Vehicle control method and device, equipment, storage medium and program product

Abstract

The invention relates to the technical field of vehicle control, and discloses a vehicle control method and device, equipment, a storage medium and a program product. The method comprises the steps of obtaining state information of a vehicle and environment information sent by a wind pressure sensor of the vehicle; determining a torque adjustment value according to the state information and the environment information of the vehicle; the current torque of the vehicle is adjusted according to the torque adjustment value, and first target torque is determined; and controlling the vehicle to run based on the first target torque. By obtaining the state information of the vehicle and the environment information sent by the wind pressure sensor of the vehicle, the driving condition of the vehicle can be evaluated in real time, the torque is automatically adjusted according to the information, and therefore it is ensured that the vehicle is kept in the optimal driving state in the complex environment. In case of emergencies such as lateral wind, quick response can be achieved, the torque can be adjusted to keep the stability of the vehicle, and the risk of deviating from a route is reduced.

Description

Technical Field

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

[0002] In the modern transportation system, cars are one of the main means of transportation, and their driving safety has always been the focus of people's attention. Especially in complex and changeable road environments, such as elevated bridge sections in mountainous areas, highways in large open areas, and traffic intersections in urban high-rise buildings, the driving conditions are often more stringent. These special sections not only test the driver's driving skills and reaction speed, but also face the challenges of natural environmental factors, among which the impact of side wind is particularly significant.

[0003] In order to cope with the safety challenges brought by crosswinds, some high-end navigation systems already have early warning functions for special road sections, which can inform drivers in advance of road sections ahead where there may be dangers of crosswinds, allowing drivers to prepare in advance.

[0004] However, even if the navigation system issues a warning, the driver still needs to rely on his or her own driving experience and reaction speed to respond, which often makes it difficult to ensure sufficient safety and accuracy in emergency situations. Summary of the invention

[0005] In view of this, the present invention provides a vehicle control method, device, computer equipment, storage medium and program product to solve the problem that even if the navigation system issues a warning, the driver still needs to rely on his own driving experience and reaction speed to respond, which often makes it difficult to ensure sufficient safety and accuracy in emergency situations.

[0006] In a first aspect, the present invention provides a method for controlling a vehicle, the method comprising: acquiring status information of the vehicle and environmental information sent by a wind pressure sensor of the vehicle; determining a torque adjustment value based on the status information and environmental information of the vehicle; adjusting a current torque of the vehicle based on the torque adjustment value to determine a first target torque; and controlling the vehicle to travel based on the first target torque.

[0007] The vehicle control method provided in this embodiment can evaluate the vehicle's driving condition in real time by acquiring the vehicle's status information and the environmental information sent by the vehicle's wind pressure sensor, and automatically adjust the torque based on this information, thereby ensuring that the vehicle maintains the best driving condition in a complex environment. When faced with emergencies such as side winds, it can respond quickly and adjust the torque to maintain the stability of the vehicle and reduce the risk of deviating from the route.

[0008] In an optional embodiment, the torque adjustment value is determined based on the vehicle's state information and environmental information, including: fusing the vehicle's state information with the environmental information to generate target state information; inputting the target state information into a pre-trained torque calculation model to determine a second target torque; and determining the torque adjustment value based on the second target torque and the vehicle's current torque.

[0009] The vehicle control method provided in this embodiment can generate more comprehensive and accurate target state information by fusing the vehicle's state information with environmental information. This information fusion technology utilizes information obtained by multiple sensors, and analyzes and comprehensively processes it through computer technology to obtain more reliable decision results. In addition, based on the second target torque and the current torque of the vehicle, the torque adjustment value can be determined, and the vehicle's drive or braking system can be adjusted in real time, which can significantly improve the vehicle's handling stability and driving safety. By acquiring and analyzing vehicle state information and environmental information in real time, potential safety hazards can be actively identified, and corresponding torque adjustment measures can be taken to avoid risks.

[0010] In an optional embodiment, the environmental information includes wind speed information and wind direction information, and the vehicle status information includes the vehicle's current speed information and the vehicle's offset information from the lane line; wherein, determining the torque adjustment value based on the vehicle's status information and environmental information includes: determining the lateral force of the side wind on the vehicle based on the wind speed information and wind direction information; detecting whether the lateral force of the side wind on the vehicle meets the preset lateral force; determining the vehicle's current capability information based on the vehicle's offset information from the lane line and the vehicle's current speed information; wherein the current capability information is used to characterize whether the vehicle maintains its original lane; detecting whether the current capability information meets the preset capability information; if the lateral force of the side wind on the vehicle meets the preset lateral force and / or the current capability information meets the preset capability information, determining the torque adjustment value based on the vehicle's status information and environmental information.

[0011] The vehicle control method provided in this embodiment can accurately calculate the lateral force of the side wind on the vehicle and evaluate the influence of the side wind on the vehicle stability through wind speed information and wind direction information. If the lateral force of the side wind on the vehicle meets the preset lateral force and / or the current capability information meets the preset capability information, the torque adjustment value is determined according to the vehicle status information and environmental information to reduce the influence of the side wind on the vehicle stability, thereby improving driving safety.

[0012] In an optional embodiment, controlling the vehicle to travel based on the first target torque includes: adjusting the direction and magnitude of the torque of the vehicle's steering wheel based on the first target torque; and controlling the vehicle to adjust direction according to the adjusted direction and magnitude of the steering wheel torque.

[0013] The vehicle control method provided in this embodiment can more accurately control the steering angle and steering speed of the vehicle by accurately adjusting the steering wheel torque, thereby realizing accurate control of the vehicle's driving trajectory. This accuracy is particularly important when driving at high speeds, avoiding obstacles in an emergency, or driving in a narrow space, and can significantly improve driving safety and stability.

[0014] In an optional embodiment, the number and positions of the wind pressure sensors respectively arranged on both sides of the vehicle are the same.

[0015] The vehicle control method provided in this embodiment can obtain more comprehensive and accurate wind pressure data by setting the same number and position of wind pressure sensors on both sides of the vehicle. Since the number and position of sensors are the same, the measurement error caused by uneven distribution of sensors can be eliminated, thereby improving the accuracy and reliability of data.

[0016] In a second aspect, the present invention provides a vehicle control device, in which wind pressure sensors are respectively arranged on both sides of the vehicle, and the device includes: an acquisition module, used to acquire the vehicle status information and the environmental information sent by the vehicle's wind pressure sensor; a first determination module, used to determine the torque adjustment value according to the vehicle status information and the environmental information; a second determination module, used to adjust the current torque of the vehicle according to the torque adjustment value and determine the first target torque; a control module, used to control the vehicle to drive based on the first target torque.

[0017] In an optional embodiment, the first determination module includes: a fusion processing unit, used to fuse the vehicle's state information with the environmental information to generate target state information; a first determination unit, used to input the target state information into a pre-trained torque calculation model to determine the second target torque; and a second determination unit, used to determine the torque adjustment value based on the second target torque and the vehicle's current torque.

[0018] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the vehicle control method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0019] In a fourth aspect, 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 vehicle control method of the first aspect or any corresponding embodiment thereof.

[0020] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the vehicle control method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of the configuration position of a wind speed sensor of a vehicle according to an embodiment of the present invention;

[0024] Figure 3 is a structural block diagram of a control system of a vehicle according to an embodiment of the present invention;

[0025] Figure 4 is a structural block diagram of a vehicle control device according to an embodiment of the present invention;

[0026] Figure 5 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the 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 creative work are within the scope of protection of the present invention.

[0028] Based on relevant technologies, it can be known that in the modern transportation system, cars are one of the main means of transportation, and their driving safety has always been the focus of people's attention. Especially in complex and changeable road environments, such as elevated bridge sections in mountainous areas, highways in large open areas, and traffic intersections in urban high-rise buildings, driving conditions are often more stringent. These special sections not only test the driver's driving skills and reaction speed, but also face the challenges of natural environmental factors, among which the impact of side wind is particularly significant.

[0029] In order to cope with the safety challenges brought by crosswinds, some high-end navigation systems already have early warning functions for special road sections, which can inform drivers in advance of road sections ahead where there may be dangers of crosswinds, allowing drivers to prepare in advance.

[0030] However, even if the navigation system issues a warning, the driver still needs to rely on his or her own driving experience and reaction speed to respond, which often makes it difficult to ensure sufficient safety and accuracy in emergency situations.

[0031] Based on this, the vehicle control method provided by the present invention can evaluate the driving condition of the vehicle in real time by acquiring the vehicle status information and the environmental information sent by the vehicle's wind pressure sensor, and automatically adjust the torque according to this information, thereby ensuring that the vehicle maintains the best driving condition in a complex environment. In the face of emergencies such as side winds, it can respond quickly and adjust the torque to maintain the stability of the vehicle and reduce the risk of deviation from the route.

[0032] According to an embodiment of the present invention, a method embodiment of vehicle control is provided. It should be noted that the steps shown in the flowchart 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.

[0033] In this embodiment, a vehicle control method is provided, which can be used in computer equipment, such as a computer, a server, etc. 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:

[0034] Step S101, obtaining vehicle status information and environmental information sent by the vehicle's wind pressure sensor.

[0035] The vehicle's status information can characterize the vehicle's current operating status. Among them, the vehicle's status information may include: current speed, acceleration, steering angle, brake status, gear status, etc., which are not specifically limited here. The wind pressure sensor is used to measure the wind pressure (i.e., the force or pressure of the wind) of the vehicle's surrounding environment. The environmental information sent by the vehicle's wind pressure sensor may include: temperature, humidity, road conditions, wind speed, wind pressure, etc., which are not specifically limited here. Specifically, the vehicle's status information is collected through the vehicle's sensor network (such as speed sensors, acceleration sensors, steering sensors, etc.); at the same time, real-time wind pressure data is obtained from the wind pressure sensor.

[0036] Step S102, determining a torque adjustment value according to vehicle status information and environmental information.

[0037] Combined with the vehicle's current speed, acceleration, steering angle and other information, as well as wind pressure data, an appropriate torque adjustment value is calculated through an algorithm or model. The torque adjustment value can adjust the impact of wind resistance on vehicle driving, especially the direction of wheel rotation during vehicle driving. Specifically, a machine learning model or a predefined algorithm can be used for real-time calculation, etc., which is not specifically limited here and can be implemented by those skilled in the art.

[0038] Step S103, adjusting the current torque of the vehicle according to the torque adjustment value to determine a first target torque.

[0039] The first target torque is used to characterize the torque that adjusts the effect of wind resistance on vehicle driving. Specifically, the calculated torque adjustment value is applied to the current torque of the vehicle to obtain a new torque value, namely the first target torque. This value will serve as the basis for subsequent vehicle driving control.

[0040] Step S104: controlling the vehicle to travel based on the first target torque.

[0041] The driving state of the vehicle is adjusted according to the first target torque, including acceleration, deceleration, steering, etc., to ensure that the vehicle can drive smoothly and safely.

[0042] For example: a car is driving on a highway and suddenly encounters a crosswind. At this time, the vehicle's status information includes the current speed of 120 km / h, the acceleration of zero (constant speed driving), and the steering angle of zero (straight driving). The wind pressure sensor detects a sudden increase in the wind pressure of the crosswind. After obtaining this information, the system begins processing. Based on the difference between the wind pressures on both sides of the vehicle, the system (such as the on-board computer) recognizes that the vehicle will be deviated by the side wind (such as deviating to the left or right) and cannot maintain the current straight driving state. The system generates a certain torque in the opposite direction of the wind, so that the vehicle's electronic power steering system can control the vehicle to maintain stable driving in the expected direction in the presence of side winds without the driver's involvement in adjusting the steering wheel.

[0043] The vehicle control method provided in this embodiment can evaluate the vehicle's driving condition in real time by acquiring the vehicle's status information and the environmental information sent by the vehicle's wind pressure sensor, and automatically adjust the torque based on this information, thereby ensuring that the vehicle maintains the best driving condition in a complex environment. When faced with emergencies such as side winds, it can respond quickly and adjust the torque to maintain the stability of the vehicle and reduce the risk of deviating from the route.

[0044] In an optional implementation, the above step 102 includes:

[0045] Step a1, fusing the vehicle state information with the environment information to generate target state information.

[0046] Fusion processing can represent the integration of information from different sources (here, vehicle state information and environmental information) to form a more comprehensive and accurate set of information. Target state information can represent the information after fusion processing, which combines the state of the vehicle and the influence of the external environment to provide more accurate input for subsequent torque calculation. Specifically, data fusion technology (such as Kalman filtering, Bayesian network, etc.) can be used to integrate vehicle state information and environmental information to form target state information containing more comprehensive information.

[0047] Step a2: input the target state information into a pre-trained torque calculation model to determine a second target torque.

[0048] The second target torque can represent the torque value output by a pre-trained torque calculation model, taking into account the influence of the vehicle state and the external environment. It is the basis for subsequent adjustment of the vehicle's current torque. The fused target state information is used as input, and the second target torque is calculated through a pre-trained torque calculation model (such as a neural network model, a regression model, etc.).

[0049] Step a3: determining a torque adjustment value based on the second target torque and the current torque of the vehicle.

[0050] By comparing the second target torque and the current torque of the vehicle, the difference between them, i.e. the torque adjustment value, is calculated, which is used to guide the vehicle's power system to adjust the output to achieve the second target torque.

[0051] The vehicle control method provided in this embodiment can generate more comprehensive and accurate target state information by fusing the vehicle's state information with environmental information. This information fusion technology utilizes information obtained by multiple sensors, and analyzes and comprehensively processes it through computer technology to obtain more reliable decision results. In addition, based on the second target torque and the current torque of the vehicle, the torque adjustment value can be determined, and the vehicle's drive or braking system can be adjusted in real time, which can significantly improve the vehicle's handling stability and driving safety. By acquiring and analyzing vehicle state information and environmental information in real time, potential safety hazards can be actively identified, and corresponding torque adjustment measures can be taken to avoid risks.

[0052] In one possible implementation, constructing a preset trained torque calculation model includes:

[0053] Step b1, obtaining an initial training data set; wherein the initial training data set includes: historical wind speed information, historical wind direction information, historical vehicle speed information and historical vehicle offset information.

[0054] The initial training data set may include: historical wind speed information, historical wind direction information, historical vehicle speed information, historical vehicle offset information, etc., which are not specifically limited here. Specifically, the initial training data set may be directly obtained from a database.

[0055] Step b2, inputting the initial training data set into the generator so that the generator generates a plurality of sample data using a preset noise distribution, and fixing the generator.

[0056] The purpose of fixing the generator is to prevent the generator from updating the sample image data. After acquiring the image data training set, the computer device can input the image data training set into the generator so that the generator generates a plurality of sample image data using a preset noise distribution.

[0057] Step b3: Based on the generator and multiple discriminators, a conditional generative adversarial network model of the discriminator and a loss function of the conditional generative adversarial network model are constructed.

[0058] Since the multi-discriminator conditional generative adversarial network model consists of a generator and multiple discriminators, a multi-discriminator conditional generative adversarial network model can be constructed through the generator and multiple discriminators, and then the loss function of the adversarial network model can be determined through the generator and multiple discriminators.

[0059] The loss function of the generative adversarial network model constructed in the above step b3 includes:

[0060] Among them, L(G,D k ) is the loss function, x is the input feature, z is the input noise vector of G, E represents the expected size, Dk is the cGAN discriminator, G is the generator, g is the forged data, and in the model of the present invention, D k is the main discriminator, and the other discriminators are auxiliary discriminators.

[0061] Step b4: training the conditional generative adversarial network model based on the loss function, sample data, and initial training data set to obtain a trained conditional generative adversarial network model.

[0062] When training the discriminator group, when training the generator, minimize log(1-D k (G(x,z))); where D k When (G(x,z)) is maximized, it means that the data generated by the generator is regarded as real data; when training the discriminator group, maximize log(1-D k (G(x,z))); where D k When (G(x,z)) is minimum, it means that the generated image of the generator is regarded as real data.

[0063] When training the generator, the goal is to minimize the loss function of the conditional generative adversarial network model of the multi-discriminator. At this time, the generative adversarial network model hopes that D in the loss function of the generative adversarial network model k (G(x,z)) is as large as possible, D k When (G(z)) is the largest, it means that the generator will generate real data. When training the discriminator, the goal is to maximize the loss function of the generative adversarial network model. At this time, the conditional generative adversarial network model of the multi-discriminator hopes that D in the loss function of the conditional generative adversarial network model of the multi-discriminator k (G(x,z)) is as large as possible, D k When (G(z)) is minimum, it means the generator generates real data.

[0064] In an optional implementation, the environmental information includes wind speed information and wind direction information, and the vehicle status information includes the vehicle's current speed information and the vehicle's offset information from the lane line; wherein the above step S102 includes:

[0065] Step c1, determining the lateral force of the side wind on the vehicle based on the wind speed information and the wind direction information.

[0066] Wind speed information and wind direction information refer to information obtained through sensors on the vehicle (such as wind direction sensors) and are used to describe the wind conditions in the external environment. Among them, wind speed information can characterize the velocity of the wind, and wind direction information can refer to the direction of the wind. The lateral force can characterize the horizontal force generated by the side wind acting on the vehicle, which may cause the vehicle to deviate from its original lane. Specifically, based on the wind speed and wind direction information, the lateral force of the side wind on the vehicle is calculated through a physical model or a machine learning algorithm. Simple physical formulas (such as the Bernoulli equation) can be used for estimation, and predictions can also be made based on machine learning models based on large amounts of data. No specific limitation is made here, and it can be implemented by those skilled in the art.

[0067] It should be noted that the ultrasonic wind speed sensor mainly uses the ultrasonic time difference method to measure wind speed. Since the propagation speed of sound in the air will be superimposed on the airflow speed in the wind direction. If the propagation direction of the ultrasonic wave is the same as the wind direction, then its speed will increase; but if the propagation direction of the ultrasonic wave is opposite to the wind direction, then its speed will be much slower. Therefore, under fixed detection conditions, the propagation speed of the ultrasonic wave in the air can correspond to the wind speed function. The accurate wind speed and wind direction can be obtained by calculation.

[0068] Step c2, detecting whether the lateral force of the side wind on the vehicle meets the preset lateral force.

[0069] The preset lateral force can be used to characterize and judge whether the impact of the current crosswind on the vehicle is within an acceptable range. The preset lateral force can be N1 or N2, etc., which is not specifically limited here. Specifically, the calculated lateral force is compared with the preset lateral force. Numerical comparison can be performed directly, or fuzzy logic, probability evaluation and other methods can be used.

[0070] Step c3, based on the offset information of the vehicle from the lane line and the current speed information of the vehicle, determine the current capability information of the vehicle; wherein the current capability information is used to indicate that the vehicle maintains the original lane for driving.

[0071] The current capability information can represent the ability of the vehicle to maintain the original lane under current conditions based on the offset information of the lane line offset by the vehicle and the current vehicle speed information. The current vehicle speed information can represent the current speed of the vehicle. Specifically, the current vehicle speed information of the vehicle can be obtained through a vehicle speed sensor configured for the vehicle, or through other methods, which are not specifically limited here.

[0072] More specifically, the vehicle's lane-keeping ability is evaluated by combining the information about the amount of the vehicle's deviation from the lane line and the current speed information. This evaluation can be performed using methods such as control theory, machine learning models, or expert systems.

[0073] In a possible implementation, a reasonable offset threshold is set according to factors such as vehicle type, road conditions, and traffic rules. When the vehicle offset exceeds this threshold, the vehicle's ability to keep the lane is considered to be challenged. A reasonable speed range is set according to factors such as road speed limit and vehicle performance. When driving at high speed, the vehicle may be more sensitive to offset, so more stringent evaluation standards are required. Direct comparison method: Compare the offset information obtained in real time with the set offset threshold. If the offset exceeds the threshold, it is considered that the vehicle's ability to keep the lane is insufficient. Dynamic evaluation method: Consider the impact of vehicle speed on offset and set a dynamic evaluation model. For example, an offset threshold related to vehicle speed can be set. The higher the speed, the smaller the allowed offset. Comprehensive evaluation method: Combine offset information and vehicle speed information, and use machine learning algorithms or control theory and other methods for comprehensive evaluation. This method can more accurately reflect the vehicle's ability to keep the lane under different conditions. For example: A car is driving on a highway, the current speed is 120km / h, and the sensor detects that the vehicle's offset relative to the lane line is S1 meters. According to the set evaluation standard, the offset threshold is S2 meters. Among them, if S1 is less than S2, the vehicle can maintain the lane. However, the allowed offset should be more stringent when driving at high speed. Although the current offset has not exceeded the threshold, considering the high speed, the vehicle's ability to maintain the lane may be affected to a certain extent. At this time, the vehicle control system can automatically adjust the Electronic Power Steering (EPS) and other systems to reduce the vehicle's offset and maintain lane stability.

[0074] Step c4, detecting whether the current capability information conforms to the preset capability information.

[0075] The assessed current capability information is compared with the preset capability information.

[0076] Step c5, if the lateral force of the side wind on the vehicle meets the preset lateral force and / or the current capability information meets the preset capability information, determine the torque adjustment value according to the vehicle status information and environmental information.

[0077] If the crosswind effect or vehicle capability is within an acceptable range, the torque adjustment value is calculated based on the vehicle status and environmental information.

[0078] The vehicle control method provided in this embodiment can accurately calculate the lateral force of the side wind on the vehicle and evaluate the influence of the side wind on the vehicle stability through wind speed information and wind direction information. If the lateral force of the side wind on the vehicle meets the preset lateral force and / or the current capability information meets the preset capability information, the torque adjustment value is determined according to the vehicle status information and environmental information to reduce the influence of the side wind on the vehicle stability, thereby improving driving safety.

[0079] In a possible implementation, detecting whether the lateral force of the side wind on the vehicle meets the preset lateral force can be used as the first condition, and detecting whether the current capability information meets the preset capability information can be used as the second condition. Wherein, firstly, it can be detected whether the first condition is met, and if the first condition is not met, there is no need to detect the second condition.

[0080] In an optional implementation, the above step S104 includes:

[0081] Step d1, adjusting the direction and magnitude of the torque of the steering wheel of the vehicle based on the first target torque.

[0082] The torque of the steering wheel refers to the torque generated by the force applied to the steering wheel by the vehicle's main controller, which determines the steering angle and steering speed of the vehicle's front wheels (or steering wheels). According to the value of the first target torque, the vehicle control system (such as the EPS electronic power steering system) can adjust the torque of the steering wheel to match the first target torque. This includes determining the direction (clockwise or counterclockwise) and magnitude (absolute value of the torque). Specifically, the main controller (such as the on-board computer) can directly issue instructions to the EPS to adjust the torque of the steering wheel. The actual torque of the steering wheel can also be monitored by a sensor and compared with the first target torque, and then the output of the EPS can be adjusted until the actual torque matches the first target torque. The first target torque can also be automatically adjusted according to the dynamic response of the vehicle and road conditions, and the torque of the steering wheel can be adjusted accordingly. For example: if the first target torque is clockwise and has a magnitude of 10Nm, the main controller will adjust the EPS so that the steering wheel generates a clockwise torque of 10Nm.

[0083] Step d2, controlling the vehicle to adjust direction according to the direction and magnitude of the adjusted steering wheel torque.

[0084] The torque of the steering wheel is transmitted to the front wheels (or steering wheels) of the vehicle through the steering mechanism, causing the front wheels of the vehicle to produce corresponding steering angles and steering speeds, thereby changing the direction of travel of the vehicle.

[0085] The vehicle control method provided in this embodiment can more accurately control the steering angle and steering speed of the vehicle by accurately adjusting the steering wheel torque, thereby realizing accurate control of the vehicle's driving trajectory. This accuracy is particularly important when driving at high speeds, avoiding obstacles in an emergency, or driving in a narrow space, and can significantly improve driving safety and stability.

[0086] In an optional embodiment, the number and positions of the wind pressure sensors respectively arranged on both sides of the vehicle are the same.

[0087] Combination Figure 2As shown, three wind pressure sensors are respectively arranged on both sides of the vehicle, and their positions are the same.

[0088] The vehicle control method provided in this embodiment can obtain more comprehensive and accurate wind pressure data by setting the same number and position of wind pressure sensors on both sides of the vehicle. Since the number and position of sensors are the same, the measurement error caused by uneven distribution of sensors can be eliminated, thereby improving the accuracy and reliability of data.

[0089] In an alternative embodiment, in combination Figure 3 As shown, the present invention provides a vehicle control system, which includes: a wind pressure sensor, a vehicle speed sensor, a main controller and a steering control system; wherein the steering control system includes a vehicle steering wheel;

[0090] The main controller obtains the vehicle speed information sent by the vehicle speed sensor, the vehicle posture information sent by the vehicle posture sensor, and the environmental information sent by the vehicle wind pressure sensor. The main controller determines the torque adjustment value according to the vehicle state information and environmental information. The main controller adjusts the current torque of the vehicle according to the torque adjustment value to determine the first target torque. The first target torque is then sent to the steering control system, wherein the steering control system controls the vehicle steering wheel through the first target torque to control the vehicle to travel.

[0091] In this embodiment, a vehicle control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0092] This embodiment provides a vehicle control device, such as Figure 4 As shown, it includes: an acquisition module 401, used to acquire the vehicle's status information and the environmental information sent by the vehicle's wind pressure sensor; a first determination module 402, used to determine the torque adjustment value according to the vehicle's status information and environmental information; a second determination module 403, used to adjust the vehicle's current torque according to the torque adjustment value and determine the first target torque; a control module 404, used to control the vehicle to travel based on the first target torque.

[0093] In an optional embodiment, the second determination module 403 includes: a fusion processing unit, used to fuse the vehicle's state information with the environmental information to generate target state information; a first determination unit, used to input the target state information into a pre-trained torque calculation model to determine the second target torque; and a second determination unit, used to determine the torque adjustment value based on the second target torque and the vehicle's current torque.

[0094] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0095] The control device of the vehicle in this embodiment is presented in the form of a functional unit, where the functional unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0096] The embodiment of the present invention also provides a computer device having the above Figure 4 Controls of the vehicle shown.

[0097] See also Figure 5 , Figure 5 is a schematic diagram of the structure 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, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, 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 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. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0098] 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 a dedicated 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.

[0099] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0100] 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 according to the use of the computer device, 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 arranged 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 combinations thereof.

[0101] 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.

[0102] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0103] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, 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 hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. 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.

[0104] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0105] Although the embodiments of the present invention have been described in conjunction with 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, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle control method, characterized in that: Wind pressure sensors are respectively arranged on both sides of the vehicle; wherein the method comprises: Obtain vehicle status information and environmental information sent by the vehicle's wind pressure sensor; determining a torque adjustment value according to the vehicle status information and the environmental information; Adjusting the current torque of the vehicle according to the torque adjustment value to determine a first target torque; The vehicle is controlled to travel based on the first target torque.

2. The vehicle control method according to claim 1, characterized in that: The step of determining the torque adjustment value according to the vehicle status information and the environment information includes: Fusing the vehicle state information with the environment information to generate target state information; Inputting the target state information into a pre-trained torque calculation model to determine a second target torque; The torque adjustment value is determined based on the second target torque and a current torque of the vehicle.

3. The vehicle control method according to claim 1, characterized in that: The environmental information includes wind speed information and wind direction information, and the vehicle status information includes current vehicle speed information and information about the amount of the vehicle deviating from a lane line; wherein, determining the torque adjustment value according to the vehicle status information and the environmental information includes: Determining a lateral force of the side wind on the vehicle based on the wind speed information and the wind direction information; Detecting whether the lateral force of the side wind on the vehicle meets the preset lateral force; Determine the current capability information of the vehicle based on the offset information of the lane line offset by the vehicle and the current speed information of the vehicle; wherein the current capability information is used to indicate that the vehicle maintains the original lane for driving; Detecting whether the current capability information meets the preset capability information; If the lateral force of the side wind on the vehicle meets the preset lateral force and / or the current capability information meets the preset capability information, a torque adjustment value is determined according to the state information of the vehicle and the environmental information.

4. The vehicle control method according to claim 1, characterized in that: The controlling the vehicle to travel based on the first target torque includes: Based on the first target torque, adjusting the direction and magnitude of the torque of the steering wheel of the vehicle; The vehicle is controlled to adjust its direction according to the direction and size of the torque of the adjusted steering wheel.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: The number and positions of the wind pressure sensors respectively arranged on both sides of the vehicle are the same.

6. A vehicle control device, characterized in that: Wind pressure sensors are respectively arranged on both sides of the vehicle; the device comprises: An acquisition module, used to acquire vehicle status information and environmental information sent by a wind pressure sensor of the vehicle; A first determination module, configured to determine a torque adjustment value according to the vehicle state information and the environment information; a second determination module, configured to adjust the current torque of the vehicle according to the torque adjustment value to determine a first target torque; A control module is used to control the vehicle to travel based on the first target torque.

7. The vehicle control device according to claim 6, characterized in that: The first determination module includes: A fusion processing unit, used for fusing the state information of the vehicle with the environment information to generate target state information; A first determination unit, configured to input the target state information into a pre-trained torque calculation model to determine a second target torque; The second determining unit is configured to determine the torque adjustment value based on the second target torque and a current torque of the vehicle.

8. 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 vehicle control method according to any one of claims 1 to 5 by executing the computer instructions.

9. 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 vehicle control method according to any one of claims 1 to 5.

10. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the vehicle control method according to any one of claims 1 to 5.

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