Vehicle driving control method and device, electronic equipment and medium

Abstract

The invention relates to the field of vehicle control, in particular to a vehicle driving control method and device, electronic equipment and a medium. The vehicle driving control method comprises the steps that in response to the influence of crosswind on a vehicle, whether the current vehicle lateral offset distance reaches a lateral offset distance threshold value or not is judged; determining a steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral deflection distance according to a mapping relation among the vehicle speed, the vehicle lateral deflection distance and the steering wheel reverse deflection angle under the condition that the current vehicle lateral deflection distance reaches a lateral deflection distance threshold value; determining a termination distance according to the reverse deflection angle of the steering wheel, the transverse offset distance threshold and the wheel base; and controlling the vehicle to run according to the reverse deflection angle of the steering wheel, and controlling the vehicle to run back when the running distance of the vehicle reaches the termination distance. After the vehicle is affected by crosswind, the vehicle can be adjusted adaptively, quickly and accurately, participation of a driver is not needed, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and more specifically, to a vehicle driving control method, device, electronic equipment and medium. Background Art

[0002] Vehicle accidents caused by crosswinds are mainly caused by the high speed of the vehicle or the neighboring vehicle, and the sudden strong wind, which causes the vehicle's driving trajectory to deviate, and the driver or the vehicle fails to react in time, leading to accidents. Relatively speaking, the probability of crosswind accidents on highways is relatively high. The current main method to deal with the impact of crosswinds is to require drivers to concentrate, quickly correct the driving direction, and reduce speed to avoid accidents. However, the entire process requires drivers to spend a long time from identification, judgment, processing, and vehicle execution, which is often the main cause of accidents.

[0003] In view of this, this application is hereby filed. Summary of the invention

[0004] The purpose of the present application is to provide a vehicle driving control method, device, electronic device and medium to solve the problem in the prior art of relying on driver operation to deal with the influence of crosswind, which results in long processing time and prone to accidents.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions: In a first aspect, the present application provides a vehicle driving control method, comprising: In response to the vehicle being affected by crosswind, determining whether the current lateral offset distance of the vehicle reaches a lateral offset distance threshold; When the current vehicle lateral offset distance reaches the lateral offset distance threshold, determining the steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to the mapping relationship among the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle; Determining a termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and the wheel wheelbase; The vehicle is controlled to travel according to the reverse deflection angle of the steering wheel, and when the vehicle travels a distance reaching the end distance, the vehicle is controlled to return to the normal travel.

[0006] As a further preferred technical solution, before responding to the vehicle being affected by the crosswind and determining whether the current lateral offset distance of the vehicle reaches the lateral offset distance threshold, the method further includes: Whether the vehicle is affected by crosswinds is detected based on the vehicle's lateral acceleration, current vehicle speed, lane curvature radius, detection data from the airbag detection module, lateral offset distance threshold and preset driver reaction time.

[0007] As a further preferred technical solution, the method of determining whether the vehicle is affected by crosswind according to the vehicle lateral acceleration, the current vehicle speed, the lane curvature radius, the detection data of the airbag detection module, the lateral offset distance threshold and the preset driver reaction time includes: Determine whether the vehicle is in an aggressive driving mode based on the vehicle's lateral acceleration, current speed, and lane curvature radius; Determine whether the vehicle has collided based on the detection data of the airbag detection module; Determine whether the vehicle's lateral acceleration exceeds the limit based on the vehicle's lateral acceleration, the lateral offset distance threshold, and the preset driver's reaction time; When the vehicle is not in an aggressive driving mode, the vehicle has not collided, and the vehicle's lateral acceleration exceeds the limit, it is determined that the vehicle is affected by crosswinds.

[0008] As a further preferred technical solution, judging whether the vehicle is in an aggressive driving mode based on the vehicle lateral acceleration, the current vehicle speed and the lane curvature radius includes: Determine the vehicle's turning lateral acceleration based on the current vehicle speed and lane curvature radius; Whether the vehicle is in an aggressive driving mode is determined based on the vehicle lateral acceleration and the vehicle turning lateral acceleration.

[0009] As a further preferred technical solution, judging whether the lateral acceleration of the vehicle exceeds the limit according to the lateral acceleration of the vehicle, the lateral offset distance threshold and the preset driver reaction time includes: Determining a vehicle lateral acceleration threshold according to a lateral offset distance threshold and a preset driver reaction time; According to the vehicle lateral acceleration and the vehicle lateral acceleration threshold, it is determined whether the vehicle lateral acceleration exceeds a limit.

[0010] As a further preferred technical solution, before responding to the vehicle being affected by the crosswind and determining whether the current lateral offset distance of the vehicle reaches the lateral offset distance threshold, the method further includes: The lateral offset distance threshold is determined based on the lane width, vehicle width, the position of the vehicle centerline and the vehicle offset direction.

[0011] As a further preferred technical solution, determining the termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and the wheel wheelbase includes: Determining a turning radius according to the steering wheel reverse deflection angle and the wheel wheelbase; A termination distance is determined according to the turning radius and the lateral offset distance threshold.

[0012] In a second aspect, the present application provides a vehicle driving control device, comprising: A judgment module, used for responding to the vehicle being affected by crosswind, and judging whether the current lateral offset distance of the vehicle reaches a lateral offset distance threshold; A steering wheel reverse deflection angle determination module is used to determine the steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to the mapping relationship among the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle when the current vehicle lateral offset distance reaches the lateral offset distance threshold; A termination distance determination module, used to determine the termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and the wheel wheelbase; The driving control module is used to control the vehicle to drive according to the reverse deflection angle of the steering wheel, and when the vehicle driving distance reaches the end distance, control the vehicle to return to the normal driving state.

[0013] In a third aspect, the present application provides an electronic device, including: at least one processor, and a memory communicatively coupled to at least one of the processors; The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors so that at least one of the processors can perform the above method.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to enable a computer to execute the above method.

[0015] Compared with the prior art, the beneficial effects of this application are: The vehicle driving control method provided by the present application includes responding to the vehicle being affected by the crosswind, judging whether the current vehicle lateral offset distance reaches the lateral offset distance threshold; when the current vehicle lateral offset distance reaches the lateral offset distance threshold, determining the steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to the mapping relationship between the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle; determining the termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and the wheelbase; controlling the vehicle to travel according to the steering wheel reverse deflection angle, and when the vehicle travel distance reaches the termination distance, controlling the vehicle to return to the normal driving. After the vehicle is affected by the crosswind, the method obtains the steering wheel reverse deflection angle based on the current vehicle lateral offset distance, the lateral offset distance threshold and a specific mapping relationship, and then determines the termination distance in combination with the steering wheel reverse deflection angle and the wheelbase, and finally controls the vehicle to return to the normal driving according to the steering wheel reverse deflection angle after traveling to the termination distance. The whole process does not require driver operation, can be adjusted adaptively, and the adjustment is rapid and takes very short time. The time from the vehicle being affected by the crosswind to returning to the normal driving can be reduced to milliseconds, which greatly improves driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a flow chart of the vehicle driving control method provided by the present application; Figure 2 It is a structural schematic diagram of the vehicle driving control device provided by the present application; Figure 3 It is a structural schematic diagram of the electronic device provided by this application. DETAILED DESCRIPTION

[0018] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0019] As mentioned in the background technology, the existing technology has the problem that the driver takes a long time to manually operate the vehicle due to the influence of crosswind during driving, which is easy to cause accidents. In this regard, the present application adopts a method of determining the reverse deflection angle of the steering wheel based on the current vehicle lateral offset distance, lateral offset distance threshold, and specific mapping relationship, and then judging the end distance, and then controlling the vehicle to return to the normal position after driving the end distance according to the reverse deflection angle of the steering wheel. The whole process is adaptively adjusted, the time is short, and the safety is improved. The present application is further described in detail below in conjunction with the embodiments.

[0020] Example 1 Figure 1 This is a flow chart of a vehicle driving control method provided by this embodiment. This embodiment is applicable to driving control during vehicle driving. This method can be executed by a vehicle driving control device, which can be composed of software and / or hardware and is generally integrated in an electronic device, which can be a vehicle controller or a body controller. For ease of understanding, each step in the control method of this embodiment is executed by the vehicle controller.

[0021] like Figure 1 As shown, this embodiment provides a vehicle driving control method, comprising the following steps: S110 . In response to the vehicle being affected by crosswind, determining whether a current lateral offset distance of the vehicle reaches a lateral offset distance threshold.

[0022] "Current vehicle lateral offset distance" refers to the lateral distance that the vehicle deviates from the original driving direction from the time when the vehicle is affected by the crosswind to the current data collection time, and the lateral direction refers to the direction perpendicular to the lane line. In this embodiment, the data collection cycle generally does not exceed 20ms. "Lateral offset distance threshold" refers to the maximum lateral offset distance that the vehicle can have. If it exceeds this maximum value, the probability of an accident will greatly increase, so timely intervention is required to reduce the lateral offset distance of the vehicle.

[0023] In an optional implementation, before the step of responding to the vehicle being affected by the crosswind and determining whether the current lateral offset distance of the vehicle reaches a lateral offset distance threshold, the step further includes: The lateral offset distance threshold is determined based on the lane width, vehicle width, the position of the vehicle centerline and the vehicle offset direction.

[0024] This embodiment provides a method for determining a lateral offset distance threshold, that is, determining the lateral offset distance threshold by lane width, vehicle width, position of the vehicle centerline and vehicle offset direction. Among them, the lane width can be obtained according to the lane type. There are standard specifications for the width of different types of lanes, such as the lane width of expressways and national highways is 3.75m. It can also be obtained by image conversion and calculation using the image taken by the camera in front of the vehicle. The vehicle width is the vehicle width, which can be obtained from the vehicle configuration table. The position of the vehicle centerline refers to the position of the centerline of the vehicle (a straight line that is perpendicular to the axle direction and can divide the axle equally) on the lane. This position is, for example, located in the middle of the lane, 10 cm to the left of the middle of the lane, 10 cm to the right of the middle of the lane, etc. The vehicle offset direction refers to whether the vehicle is offset to the left or to the right relative to normal driving straight ahead.

[0025] In some examples, if the lane width is 3.75m, the vehicle width is 2m, the centerline of the vehicle is located in the middle of the lane, and the vehicle is offset to the right, then the lateral offset distance threshold is (3.75-2) / 2=0.875m. If the lane width is 3.75m, the vehicle width is 2m, the centerline of the vehicle is located 10cm to the left of the center of the lane, and the vehicle is offset to the right, then the lateral offset distance threshold is (3.75-2) / 2+0.1=0.975m.

[0026] In an optional implementation, before the step of responding to the vehicle being affected by the crosswind and determining whether the current lateral offset distance of the vehicle reaches a lateral offset distance threshold, the step further includes: Whether the vehicle is affected by crosswinds is detected based on the vehicle's lateral acceleration, current vehicle speed, lane curvature radius, detection data from the airbag detection module, lateral offset distance threshold and preset driver reaction time.

[0027] "Vehicle lateral acceleration" refers to the acceleration of the vehicle in the direction perpendicular to the axle at the current collection moment. "Lane curvature radius" can be obtained through GPS or navigation map, or calculated based on the image taken by the vehicle's front-view camera, or using the known minimum curvature radius of 250m for highways. "Detection data of the airbag detection module" can also be understood as the detection data of the airbag ECU, which includes data on whether the vehicle has collided, and whether the vehicle has collided can be known through this data. "Preset driver reaction time" refers to the preset driver's reaction time after discovering that the vehicle is affected by crosswinds, which can be set according to empirical values, for example, 1.5s. This embodiment uses the above specific parameters to detect whether the vehicle is affected by crosswinds. The parameters are easy to obtain and relatively objective. Compared with the method that relies solely on the driver's subjective feelings, the obtained detection results are accurate and reliable.

[0028] Whether the vehicle is affected by the crosswind can be detected in the above manner, or the driver can input the information that the vehicle is affected by the crosswind into the on-board large screen, and the on-board large screen then outputs the information to the vehicle driving control device.

[0029] In an optional implementation, determining whether the vehicle is affected by crosswind according to the vehicle lateral acceleration, the current vehicle speed, the lane curvature radius, the detection data of the airbag detection module, the lateral offset distance threshold and the preset driver reaction time includes: Determine whether the vehicle is in an aggressive driving mode based on the vehicle's lateral acceleration, current speed, and lane curvature radius; Determine whether the vehicle has collided based on the detection data of the airbag detection module; Determine whether the vehicle's lateral acceleration exceeds the limit based on the vehicle's lateral acceleration, the lateral offset distance threshold, and the preset driver's reaction time; When the vehicle is not in an aggressive driving mode, the vehicle has not collided, and the lateral acceleration of the vehicle exceeds the limit, it is determined that the vehicle is affected by crosswind.

[0030] This embodiment determines whether the vehicle is in an aggressive driving mode, whether a collision occurs, and whether the lateral acceleration of the vehicle exceeds the limit in a specific manner. When the vehicle is not in an aggressive driving mode, the vehicle has not collided, and the lateral acceleration of the vehicle exceeds the limit, it is determined that the vehicle is affected by crosswinds. When the vehicle is not in an aggressive driving mode, the vehicle has not collided, and the lateral acceleration of the vehicle exceeds the limit but do not occur at the same time or none of them occur, it is determined that the vehicle is not affected by crosswinds. For example, if it is determined that the vehicle is in an aggressive driving mode, the vehicle has not collided, and the lateral acceleration of the vehicle exceeds the limit, it is considered that the vehicle is not affected by crosswinds.

[0031] In an optional implementation, judging whether the vehicle is in an aggressive driving mode based on the vehicle lateral acceleration, the current vehicle speed and the lane curvature radius includes: Determine the vehicle's turning lateral acceleration based on the current vehicle speed and lane curvature radius; Whether the vehicle is in an aggressive driving mode is determined based on the vehicle lateral acceleration and the vehicle turning lateral acceleration.

[0032] "Vehicle turning lateral acceleration" refers to the acceleration perpendicular to the axle direction when the vehicle turns. The vehicle will generate lateral acceleration during normal turning or intense driving. This implementation first determines the vehicle turning lateral acceleration based on the current vehicle speed and lane curvature radius, and then further determines whether the vehicle is in an intense driving mode based on the vehicle lateral acceleration and the vehicle turning lateral acceleration. If the vehicle lateral acceleration is greater than the vehicle turning lateral acceleration, it means that the vehicle is not turning normally, indicating that it is in an intense driving mode. If the vehicle lateral acceleration is less than or equal to the vehicle turning lateral acceleration, it means that the vehicle is in a normal driving mode such as normal turning.

[0033] Optionally, the vehicle's lateral acceleration during cornering a The following formula can be used for calculation: ,in is the current vehicle speed, R 1 is the lane curvature radius. In some examples, if the current vehicle speed is 120km / h (53.6m / s) and the lane curvature radius is 250m, then the vehicle turning lateral acceleration a =53.6 2 / 250=11.5m / s 2 .

[0034] In an optional implementation, judging whether the lateral acceleration of the vehicle exceeds the limit according to the lateral acceleration of the vehicle, the lateral offset distance threshold and the preset driver reaction time includes: Determining a vehicle lateral acceleration threshold according to a lateral offset distance threshold and a preset driver reaction time; According to the vehicle lateral acceleration and the vehicle lateral acceleration threshold, it is determined whether the vehicle lateral acceleration exceeds a limit.

[0035] The "vehicle lateral acceleration threshold" refers to the maximum lateral acceleration that the vehicle can generate when the vehicle is not affected by crosswind or is affected by wind of lesser intensity but can be handled by the driver. If the maximum value is exceeded, it means that the vehicle may be affected by crosswind. In this embodiment, the vehicle lateral acceleration threshold is first determined according to the lateral offset distance threshold and the preset driver reaction time, and then further determined whether the vehicle lateral acceleration exceeds the limit according to the vehicle lateral acceleration and the vehicle lateral acceleration threshold. If the vehicle lateral acceleration is greater than the vehicle lateral acceleration threshold, it means that the vehicle lateral acceleration exceeds the limit. If the vehicle lateral acceleration is less than or equal to the vehicle lateral acceleration threshold, it means that the vehicle lateral acceleration does not exceed the limit.

[0036] Optionally, the vehicle lateral acceleration threshold The following formula can be used for calculation: ,in, 1 is the lateral offset distance threshold, is the current vehicle speed, is the preset driver reaction time. In some examples, if the lateral offset distance threshold is 0.875m, the current vehicle speed is 120km / h (53.6m / s), and the preset driver reaction time is 1.5s, then the vehicle lateral acceleration threshold =2*0.875 / 1.5 2 =0.78m / s 2 .

[0037] S120. When the current vehicle lateral offset distance reaches a lateral offset distance threshold, determine a steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to a mapping relationship among the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle.

[0038] When the current lateral offset distance of the vehicle reaches the lateral offset distance threshold, it means that the vehicle can no longer be adjusted to the normal driving direction in time through the driver's quick response, and it is necessary to automatically intervene to adjust the steering wheel angle. It should be understood that if the current lateral offset distance of the vehicle does not reach the lateral offset distance threshold, it is not necessary to execute S120 and subsequent steps. "Steering wheel reverse deflection angle" refers to the rotation angle of the steering wheel opposite to the vehicle offset direction, which is used to correct the lateral offset of the vehicle.

[0039] The above mapping relationship can be calibrated in advance. For example, the calibration method is: at different vehicle speeds and different vehicle lateral offset distances, the vehicle steering wheel is controlled to apply a specific steering wheel torque in the opposite direction of the lateral acceleration to return to the positive position without causing the vehicle to roll over, and the steering wheel is controlled to rotate in the opposite direction until the vehicle lateral offset distance is 0. The resulting steering wheel reverse deflection angle is the calibrated steering wheel reverse deflection angle. Different steering wheel torques can calibrate different steering wheel reverse deflection angles (affecting comfort. The greater the torque, the greater the steering wheel reverse deflection angle, which may make the user feel more sudden and cause fright, etc.). The size of the steering wheel reverse deflection angle will affect the time and termination distance of vehicle offset compensation. The smaller the steering wheel reverse deflection angle, the greater the time and termination distance of offset compensation, but this time is better than the time it takes for the driver to manually control the steering wheel to complete the vehicle compensation offset. The mapping relationship can be stored in the vehicle driving control device and can be called out when used.

[0040] S130: Determine a termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and the wheel wheel base.

[0041] In an optional implementation manner, determining the termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and the wheel wheelbase includes: Determining a turning radius according to the steering wheel reverse deflection angle and the wheel wheelbase; A termination distance is determined according to the turning radius and the lateral offset distance threshold.

[0042] In this embodiment, the turning radius is first determined according to the reverse steering angle of the steering wheel and the wheelbase, and then the end distance is determined in combination with the turning radius. The "turning radius" refers to the radius corresponding to when the vehicle returns to the center under the reverse steering angle of the steering wheel. The "end distance" refers to the distance traveled by the vehicle from the start of reverse deflection to the return to the center.

[0043] Optionally, turning radius The following formula can be used for calculation: , is the wheelbase, is the reverse deflection angle of the steering wheel.

[0044] Optionally, the end distance The following formula can be used for calculation: ,in is the center angle of the circle during the return process, , 1 is the lateral offset distance threshold.

[0045] S140: Control the vehicle to travel according to the reverse steering angle of the steering wheel, and when the vehicle travels a distance reaching the end distance, control the vehicle to return to normal travel.

[0046] After S120 and S130, the steering wheel reverse deflection angle and the end distance have been obtained. On this basis, when the vehicle is controlled to travel according to the steering wheel reverse deflection angle and the distance reaches the end distance, it means that the vehicle has returned to the normal driving direction, and the vehicle can be controlled to return to the normal driving direction. It can be understood that controlling the vehicle to return to the normal driving direction means controlling the steering wheel to return to the normal direction and then continuing to drive.

[0047] The vehicle driving control method includes responding to the vehicle being affected by the crosswind, judging whether the current vehicle lateral offset distance reaches the lateral offset distance threshold; when the current vehicle lateral offset distance reaches the lateral offset distance threshold, determining the steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to the mapping relationship among the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle; determining the termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and the wheelbase; controlling the vehicle to travel according to the steering wheel reverse deflection angle, and controlling the vehicle to return to normal travel when the vehicle travel distance reaches the termination distance. After the vehicle is affected by the crosswind, the method obtains the steering wheel reverse deflection angle based on the current vehicle lateral offset distance, the lateral offset distance threshold and a specific mapping relationship, and then determines the termination distance in combination with the steering wheel reverse deflection angle and the wheelbase, and finally controls the vehicle to return to normal travel according to the steering wheel reverse deflection angle after the vehicle travels to the termination distance. The whole process does not require driver operation, can be adjusted adaptively, and is quick to adjust and takes very short time. The time from the vehicle being affected by the crosswind to returning to normal travel can be reduced to milliseconds, which greatly improves driving safety.

[0048] Example 2 like Figure 2 As shown, this embodiment provides a vehicle driving control device, including: The judgment module 201 is used to judge whether the current lateral offset distance of the vehicle reaches a lateral offset distance threshold in response to the vehicle being affected by the crosswind; The steering wheel reverse deflection angle determination module 202 is used to determine the steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to the mapping relationship among the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle when the current vehicle lateral offset distance reaches the lateral offset distance threshold; A termination distance determination module 203, configured to determine a termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and the wheel wheelbase; The driving control module 204 is used to control the vehicle to drive according to the reverse deflection angle of the steering wheel, and control the vehicle to return to normal driving when the vehicle driving distance reaches the end distance.

[0049] The device is used to execute the above method, and thus has at least functional modules and beneficial effects corresponding to the above method.

[0050] Example 3 like Figure 3 As shown, this embodiment provides an electronic device, including: at least one processor; and a memory communicatively connected to at least one of the processors; wherein, The memory stores instructions executable by at least one of the processors, and the instructions are executed by at least one of the processors to enable at least one of the processors to perform the above method. At least one processor in the electronic device can perform the above method, and thus has at least the same advantages as the above method.

[0051] Optionally, the electronic device also includes interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on a memory to display graphical information of a GUI (Graphical User Interface) on an external input / output device (such as a display device coupled to an interface). In other embodiments, if necessary, multiple processors can be used together with multiple memories, and / or multiple buses can be used together with multiple memories. Similarly, multiple electronic devices can be connected (for example, as a server array, a group of blade servers, or a multi-processor system), and each device provides some necessary operations. Figure 3 A processor 301 is taken as an example.

[0052] The memory 302, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the vehicle driving control method in the embodiment of the present application (for example, the judgment module, the steering wheel reverse deflection angle determination module, the termination distance determination module, and the driving control module in the vehicle driving control device). The processor 301 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 302, that is, realizes the above-mentioned vehicle driving control method.

[0053] The memory 302 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 302 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 302 may further include a memory remotely arranged relative to the processor 301, and these remote memories may be connected to the 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.

[0054] The electronic device may further include: an input device 303 and an output device 304. The processor 301, the memory 302, the input device 303 and the output device 304 may be connected via a bus or other means. Figure 3 The example of connecting through bus is taken in the following.

[0055] The input device 303 can receive input digital or character information, and the output device 304 can include a display device, an auxiliary lighting device (e.g., LED), and a tactile feedback device (e.g., a vibration motor), etc. The display device can include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, and a plasma display. In some embodiments, the display device can be a touch screen.

[0056] Example 4 This embodiment provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to enable a computer to execute the above method. The computer instructions on the computer-readable storage medium are used to enable a computer to execute the above method, and thus have at least the same advantages as the above method.

[0057] The medium in this application may adopt any combination of one or more computer-readable media. The medium may be a computer-readable signal medium or a computer-readable storage medium. The medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of the medium (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, the medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device, or device.

[0058] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0059] The program code contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, RF (Radio Frequency), etc., or any suitable combination of the above.

[0060] Computer program code for performing the operation of the present application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0061] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0062] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A vehicle driving control method, characterized in that: include: In response to the vehicle being affected by crosswind, determining whether the current lateral offset distance of the vehicle reaches a lateral offset distance threshold; When the current vehicle lateral offset distance reaches the lateral offset distance threshold, determining the steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to the mapping relationship among the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle; Determining a termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and the wheel wheelbase; The vehicle is controlled to travel according to the reverse deflection angle of the steering wheel, and when the vehicle travels a distance reaching the end distance, the vehicle is controlled to return to the normal travel.

2. The vehicle driving control method according to claim 1, characterized in that: Before the step of responding to the vehicle being affected by the crosswind and determining whether the current lateral offset distance of the vehicle reaches a lateral offset distance threshold, the method further includes: Whether the vehicle is affected by crosswinds is detected based on the vehicle's lateral acceleration, current vehicle speed, lane curvature radius, detection data from the airbag detection module, lateral offset distance threshold and preset driver reaction time.

3. The vehicle driving control method according to claim 2, characterized in that: The determining whether the vehicle is affected by the crosswind according to the vehicle lateral acceleration, the current vehicle speed, the lane curvature radius, the detection data of the airbag detection module, the lateral offset distance threshold and the preset driver reaction time includes: Determine whether the vehicle is in an aggressive driving mode based on the vehicle's lateral acceleration, current speed, and lane curvature radius; Determine whether the vehicle has collided based on the detection data of the airbag detection module; Determine whether the vehicle's lateral acceleration exceeds the limit based on the vehicle's lateral acceleration, the lateral offset distance threshold, and the preset driver's reaction time; When the vehicle is not in an aggressive driving mode, the vehicle has not collided, and the lateral acceleration of the vehicle exceeds the limit, it is determined that the vehicle is affected by crosswind.

4. The vehicle driving control method according to claim 3, characterized in that: The determining whether the vehicle is in an aggressive driving mode according to the vehicle lateral acceleration, the current vehicle speed and the lane curvature radius includes: Determine the vehicle's turning lateral acceleration based on the current vehicle speed and lane curvature radius; Whether the vehicle is in an aggressive driving mode is determined based on the vehicle lateral acceleration and the vehicle turning lateral acceleration.

5. The vehicle driving control method according to claim 3, characterized in that: The determining whether the lateral acceleration of the vehicle exceeds the limit according to the lateral acceleration of the vehicle, the lateral offset distance threshold and the preset driver reaction time includes: Determining a vehicle lateral acceleration threshold according to a lateral offset distance threshold and a preset driver reaction time; According to the vehicle lateral acceleration and the vehicle lateral acceleration threshold, it is determined whether the vehicle lateral acceleration exceeds a limit.

6. The vehicle driving control method according to claim 1, characterized in that: Before the step of responding to the vehicle being affected by the crosswind and determining whether the current lateral offset distance of the vehicle reaches a lateral offset distance threshold, the method further includes: The lateral offset distance threshold is determined based on the lane width, vehicle width, the position of the vehicle centerline and the vehicle offset direction.

7. The vehicle driving control method according to claim 1, characterized in that: The step of determining the termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and the wheel wheelbase comprises: Determining a turning radius according to the steering wheel reverse deflection angle and the wheel wheelbase; A termination distance is determined according to the turning radius and the lateral offset distance threshold.

8. A vehicle driving control device, characterized in that: include: A judgment module, used for responding to the vehicle being affected by crosswind, and judging whether the current lateral offset distance of the vehicle reaches a lateral offset distance threshold; A steering wheel reverse deflection angle determination module is used to determine the steering wheel reverse deflection angle corresponding to the current vehicle speed and the current vehicle lateral offset distance according to the mapping relationship among the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle when the current vehicle lateral offset distance reaches the lateral offset distance threshold; A termination distance determination module, used to determine the termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and the wheel wheelbase; The driving control module is used to control the vehicle to drive according to the reverse deflection angle of the steering wheel, and when the vehicle driving distance reaches the end distance, control the vehicle to return to the normal driving state.

9. An electronic device, characterized in that: include: at least one processor, and a memory communicatively coupled to at least one of the processors; The memory stores instructions executable by at least one of the processors, and the instructions are executed by at least one of the processors so that the at least one processor can execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 7.

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