Control Method, Device, Equipment, Storage Medium and Program Product of a Vehicle

Abstract

The present invention relates to the technical field of vehicle control, and discloses a control method, device, equipment, storage medium and program product for a vehicle. The method includes: obtaining the state information of the vehicle and the environmental information sent by the wind pressure sensor of the vehicle; determining a torque adjustment value according to the state information and the environmental information of the vehicle; adjusting the current torque of the vehicle according to the torque adjustment value to determine a first target torque; and controlling the vehicle to travel based on the first target torque. By obtaining the state information of the vehicle and the environmental information sent by the wind pressure sensor of the vehicle, the present invention can evaluate the driving condition of the vehicle in real time, and automatically adjust the torque according to this information, so as to ensure that the vehicle maintains the best driving state in a complex environment. In the face of sudden situations such as side winds, it can respond quickly, adjust the torque to maintain the stability of the vehicle, and reduce the risk of deviating from the route.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a control method, device, computer device, storage medium and program product for a vehicle. Background Art

[0002] In modern transportation systems, as one of the main means of transportation, the driving safety of automobiles has always been the focus of people's attention. Especially in complex and changeable road environments, such as mountainous elevated bridge sections, highways in large open areas, and traffic intersections in urban high-rise building groups, driving conditions are often more severe. These special sections not only test the driving skills and reaction speeds of drivers, but also face challenges from natural environmental factors, among which the influence of crosswinds is particularly significant.

[0003] To address the safety challenges brought by crosswinds, some high-end navigation systems already have a warning function for special sections, which can inform drivers in advance of sections where crosswind hazards may exist, enabling drivers to make preparations in advance.

[0004] However, even when the navigation system issues a warning, drivers still need to rely on their 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 control method, device, computer device, storage medium and program product for a vehicle to solve the problem that even when the navigation system issues a warning, drivers still need to rely on their 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 control method for a vehicle, the method comprising: obtaining the state information of the vehicle and the environmental information sent by the vehicle's wind pressure sensor; determining a torque adjustment value according to the state information of the vehicle and the environmental information; adjusting the current torque of the vehicle according to the torque adjustment value to determine a first target torque; and controlling the vehicle to travel based on the first target torque.

[0007] The control method for a vehicle provided in this embodiment can evaluate the driving condition of the vehicle in real time by obtaining the state information of the vehicle 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 state in a complex environment. In the face of sudden situations such as crosswinds, it can respond quickly, adjust the torque to maintain the stability of the vehicle, and reduce the risk of deviating from the route.

[0008] In an alternative embodiment, determining a torque adjustment value according to the vehicle state information and the environmental information includes: fusing the vehicle state information and 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 current torque of the vehicle.

[0009] For the vehicle control method provided in this embodiment, by fusing the vehicle state information and the environmental information, more comprehensive and accurate target state information can be generated. This information fusion technology utilizes the information obtained by multiple sensors and analyzes and comprehensively processes it through computer technology to obtain more reliable decision-making results. Moreover, based on the second target torque and the current torque of the vehicle, the torque adjustment value can be determined, and the driving or braking system of the vehicle can be adjusted in real time, which can significantly improve the handling stability and driving safety of the vehicle. By obtaining and analyzing the vehicle state information and the 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 alternative embodiment, the environmental information includes wind speed information and wind direction information, and the vehicle state information includes the current vehicle speed information and the offset amount information of the vehicle deviating from the lane line; wherein, determining the torque adjustment value according to the vehicle state information and the environmental information includes: determining the lateral force of the crosswind on the vehicle based on the wind speed information and the wind direction information; detecting whether the lateral force of the crosswind on the vehicle conforms to a preset lateral force; determining the current ability information of the vehicle based on the offset amount information of the vehicle deviating from the lane line and the current vehicle speed information; wherein the current ability information is used to characterize the vehicle's ability to maintain its original lane for driving; detecting whether the current ability information conforms to the preset ability information; if the lateral force of the crosswind on the vehicle conforms to the preset lateral force and / or the current ability information conforms to the preset ability information, execute determining the torque adjustment value according to the vehicle state information and the environmental information.

[0011] For the vehicle control method provided in this embodiment, through the wind speed information and the wind direction information, the lateral force of the crosswind on the vehicle can be accurately calculated, and the impact of the crosswind on the vehicle stability can be evaluated. When the lateral force of the crosswind on the vehicle conforms to the preset lateral force and / or the current ability information conforms to the preset ability information, execute determining the torque adjustment value according to the vehicle state information and the environmental information to reduce the impact of the crosswind on the vehicle stability, thereby improving driving safety.

[0012] In an alternative 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 its direction according to the adjusted direction and magnitude of the torque of the steering wheel.

[0013] The vehicle control method provided in this embodiment can more accurately control the steering angle and steering speed of the vehicle by precisely adjusting the steering wheel torque, thereby achieving precise control of the vehicle's driving trajectory. This precision is particularly important when driving at high speeds, avoiding emergencies, or in narrow spaces, and can significantly improve driving safety and stability.

[0014] In an alternative embodiment, the number and position of the wind pressure sensors provided 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 wind pressure sensors with the same number and position on both sides of the vehicle. Since the number and position of the sensors are the same, measurement errors caused by uneven sensor distribution can be eliminated, improving the accuracy and reliability of the data.

[0016] In a second aspect, the present invention provides a vehicle control device. Wind pressure sensors are provided on both sides of the vehicle. The device includes: an acquisition module for acquiring the status information of the vehicle and the environmental information sent by the wind pressure sensors of the vehicle; a first determination module for determining a torque adjustment value according to the status information and environmental information of the vehicle; a second determination module for adjusting the current torque of the vehicle according to the torque adjustment value to determine a first target torque; and a control module for controlling the vehicle to drive based on the first target torque.

[0017] In an alternative embodiment, the first determination module includes: a fusion processing unit for fusing the status information and environmental information of the vehicle to generate target status information; a first determination unit for inputting the target status information into a pre-trained torque calculation model to determine a second target torque; and a second determination unit for determining the torque adjustment value based on the second target torque and the current torque of the vehicle.

[0018] In a third aspect, the present invention provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the vehicle control method according to the first aspect or any corresponding embodiment thereof.

[0019] In a fourth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored. The computer instructions are used to cause a computer to execute the vehicle control method according to the first aspect or any corresponding embodiment thereof.

[0020] In a fifth aspect, the present invention provides a computer program product, including computer instructions, which are used to cause a computer to execute the vehicle control method according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 is a schematic flowchart 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 vehicle's wind speed sensor according to an embodiment of the present invention;

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

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

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

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0028] Based on the related art, it is known that in modern transportation systems, as one of the main means of transportation, the driving safety of automobiles has always been the focus of people's attention. Especially in complex and changeable road environments, such as mountainous elevated bridge sections, highways in large open areas, and traffic intersections in urban high-rise building clusters, the driving conditions are often more stringent. These special sections not only test the driving skills and reaction speeds of drivers but also face challenges from natural environmental factors, among which the influence of crosswinds is particularly significant.

[0029] To address the safety challenges brought by crosswinds, some high-end navigation systems already have a warning function for special sections, which can inform drivers in advance of sections where crosswind hazards may exist, enabling drivers to make preparations in advance.

[0030] However, even if the navigation system issues a warning, the driver still needs to rely on their 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 obtain the state information of the vehicle and the environmental information sent by the vehicle's wind pressure sensor, evaluate the driving condition of the vehicle in real time, and automatically adjust the torque according to this information, so as to ensure that the vehicle maintains the best driving state in a complex environment. When facing sudden situations such as side winds, it can respond quickly, adjust the torque to maintain the stability of the vehicle, and reduce the risk of deviating from the route.

[0032] According to an embodiment of the present invention, there is provided an embodiment of a vehicle control method. 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 the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0033] In this embodiment, a vehicle control method is provided, which can be used in computer devices such as computers, servers, etc. Figure 1 It is a flowchart of the vehicle control method according to an embodiment of the present invention, as Figure 1 shown, and this process includes the following steps:

[0034] Step S101, obtain the state information of the vehicle and the environmental information sent by the vehicle's wind pressure sensor.

[0035] The state information of the vehicle can characterize the current operating state of the vehicle. Among them, the state information of the vehicle can include: current speed, acceleration, steering angle, braking state, gear state, 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) in the vehicle's surrounding environment. The environmental information sent by the vehicle's wind pressure sensor can include: temperature, humidity, road conditions, wind speed, wind pressure, etc., which are not specifically limited here. Specifically, the state information of the vehicle 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, determine the torque adjustment value according to the state information of the vehicle and the environmental information.

[0037] Combined with the vehicle's current speed, acceleration, steering angle and other information, as well as the wind pressure data, a suitable torque adjustment value is calculated through an algorithm or model. The torque adjustment value can adjust the influence of wind resistance on vehicle driving, especially on the rotation direction of the vehicle wheels during 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, adjust the current torque of the vehicle according to the torque adjustment value to determine the first target torque.

[0039] The first target torque is used to represent the torque that adjusts the influence 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, that is, the first target torque. This value will be used as the basis for subsequent vehicle driving control.

[0040] Step S104, control the vehicle to drive based on the first target torque.

[0041] Adjust the driving state of the vehicle 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 the highway and suddenly encounters a crosswind. At this time, the vehicle's state information includes a current speed of 120 km / h, an acceleration of zero (driving at a constant speed), and a steering angle of zero (driving straight). The wind pressure sensor detects a sudden increase in the wind pressure of the crosswind. After obtaining this information, the system starts to process. According to the difference in wind pressure between the two sides of the vehicle, the system (such as an on-board computer) recognizes that the vehicle will be blown off course by the crosswind (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 electric power steering system can control the vehicle to still drive stably in the expected direction in the presence of a crosswind without the driver having to participate in adjusting the steering wheel.

[0043] The vehicle control method provided in this embodiment can, by obtaining the vehicle's state information and the environmental information sent by the vehicle's wind pressure sensor, evaluate the vehicle's driving condition in real time and automatically adjust the torque according to this information, so as to ensure that the vehicle maintains the best driving state in a complex environment. In the face of sudden situations such as crosswinds, it can respond quickly, adjust the torque to maintain the stability of the vehicle, and reduce the risk of deviating from the route.

[0044] In an alternative embodiment, step 102 above includes:

[0045] Step a1, fuse and process the vehicle's state information and environmental information to generate target state information.

[0046] The fusion process can represent integrating information from different sources (here, vehicle state information and environmental information) together to form a more comprehensive and accurate information set. The target state information can represent the information after the fusion process, which combines the state of the vehicle and the influence of the external environment, providing a more accurate input for subsequent torque calculation. Specifically, data fusion techniques (such as Kalman filtering, Bayesian networks, etc.) can be used to integrate the vehicle state information and environmental information to form the target state information containing more comprehensive information.

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

[0048] The second target torque can represent the torque value output by the pre-trained torque calculation model, taking into account the influence of the vehicle state and the external environment, and is the basis for subsequently adjusting the current torque of the vehicle. Using the target state information after the fusion process as the input, 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: Based on the second target torque and the current torque of the vehicle, determine the torque adjustment value.

[0050] By comparing the second target torque and the current torque of the vehicle, calculate the difference between them, which is the torque adjustment value. This value is used to guide the power system of the vehicle to adjust the output to reach the second target torque.

[0051] For the vehicle control method provided in this embodiment, by performing a fusion process on the vehicle state information and environmental information, more comprehensive and accurate target state information can be generated. This information fusion technology utilizes the information obtained by multiple sensors and performs analysis and comprehensive processing through computer technology, thereby obtaining more reliable decision-making results. Moreover, based on the second target torque and the current torque of the vehicle, the torque adjustment value can be determined, and the driving or braking system of the vehicle can be adjusted in real time, which can significantly improve the handling stability and driving safety of the vehicle. By obtaining and analyzing the 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 a possible implementation manner, constructing a pre-trained torque calculation model includes:

[0053] Step b1: Obtain 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 dataset 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 dataset can be directly obtained from the database.

[0055] Step b2: Input the initial training dataset into the generator so that the generator generates multiple sample data using a preset noise distribution and fixes the generator.

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

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

[0058] Since the conditional generative adversarial network model with multiple discriminators consists of a generator and multiple discriminators, therefore, the conditional generative adversarial network model with multiple discriminators 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] Constructing the loss function of the generative adversarial network model in step b3 above 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 other discriminators are auxiliary discriminators.

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

[0062] When training the discriminator group above, when training the generator, minimize log(1 - D k (G(x,z))); where D k (G(x,z)) being the largest means regarding the generated data of the generator as real data; when training the discriminator group, maximize log(1 - D k (G(x,z))); where D k (G(x,z)) being the smallest means regarding the generated image of the generator as real data.

[0063] When training the generator, the goal is to minimize the loss function of the conditional generative adversarial network model with multiple discriminators. At this time, the generative adversarial network model hopes that D k (G(x,z)) is as large as possible, and when D k (G(z)) is maximized, it means that the generator generates 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 with multiple discriminators hopes that D k (G(x,z)) is as large as possible, and when D k (G(z)) is minimized, it means that the generator generates real data.

[0064] In an optional embodiment, the environmental information includes wind speed information and wind direction information, and the state information of the vehicle includes the current vehicle speed information of the vehicle and the offset information of the vehicle from the lane line; wherein, the above step S102 includes:

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

[0066] The wind speed information and the wind direction information refer to the information obtained through sensors on the vehicle (such as a wind direction sensor) and are used to describe the wind conditions in the external environment. Among them, the wind speed information can characterize the flow rate of the wind, and the wind direction information can refer to the direction of the wind. The lateral force can characterize the horizontal force generated on the vehicle due to the crosswind, and this force 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 crosswind on the vehicle is calculated through a physical model or a machine learning algorithm. Simple physical formulas (such as Bernoulli's equation) can be used for estimation, and prediction can also be based on a machine learning model with a large amount of data, etc. There is no specific limitation 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 the wind speed. Since the propagation speed of sound in the air will be superimposed with the air flow speed in the wind direction. If the propagation direction of the ultrasonic wave is the same as the wind direction, its speed will increase; but if the propagation direction of the ultrasonic wave is opposite to the wind direction, 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 through calculation.

[0068] Step c2, detect whether the lateral force of the crosswind on the vehicle meets the preset lateral force.

[0069] The preset lateral force can be used to determine whether the influence of the current crosswind on the vehicle is within an acceptable range. Among them, the preset lateral force can be N1, or N2, etc., and no specific limitation is made here. Specifically, the calculated lateral force is compared with the preset lateral force. Numerical comparison can be directly carried out, and methods such as fuzzy logic and probability evaluation can also be used.

[0070] Step c3: Based on the offset information of the vehicle deviating from the lane line and the current vehicle speed information of the vehicle, determine the current ability information of the vehicle; among them, the current ability information is used to represent that the vehicle maintains its original lane for driving.

[0071] The current ability information can represent the ability of the vehicle to maintain its original lane based on the offset information of the vehicle deviating from the lane line and the current vehicle speed information. The current vehicle speed information can represent the current driving speed of the vehicle. Specifically, the current vehicle speed information of the vehicle can be obtained through the vehicle speed sensor configured in the vehicle, or can be obtained by other means, and no specific limitation is made here.

[0072] More specifically, combining the offset information of the vehicle deviating from the lane line and the current vehicle speed information, evaluate the ability of the vehicle to maintain the lane. Methods such as control theory, machine learning models or expert systems can be used for evaluation.

[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, it is considered that the vehicle's ability to maintain the lane is challenged. A reasonable vehicle 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 offsets, so more stringent evaluation criteria 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 maintain the lane is insufficient. Dynamic evaluation method: Consider the influence of vehicle speed on the offset and set a dynamic evaluation model. For example, an offset threshold related to the vehicle speed can be set, and the higher the vehicle speed, the smaller the allowable offset. Comprehensive evaluation method: Combine the offset information and vehicle speed information and use methods such as machine learning algorithms or control theory for comprehensive evaluation. This method can more accurately reflect the vehicle's lane-keeping ability under different conditions. For example: A car is driving on a highway, and the current vehicle speed is 120 km / h. The offset of the vehicle relative to the lane line is detected by the sensor as S1 meters. According to the set evaluation criteria, the offset threshold is S2 meters. Among them, S1 is less than S2, so the vehicle can maintain the lane ability. However, the allowable offset should be more stringent when driving at high speed. Although the current offset has not exceeded the threshold, considering the high vehicle 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 systems such as the Electronic Power Steering (EPS) to reduce the vehicle's offset and maintain lane stability.

[0074] Step c4, detect whether the current ability information meets the preset ability information.

[0075] Compare the evaluated current ability information with the preset ability information.

[0076] Step c5, if the lateral force of the crosswind on the vehicle meets the preset lateral force and / or the current ability information meets the preset ability information, execute determining a torque adjustment value according to the state information and environmental information of the vehicle.

[0077] If the crosswind influence or the vehicle ability is within an acceptable range, calculate the torque adjustment value according to the vehicle state and environmental information.

[0078] The vehicle control method provided in this embodiment can accurately calculate the lateral force of the crosswind on the vehicle through the wind speed information and wind direction information, and evaluate the influence of the crosswind on the vehicle stability. When the lateral force of the crosswind on the vehicle meets the preset lateral force and / or the current ability information meets the preset ability information, execute determining a torque adjustment value according to the state information and environmental information of the vehicle to reduce the influence of the crosswind on the vehicle stability, thereby improving driving safety.

[0079] In a possible implementation, detecting whether the lateral force of the crosswind on the vehicle conforms to a preset lateral force can be used as the first condition, and detecting whether the current capability information conforms to the preset capability information can be used as the second condition. Among them, first, it can be detected whether the first condition is established. If the first condition is not established, there is no need to detect the second condition.

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

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

[0082] The torque of the steering wheel refers to the torque generated by the force exerted by the vehicle's main controller on the steering wheel, 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 electric power steering system) will adjust the torque of the steering wheel to match the first target torque. This includes determining the direction (clockwise or counterclockwise) and magnitude (the absolute value of the torque) of the torque. Specifically, the main controller (such as the vehicle computer) can directly issue commands to the EPS to adjust the torque of the steering wheel. It is also possible to monitor the actual torque of the steering wheel through sensors, compare it with the first target torque, and then adjust the output of the EPS until the actual torque matches the first target torque. It is also possible to automatically adjust the first target torque according to the vehicle's dynamic response and road conditions, and accordingly adjust the torque of the steering wheel. For example: the first target torque is clockwise and the magnitude is 10 Nm, and the main controller will adjust the EPS to make the steering wheel generate a clockwise torque with a magnitude of 10 Nm.

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

[0084] The torque of the steering wheel is transmitted to the vehicle's front wheels (or steering wheels) through the steering mechanism, causing the vehicle's front wheels to generate corresponding steering angles and steering speeds, thereby changing the driving direction 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 precisely adjusting the torque of the steering wheel, thereby achieving precise control of the vehicle's driving trajectory. This precision is particularly important when driving at high speeds, avoiding emergencies, or driving in narrow spaces, and can significantly improve the safety and stability of driving.

[0086] In an alternative implementation, the number and position of the wind pressure sensors provided on both sides of the vehicle are the same.

[0087] Combined with 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 arranging wind pressure sensors with the same quantity and position on both sides of the vehicle. Since the quantity and position of the sensors are the same, the measurement error caused by uneven sensor distribution can be eliminated, improving the accuracy and reliability of the data.

[0089] In an optional implementation manner, in combination with 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 of the vehicle sent by the vehicle speed sensor, the attitude information of the vehicle by the vehicle attitude sensor, and the environmental information sent by the wind pressure sensor of the vehicle. The main controller determines a 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 a first target torque. Then the first target torque is 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. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

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

[0093] In an optional implementation manner, the second determination module 403 includes: a fusion processing unit, configured to perform fusion processing on the vehicle state information and environmental 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; a second determination unit, configured to determine a torque adjustment value based on the second target torque and the current torque of the vehicle.

[0094] The further function descriptions of the above-mentioned various modules and units are the same as those in the corresponding above embodiments, and will not be repeated here.

[0095] The control device of the vehicle in this embodiment is presented in the form of functional units. Here, the functional units refer to ASIC (Application Specific Integrated Circuit) circuits, processors and memories that execute 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 shown control device of the vehicle.

[0097] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of a computer device provided by an optional embodiment of the present invention. As shown in Figure 5 , the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display 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 (such as an array of servers, a set of blade servers, or a multi-processor system). Figure 5 In

[0098] Processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, processor 10 can further include a hardware chip. The above hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field programmable gate array, a general array logic, or any combination thereof.

[0099] Among them, 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 embodiments.

[0100] The memory 20 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the computer device, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely disposed relative to the processor 10, and these remote memories can be connected to the computer device through 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 volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, a hard disk, or a solid-state drive; the memory 20 may further include a combination of the above types of memory.

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

[0103] The embodiments of the present invention further provide a computer-readable storage medium. The methods according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and to be stored in a local storage medium, so that the methods described herein can be stored in such software processes 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 memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium may further include a combination of the above 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, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods shown in the above embodiments are implemented.

[0104] A part of the present invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the present invention through the operations of the computer. Those skilled in the art should understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0105] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall 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; Controlling the vehicle to travel based on the first target torque; 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 the current capability information meets the preset capability information, determining a torque adjustment value according to the state information of the vehicle and the environmental information; The number and positions of the wind pressure sensors respectively arranged on both sides of the vehicle are the same.

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 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.

4. 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, configured to control the vehicle to travel based on the first target torque; The environmental information includes wind speed information and wind direction information, and the vehicle status information includes current vehicle speed information and information on the amount by which the vehicle deviates from a lane line; wherein the first determination module is further configured to determine 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; 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 the current capability information meets the preset capability information, the torque adjustment value is determined according to the vehicle status information and the environmental information; the number and positions of the wind pressure sensors respectively arranged on both sides of the vehicle are the same.

5. The vehicle control device according to claim 4, 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.

6. 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 3 by executing the computer instructions.

7. 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 3.

8. 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 3.

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