body posture sensor detects abnormal roll or deviation of the vehicle), the crosswind feedback control function is triggered.

[0095] (6) Execution of crosswind pre-control and feedback control.

[0096] When crosswind pre-control is activated, the vehicle control system determines the feedforward adjustment for the active stabilizer based on the base control torque, the original distribution coefficient corresponding to the active stabilizer bar's raw torque, and the distribution coefficient corresponding to the steering angle. The control system then adjusts the active stabilizer bar's operating state based on this feedforward adjustment, such as adjusting the stabilizer bar's stiffness or applying additional torque, to proactively address crosswind effects. Simultaneously, the vehicle's suspension height is lowered and stiffened, the shock absorbers are stiffened, and the aerodynamic package is activated to further enhance vehicle stability.

[0097] When the crosswind feedback control is triggered, the control system adjusts the control parameters of the active stabilizer bar in real time according to the actual crosswind force detected by the crosswind feedback device to ensure the vehicle's driving stability under crosswind action.

[0098] Through the above embodiments, a smart car can promptly identify and take appropriate control measures when entering a crosswind at high speed. Whether preemptive control based on weather forecasts or feedback control based on actual detection, it can effectively adjust the operating state of the active stabilizer bar. Combined with adjustments to the suspension and aerodynamics package, this significantly improves vehicle stability and safety in crosswind conditions, providing a more reliable driving experience for the driver.

[0099] This embodiment also provides a vehicle control device for implementing the above-described embodiments and preferred embodiments. Details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0100] This embodiment provides a vehicle control device, such as Figure 4 As shown, including:

[0101] An acquisition module 301 is configured to identify whether the vehicle has entered a crosswind area when the vehicle speed is greater than a preset speed, obtain an identification result, and obtain a warning wind force level at the location of the vehicle;

[0102] An analysis module 302 is configured to determine whether to activate a crosswind pre-control function of the vehicle based on whether the vehicle enters a crosswind area and / or the warning wind level;

[0103] The adjustment module 303 is configured to adjust operating parameters of chassis control components of the vehicle if the crosswind pre-control function is activated.

[0104] In an embodiment of the present application, the acquisition module 301 is specifically used to obtain environmental images collected by the vehicle during driving; based on whether there is a crosswind mark in the environmental image, and / or whether the crosswind area is prompted in the vehicle's on-board navigation system, determine whether the vehicle enters the crosswind area.

[0105] In an embodiment of the present application, the analysis module 302 is used to determine whether to activate the crosswind pre-control function of the vehicle if it is identified that the vehicle enters a crosswind area; if the warning wind level at the vehicle's location is greater than the preset wind level, determine whether to activate the crosswind pre-control function of the vehicle; if it is identified that the vehicle enters a crosswind area, and the warning wind level at the vehicle's location is greater than the preset wind level, determine whether to activate the crosswind pre-control function of the vehicle; if it is identified that the vehicle does not enter the crosswind area, and the warning wind level at the vehicle's location is greater than the preset wind level, determine not to activate the crosswind pre-control function of the vehicle.

[0106] In an embodiment of the present application, the analysis module 302 is also used to detect whether the vehicle has turned on the crosswind feedback control function if it is identified that the vehicle has not entered the crosswind area, or if the warning wind level at the vehicle's location is less than or equal to the preset wind level, or if it is identified that the vehicle has not entered the crosswind area and the warning wind level at the vehicle's location is greater than the preset wind level, or if it is identified that the vehicle has not entered the crosswind area and the warning wind level at the vehicle's location is less than or equal to the preset wind level; if the vehicle has turned on the crosswind feedback control function, the crosswind pre-control function of the vehicle is activated.

[0107] See also Figure 5 , Figure 5 is a structural diagram of a computer device provided by an optional embodiment of the present invention, such as Figure 5 As shown, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in the memory or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system).

[0108] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0109] The memory 20 stores instructions that can be executed by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0110] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created based on the use of a computer device for displaying a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0111] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0112] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0113] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0114] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle speed is greater than a preset speed, identifying whether the vehicle enters a crosswind area and obtaining a warning wind force level at the location of the vehicle; determining whether to activate a crosswind pre-control function of the vehicle according to whether the vehicle enters a crosswind area and / or the warning wind level; If the crosswind pre-control function is activated, operating parameters of the chassis control components of the vehicle are adjusted.

2. The method according to claim 1, characterized in that The identifying whether the vehicle enters a crosswind area includes: Acquiring environmental images collected during the driving of the vehicle; Whether the vehicle enters a crosswind area is determined based on whether a crosswind mark is present in the environment image and / or whether a crosswind area is prompted in the vehicle-mounted navigation system of the vehicle.

3. The method according to claim 1, characterized in that The determining whether to activate the crosswind pre-control function of the vehicle according to whether the vehicle enters a crosswind area and / or the warning wind level includes: If it is identified that the vehicle enters a crosswind area, determining to activate a crosswind pre-control function of the vehicle; If the warning wind level at the location of the vehicle is greater than the preset wind level, determining to activate the crosswind pre-control function of the vehicle; If it is identified that the vehicle enters a crosswind area and the warning wind level at the location of the vehicle is greater than a preset wind level, determining to activate a crosswind pre-control function of the vehicle; If it is identified that the vehicle has not entered the crosswind area and the warning wind level at the location of the vehicle is greater than the preset wind level, it is determined not to activate the crosswind pre-control function of the vehicle.

4. The method according to claim 1, wherein The method further comprises: If it is identified that the vehicle has not entered the crosswind area, or if the warning wind level at the location of the vehicle is less than or equal to the preset wind level, or if it is identified that the vehicle has not entered the crosswind area and the warning wind level at the location of the vehicle is greater than the preset wind level, or if it is identified that the vehicle has not entered the crosswind area and the warning wind level at the location of the vehicle is less than or equal to the preset wind level, then detecting whether the crosswind feedback control function of the vehicle is turned on; If the vehicle turns on the crosswind feedback control function, the crosswind pre-control function of the vehicle is activated.

5. A vehicle control device, characterized in that: The method comprises: an acquisition module, configured to identify whether the vehicle has entered a crosswind area and acquire a warning wind force level at a location of the vehicle when the vehicle speed is greater than a preset speed; an analysis module, configured to determine whether to activate a crosswind pre-control function of the vehicle according to whether the vehicle enters a crosswind area and / or the warning wind level; An adjustment module is used to adjust operating parameters of chassis control components of the vehicle if the crosswind pre-control function is activated.

6. The device according to claim 5, characterized in that The acquisition module is specifically used to obtain an environmental image collected by the vehicle during driving; and determine whether the vehicle enters a crosswind area based on whether there is a crosswind mark in the environmental image and / or whether the crosswind area is prompted in the vehicle's onboard navigation system.

7. The device according to claim 5, characterized in that The analysis module is used to determine whether to activate the crosswind pre-control function of the vehicle if the vehicle is identified as entering a crosswind area; to determine whether to activate the crosswind pre-control function of the vehicle if the warning wind level at the vehicle's location is greater than the preset wind level; to determine whether to activate the crosswind pre-control function of the vehicle if the vehicle is identified as entering a crosswind area and the warning wind level at the vehicle's location is greater than the preset wind level; and to determine whether to activate the crosswind pre-control function of the vehicle if the vehicle is identified as not entering a crosswind area and the warning wind level at the vehicle's location is greater than the preset wind level.

8. The device according to claim 5, characterized in that The analysis module is also used to detect whether the vehicle has turned on the crosswind feedback control function if it is identified that the vehicle has not entered the crosswind area, or if the warning wind level at the location of the vehicle is less than or equal to the preset wind level, or if it is identified that the vehicle has not entered the crosswind area and the warning wind level at the location of the vehicle is greater than the preset wind level, or if it is identified that the vehicle has not entered the crosswind area and the warning wind level at the location of the vehicle is less than or equal to the preset wind level; if the vehicle has turned on the crosswind feedback control function, the crosswind pre-control function of the vehicle is activated.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 4 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 4.

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