Vehicle Driving Control Method, Device, Electronic Device and Medium

Abstract

This application relates to the field of vehicle control. Specifically, it relates to a vehicle driving control method, device, electronic device and medium. The vehicle driving control method includes: in response to the vehicle being affected by crosswinds, determining whether the current lateral offset distance of the vehicle reaches a lateral offset distance threshold; in the case where the current lateral offset distance of the vehicle reaches the lateral offset distance threshold, determining a reverse steering wheel deflection angle corresponding to the current vehicle speed and the current lateral offset distance of the vehicle according to the mapping relationship between the vehicle speed, the lateral offset distance of the vehicle and the reverse steering wheel deflection angle; determining a termination distance according to the reverse steering wheel deflection angle, the lateral offset distance threshold and the wheelbase; controlling the vehicle to travel according to the reverse steering wheel deflection angle, and when the vehicle travel distance reaches the termination distance, controlling the vehicle to return to a straight driving state. This application can achieve adaptive, fast and accurate adjustment of the vehicle after being affected by crosswinds without the need for driver participation, improving driving safety.

Description

Technical Field

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

[0002] Accidents caused by crosswind affecting vehicles mainly occur when the speed of this vehicle or adjacent vehicles is high and suddenly affected by strong wind force, resulting in the deviation of the vehicle driving trajectory, and the driver or vehicle fails to respond 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 crosswind influence is that the driver needs to concentrate and quickly correct the driving direction, and at the same time reduce the speed to avoid accidents. However, the time required for the driver to identify, judge, process, and the vehicle to execute in the whole process is relatively long, which is often the main reason for accidents.

[0003] In view of this, the present application is specifically proposed. 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 problems of long processing time and easy occurrence of accidents caused by relying on the driver's operation to deal with the crosswind influence in the prior art.

[0005] To achieve the above purpose, the present application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a vehicle driving control method, including:

[0007] In response to the vehicle being affected by crosswind, determine whether the current vehicle lateral offset distance reaches the lateral offset distance threshold;

[0008] When the current vehicle lateral offset distance reaches the lateral offset distance threshold, 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 between the vehicle speed, the vehicle lateral offset distance and the steering wheel reverse deflection angle;

[0009] Determine the termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold and the wheelbase;

[0010] Control the vehicle to drive according to the steering wheel reverse deflection angle, and when the vehicle driving distance reaches the termination distance, control the vehicle to return to the straight driving.

[0011] As a further preferred technical solution, before the step of in response to the vehicle being affected by crosswind and determining whether the current vehicle lateral offset distance reaches the lateral offset distance threshold, it further includes:

[0012] Detect whether the vehicle is affected by crosswind according to the vehicle's lateral acceleration, current vehicle speed, lane curvature radius, detection data of the airbag detection module, lateral offset distance threshold, and preset driver reaction time.

[0013] As a further preferred technical solution, the method for determining whether the vehicle is affected by crosswind according to the vehicle's lateral acceleration, current vehicle speed, lane curvature radius, detection data of the airbag detection module, lateral offset distance threshold, and preset driver reaction time includes:

[0014] Judge whether the vehicle is in an aggressive driving mode according to the vehicle's lateral acceleration, current vehicle speed, and lane curvature radius;

[0015] Determine whether the vehicle has collided according to the detection data of the airbag detection module;

[0016] Judge whether the vehicle's lateral acceleration exceeds the limit according to the vehicle's lateral acceleration, lateral offset distance threshold, and preset driver reaction time;

[0017] Determine that the vehicle is affected by crosswind when the vehicle is not in an aggressive driving mode, the vehicle has not collided, and the vehicle's lateral acceleration exceeds the limit.

[0018] As a further preferred technical solution, the method for judging whether the vehicle is in an aggressive driving mode according to the vehicle's lateral acceleration, current vehicle speed, and lane curvature radius includes:

[0019] Determine the vehicle's turning lateral acceleration according to the current vehicle speed and lane curvature radius;

[0020] Judge whether the vehicle is in an aggressive driving mode according to the vehicle's lateral acceleration and the vehicle's turning lateral acceleration.

[0021] As a further preferred technical solution, the method for judging whether the vehicle's lateral acceleration exceeds the limit according to the vehicle's lateral acceleration, lateral offset distance threshold, and preset driver reaction time includes:

[0022] Determine the vehicle's lateral acceleration threshold according to the lateral offset distance threshold and preset driver reaction time;

[0023] Judge whether the vehicle's lateral acceleration exceeds the limit according to the vehicle's lateral acceleration and the vehicle's lateral acceleration threshold.

[0024] As a further preferred technical solution, before judging whether the current vehicle's lateral offset distance reaches the lateral offset distance threshold in response to the vehicle being affected by crosswind, it further includes:

[0025] Determine the lateral offset distance threshold according to the lane width, vehicle width, position of the vehicle center line, and vehicle offset direction.

[0026] As a further preferred technical solution, determining the termination distance according to the reverse steering wheel deflection angle, the lateral offset distance threshold, and the wheelbase includes:

[0027] Determining the turning radius according to the reverse steering wheel deflection angle and the wheelbase;

[0028] Determining the termination distance according to the turning radius and the lateral offset distance threshold.

[0029] In a second aspect, the present application provides a vehicle driving control device, including:

[0030] A judgment module, configured to respond to the vehicle being affected by a crosswind and judge whether the current lateral offset distance of the vehicle reaches the lateral offset distance threshold;

[0031] A reverse steering wheel deflection angle determination module, configured to, when the current lateral offset distance of the vehicle reaches the lateral offset distance threshold, determine the reverse steering wheel deflection angle corresponding to the current vehicle speed and the current lateral offset distance of the vehicle according to the mapping relationship between the vehicle speed, the lateral offset distance of the vehicle, and the reverse steering wheel deflection angle;

[0032] A termination distance determination module, configured to determine the termination distance according to the reverse steering wheel deflection angle, the lateral offset distance threshold, and the wheelbase;

[0033] A control driving module, configured to control the vehicle to drive according to the reverse steering wheel deflection angle, and when the driving distance of the vehicle reaches the termination distance, control the vehicle to return to the straight driving state.

[0034] In a third aspect, the present application provides an electronic device, including:

[0035] At least one processor, and a memory communicatively connected to at least one of the processors;

[0036] 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 so that at least one of the processors can execute the above method.

[0037] 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 cause a computer to execute the above method.

[0038] Compared with the prior art, the beneficial effects of the present application are:

[0039] The vehicle driving control method provided by this application includes: in response to the vehicle being affected by crosswind, determining whether the current lateral offset distance of the vehicle reaches the lateral offset distance threshold; when the current lateral offset distance of the vehicle reaches the lateral offset distance threshold, determining the reverse steering wheel deflection angle corresponding to the current vehicle speed and the current lateral offset distance of the vehicle according to the mapping relationship between the vehicle speed, the lateral offset distance of the vehicle, and the reverse steering wheel deflection angle; determining the termination distance according to the reverse steering wheel deflection angle, the lateral offset distance threshold, and the wheelbase; controlling the vehicle to travel according to the reverse steering wheel deflection angle, and when the vehicle travel distance reaches the termination distance, controlling the vehicle to return to the straight-ahead driving state. After the vehicle is affected by crosswind, this method obtains the reverse steering wheel deflection angle based on the current lateral offset distance of the vehicle, the lateral offset distance threshold, and a specific mapping relationship, then determines the termination distance in combination with the reverse steering wheel deflection angle and the wheelbase, and finally controls the vehicle to travel according to the reverse steering wheel deflection angle until the termination distance is reached and then returns to the straight-ahead driving state. The entire process does not require driver operation, can be adjusted adaptively, and the adjustment is rapid and takes an extremely short time. The time from when the vehicle is affected by crosswind to returning to the straight-ahead driving state can be reduced to the millisecond level, greatly improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific embodiments of this application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0041] Figure 1 is a flowchart of the vehicle driving control method provided by this application;

[0042] Figure 2 is a structural diagram of the vehicle driving control device provided by this application;

[0043] Figure 3 is a structural diagram of the electronic device provided by this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] The following will describe the exemplary embodiments of this application in conjunction with the drawings. Various details of the embodiments of this application are included to assist understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described here without departing from the scope and spirit of this application. Similarly, for the sake of clarity and conciseness, the description below omits the description of well-known functions and structures.

[0045] As mentioned in the background art, in the prior art, there is a problem that during the driving of a vehicle, due to the influence of crosswinds, it takes a long time for the driver to operate manually, which easily leads to accidents. In response to this, the present application determines the reverse steering angle of the steering wheel based on the current lateral offset distance of the vehicle, the lateral offset distance threshold, and a specific mapping relationship, and then determines the termination distance, and then controls the vehicle to drive the termination distance at the reverse steering angle of the steering wheel and then return to the original position. The whole process is adaptively adjusted, which takes a short time and improves safety. The following further describes the present application in detail with reference to embodiments.

[0046] Embodiment 1

[0047] Figure 1 FIG. is a flowchart of a vehicle driving control method provided in 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. The electronic device can be a vehicle controller or a body controller. For the convenience of understanding, each step in the control method of this embodiment takes the vehicle controller as the execution subject.

[0048] As Figure 1 shown, this embodiment provides a vehicle driving control method, including the following steps:

[0049] S110. In response to the vehicle being affected by a crosswind, determine whether the current lateral offset distance of the vehicle reaches the lateral offset distance threshold.

[0050] The "current lateral offset distance of the vehicle" refers to the lateral distance that the vehicle deviates from the original driving direction from the moment the vehicle is affected by the crosswind to the current data acquisition moment. The lateral direction refers to the direction perpendicular to the lane line. In this embodiment, the data acquisition period generally does not exceed 20 ms. The "lateral offset distance threshold" refers to the maximum value of the lateral offset distance that the vehicle can have. If it is greater than this maximum value, the probability of an accident will increase greatly. Therefore, timely intervention is required to reduce the lateral offset distance of the vehicle.

[0051] In an optional implementation manner, before the step of responding to the vehicle being affected by a crosswind and determining whether the current lateral offset distance of the vehicle reaches the lateral offset distance threshold, it further includes:

[0052] Determine the lateral offset distance threshold according to the lane width, vehicle width, position of the vehicle center line, and vehicle offset direction.

[0053] This embodiment provides a method for determining the lateral offset distance threshold, that is, the lateral offset distance threshold is determined by the lane width, vehicle width, position of the vehicle center line, and vehicle offset direction. Among them, the lane width can be obtained according to the lane type, and the widths of different types of lanes have standard specifications. For example, the lane width of highways and national roads is 3.75 m, or it can also be obtained by converting and calculating the image captured by the front camera of the vehicle. The vehicle width is the width of the vehicle, which can be obtained from the vehicle configuration table. The position of the vehicle center line refers to the position of the vehicle center line (a straight line perpendicular to the axle direction and bisecting the axle) on the lane. This position is, for example, at the center of the lane, 10 cm to the left of the center of the lane, 10 cm to the right of the center of the lane, etc. The vehicle offset direction refers to whether the vehicle offsets to the left or right relative to the normal forward driving direction.

[0054] In some examples, if the lane width is 3.75 m, the vehicle width is 2 m, the position of the vehicle center line is at the center of the lane, and the vehicle offset direction is to the right, then the lateral offset distance threshold is (3.75 - 2) / 2 = 0.875 m. If the lane width is 3.75 m, the vehicle width is 2 m, the position of the vehicle center line is 10 cm to the left of the center of the lane, and the vehicle offset direction is to the right, then the lateral offset distance threshold is (3.75 - 2) / 2 + 0.1 = 0.975 m.

[0055] In an alternative embodiment, before determining whether the current vehicle's lateral offset distance reaches the lateral offset distance threshold in response to the vehicle being affected by crosswinds, it further includes:

[0056] Detect whether the vehicle is affected by crosswinds according to the vehicle's lateral acceleration, current vehicle speed, lane curvature radius, detection data of the airbag detection module, lateral offset distance threshold, and preset driver reaction time.

[0057] "Vehicle lateral acceleration" refers to the acceleration of the vehicle in the direction perpendicular to the axle at the current acquisition moment. The "lane curvature radius" can be obtained through GPS or navigation maps, or calculated from the image captured by the vehicle's front camera, or the known minimum curvature radius of highways, which is 250 m. The "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. Through this data, it can be known whether the vehicle has collided. The "preset driver reaction time" refers to the preset reaction time of the driver after discovering that the vehicle is affected by crosswinds, which can be set according to empirical values, for example, 1.5 s. In this embodiment, the above specific parameters are used to detect whether the vehicle is affected by crosswinds. The parameters are easy to obtain and relatively objective. Compared with the method that only relies on the driver's subjective feeling, the obtained detection results are accurate and reliable.

[0058] Whether the vehicle is affected by a crosswind can be detected in the above - mentioned manner, or it can be based on the driver inputting the information that the vehicle is affected by a crosswind into the in - vehicle large - screen, and the in - vehicle large - screen then outputs this information to the vehicle driving control device.

[0059] In an alternative embodiment, determining whether the vehicle is affected by a crosswind according to the vehicle lateral acceleration, current vehicle speed, lane curvature radius, detection data of the airbag detection module, lateral offset distance threshold, and preset driver reaction time includes:

[0060] Judging whether the vehicle is in an aggressive driving mode according to the vehicle lateral acceleration, current vehicle speed, and lane curvature radius;

[0061] Determining whether the vehicle has collided according to the detection data of the airbag detection module;

[0062] Judging whether the vehicle lateral acceleration exceeds the limit according to the vehicle lateral acceleration, lateral offset distance threshold, and preset driver reaction time;

[0063] In the case where the vehicle is not in an aggressive driving mode, the vehicle has not collided, and the vehicle lateral acceleration exceeds the limit, it is determined that the vehicle is affected by a crosswind.

[0064] In this embodiment, in a specific way, it is respectively judged whether the vehicle is in an aggressive driving mode, whether a collision has occurred, and whether the vehicle lateral acceleration exceeds the limit. In the case where the vehicle is not in an aggressive driving mode, the vehicle has not collided, and the vehicle lateral acceleration exceeds the limit, it is determined that the vehicle is affected by a crosswind. In the case where the vehicle is not in an aggressive driving mode, the vehicle has not collided, and the vehicle lateral acceleration exceeding the limit do not occur simultaneously or do not occur at all, it is determined that the vehicle is not affected by a crosswind. For example, if it is judged that the vehicle is in an aggressive driving mode, the vehicle has not collided, and the vehicle lateral acceleration exceeds the limit, it is considered that the vehicle is not affected by a crosswind.

[0065] In an alternative embodiment, judging whether the vehicle is in an aggressive driving mode according to the vehicle lateral acceleration, current vehicle speed, and lane curvature radius includes:

[0066] Determining the vehicle turning lateral acceleration according to the current vehicle speed and lane curvature radius;

[0067] Judging whether the vehicle is in an aggressive driving mode according to the vehicle lateral acceleration and the vehicle turning lateral acceleration.

[0068] "Lateral acceleration during vehicle turning" refers to the acceleration perpendicular to the vehicle axle when the vehicle is turning. Lateral acceleration is generated during normal turning or aggressive driving of the vehicle. In this embodiment, first, based on the current vehicle speed and the lane curvature radius, the lateral acceleration during vehicle turning is determined. Then, further based on the vehicle lateral acceleration and the lateral acceleration during vehicle turning, it is determined whether the vehicle is in an aggressive driving mode. If the vehicle lateral acceleration is greater than the lateral acceleration during vehicle turning, it indicates that the vehicle is not making a normal turn and is in an aggressive driving mode. If the vehicle lateral acceleration is less than or equal to the lateral acceleration during vehicle turning, it indicates that the vehicle is in a normal driving mode such as normal turning.

[0069] Optionally, the lateral acceleration during vehicle turning a can be calculated using the following formula: , where is the current vehicle speed, R 1 is the lane curvature radius. In some examples, if the current vehicle speed is 120 km / h (53.6 m / s) and the lane curvature radius is 250 m, then the lateral acceleration during vehicle turning a = 53.6 2 / 250 = 11.5 m / s 2 .

[0070] In an alternative embodiment, the determination of whether the vehicle lateral acceleration exceeds the limit based on the vehicle lateral acceleration, the lateral offset distance threshold, and the preset driver reaction time includes:

[0071] Determine the vehicle lateral acceleration threshold based on the lateral offset distance threshold and the preset driver reaction time;

[0072] Determine whether the vehicle lateral acceleration exceeds the limit based on the vehicle lateral acceleration and the vehicle lateral acceleration threshold.

[0073] "Vehicle lateral acceleration threshold" refers to the maximum value of the lateral acceleration that the vehicle can generate when it is not affected by crosswinds or is affected by crosswinds of relatively low intensity but can be handled by the driver. Exceeding this maximum value indicates that the vehicle may be affected by crosswinds. In this embodiment, first, the vehicle lateral acceleration threshold is determined based on the lateral offset distance threshold and the preset driver reaction time. Then, further based on the vehicle lateral acceleration and the vehicle lateral acceleration threshold, it is determined whether the vehicle lateral acceleration exceeds the limit. If the vehicle lateral acceleration is greater than the vehicle lateral acceleration threshold, it indicates 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 indicates that the vehicle lateral acceleration does not exceed the limit.

[0074] Optionally, the vehicle lateral acceleration threshold can be calculated using the following formula: , where, 1 is the lateral offset distance threshold, is the current vehicle speed, and is the preset driver reaction time. In some examples, if the lateral offset distance threshold is 0.875 m, the current vehicle speed is 120 km / h (53.6 m / s), and the preset driver reaction time is 1.5 s, then the vehicle lateral acceleration threshold = 2 * 0.875 / 1.5 2 = 0.78 m / s 2 .

[0075] S120. When the current vehicle lateral offset distance reaches the lateral offset distance threshold, 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.

[0076] When the current vehicle lateral offset distance reaches the lateral offset distance threshold, it indicates that the vehicle cannot be adjusted to the normal driving direction in time through the driver's quick reaction. At this time, it is necessary to automatically intervene to adjust the steering wheel angle. It should be understood that if the current vehicle lateral offset distance does not reach the lateral offset distance threshold, the steps of S120 and subsequent steps do not need to be executed. The "steering wheel reverse deflection angle" refers to the rotation angle of the steering wheel in the opposite direction to the vehicle offset direction, which is used to correct the lateral offset of the vehicle.

[0077] The above mapping relationship can be calibrated in advance. The calibration method is, for example: at different vehicle speeds and different vehicle lateral offset distances, without causing the vehicle to roll over, control the vehicle steering wheel to apply a specific steering wheel torque in the opposite direction of the lateral acceleration to return to the original position, and control the steering wheel to rotate in the reverse direction until the vehicle lateral offset distance is 0. The obtained 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, and the user may feel more sudden and be frightened, 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 offset compensation time and termination distance, but this time is better than the time for the driver to manually control the steering wheel to complete vehicle offset compensation. This mapping relationship can be stored in the vehicle driving control device and can be called when used.

[0078] S130. Determine the termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold, and the wheelbase.

[0079] In an alternative embodiment, the determining the termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold, and the wheelbase includes:

[0080] Determine the turning radius based on the reverse deflection angle of the steering wheel and the wheelbase.

[0081] Determine the termination distance based on the turning radius and the lateral offset distance threshold.

[0082] In this embodiment, first, the turning radius is determined according to the reverse deflection angle of the steering wheel and the wheelbase, and then the termination distance is determined in combination with the turning radius. The "turning radius" refers to the radius corresponding to the vehicle when it returns to the straight-ahead position at the reverse deflection angle of the steering wheel. The "termination distance" refers to the distance traveled by the vehicle from the start of reverse deflection to the return to the straight-ahead position.

[0083] Optionally, the turning radius can be calculated using the following formula: , is the wheelbase, is the reverse deflection angle of the steering wheel.

[0084] Optionally, the termination distance can be calculated using the following formula: , where is the central angle during the return process, , 1 is the lateral offset distance threshold.

[0085] S140. Control the vehicle to travel according to the reverse deflection angle of the steering wheel, and when the traveling distance of the vehicle reaches the termination distance, control the vehicle to return to the straight-ahead travel.

[0086] After obtaining the reverse deflection angle of the steering wheel and the termination distance through S120 and S130, on this basis, when the vehicle travels a distance reaching the termination distance according to the reverse deflection angle of the steering wheel, it means that the vehicle has returned to the normal traveling direction, and the vehicle can be controlled to return to the straight-ahead travel. It can be understood that controlling the vehicle to return to the straight-ahead travel means controlling the steering wheel to return to the straight-ahead position and then continue to travel.

[0087] The above vehicle driving control method includes: in response to the vehicle being affected by crosswind, determining whether the current lateral offset distance of the vehicle reaches the lateral offset distance threshold; when the current lateral offset distance of the vehicle reaches the lateral offset distance threshold, determining the reverse steering wheel deflection angle corresponding to the current vehicle speed and the current lateral offset distance of the vehicle according to the mapping relationship between the vehicle speed, the lateral offset distance of the vehicle, and the reverse steering wheel deflection angle; determining the termination distance according to the reverse steering wheel deflection angle, the lateral offset distance threshold, and the wheelbase; controlling the vehicle to travel according to the reverse steering wheel deflection angle, and when the vehicle travel distance reaches the termination distance, controlling the vehicle to return to the straight-ahead position. After the vehicle is affected by crosswind, this method obtains the reverse steering wheel deflection angle based on the current lateral offset distance of the vehicle, the lateral offset distance threshold, and a specific mapping relationship, then determines the termination distance in combination with the reverse steering wheel deflection angle and the wheelbase, and finally controls the vehicle to travel according to the reverse steering wheel deflection angle until the termination distance and then return to the straight-ahead position. The entire process does not require driver operation, can be adjusted adaptively, and the adjustment is rapid and takes an extremely short time. The time from when the vehicle is affected by crosswind to when it returns to the straight-ahead position can be reduced to the millisecond level, greatly improving driving safety.

[0088] Embodiment 2

[0089] As Figure 2 shown, this embodiment provides a vehicle driving control device, including:

[0090] A judgment module 201, configured to, in response to the vehicle being affected by crosswind, determine whether the current lateral offset distance of the vehicle reaches the lateral offset distance threshold;

[0091] A reverse steering wheel deflection angle determination module 202, configured to, when the current lateral offset distance of the vehicle reaches the lateral offset distance threshold, determine the reverse steering wheel deflection angle corresponding to the current vehicle speed and the current lateral offset distance of the vehicle according to the mapping relationship between the vehicle speed, the lateral offset distance of the vehicle, and the reverse steering wheel deflection angle;

[0092] A termination distance determination module 203, configured to determine the termination distance according to the reverse steering wheel deflection angle, the lateral offset distance threshold, and the wheelbase;

[0093] A control driving module 204, configured to control the vehicle to travel according to the reverse steering wheel deflection angle, and when the vehicle travel distance reaches the termination distance, control the vehicle to return to the straight-ahead position.

[0094] This device is used to execute the above method, and thus has at least the functional modules and beneficial effects corresponding to the above method.

[0095] Embodiment 3

[0096] As Figure 3 shown, this embodiment provides an electronic device, including:

[0097] at least one processor; and

[0098] a memory communicatively connected to the at least one processor; wherein

[0099] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the above-mentioned method. At least one processor in the electronic device can execute the above-mentioned method, and thus has at least the same advantages as the above-mentioned method.

[0100] Optionally, the electronic device further includes an interface for connecting various components, including a high-speed interface and a low-speed interface. Each component is interconnected using different buses and can be mounted on a common motherboard or otherwise as required. The processor can process instructions executed within the electronic device, including instructions for storing graphical information in the memory or on the memory for display on an external input / output device (such as a display device coupled to the interface) to display a GUI (Graphical User Interface). In other embodiments, if necessary, multiple processors and multiple memories can be used together, and / or multiple buses and multiple memories can be used together. Similarly, multiple electronic devices (such as a server array, a set of blade servers, or a multi-processor system) can be connected, and each device provides some necessary operations. Figure 3 Taking one processor 301 as an example.

[0101] 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 embodiments of the present application (for example, the judgment module, the steering wheel reverse deflection angle determination module, the termination distance determination module, and the control driving 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, implements the above-mentioned vehicle driving control method.

[0102] The memory 302 may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one 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 magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 302 may further include a memory remotely provided with respect to the processor 301, and these remote memories may be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0103] 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 through a bus or other means. Figure 3 Taking the connection through the bus as an example.

[0104] The input device 303 may receive input digital or character information, and the output device 304 may include a display device, an auxiliary lighting device (for example, an LED), a tactile feedback device (for example, a vibration motor), etc. The display device may 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 may be a touch screen.

[0105] Embodiment 4

[0106] This embodiment provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the above method. The computer instructions on the computer-readable storage medium are used to cause a computer to execute the above method, and thus have at least the same advantages as the above method.

[0107] The medium in this application can adopt any combination of one or more computer-readable media. The medium can be a computer-readable signal medium or a computer-readable storage medium. The medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. 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 of the above. In this document, the medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device.

[0108] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0109] The program code contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to wireless, wire, optical cable, RF (Radio Frequency), etc., or any suitable combination of the above.

[0110] The computer program code for performing the operations of this application can be written in one or more programming languages or a combination thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent 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 (for example, by using an Internet service provider to connect through the Internet).

[0111] It should be understood that various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in this application can be achieved, and no limitations are imposed herein.

[0112] The above specific embodiments do not constitute a limitation on the protection scope of this application. Those skilled in the art should understand 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 shall be included within the protection scope of this application.

Claims

1. A vehicle driving control method, characterized in that, Comprising: Detect whether the vehicle is affected by crosswind according to the vehicle lateral acceleration, current vehicle speed, lane curvature radius, detection data of the airbag detection module, lateral offset distance threshold and preset driver reaction time; In response to the vehicle being affected by crosswind, determine 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, determine the reverse steering wheel 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 reverse steering wheel angle; Determine the termination distance according to the reverse steering wheel angle, the lateral offset distance threshold and the wheelbase; Control the vehicle to travel according to the reverse steering wheel angle, and when the vehicle travel distance reaches the termination distance, control the vehicle to return to straight driving; The detecting whether the vehicle is affected by crosswind according to the vehicle lateral acceleration, current vehicle speed, lane curvature radius, detection data of the airbag detection module, lateral offset distance threshold and preset driver reaction time includes: Judge whether the vehicle is in an intense driving mode according to the vehicle lateral acceleration, current vehicle speed and lane curvature radius; Determine whether the vehicle has collided according to the detection data of the airbag detection module; Judge whether the vehicle lateral acceleration exceeds the limit according to the vehicle lateral acceleration, the lateral offset distance threshold and the preset driver reaction time; When the vehicle is not in an intense driving mode, the vehicle has not collided and the vehicle lateral acceleration exceeds the limit, determine that the vehicle is affected by crosswind.

2. The vehicle driving control method according to claim 1, characterized in that, The judging whether the vehicle is in an intense driving mode according to the vehicle lateral acceleration, current vehicle speed and lane curvature radius includes: Determine the vehicle turning lateral acceleration according to the current vehicle speed and lane curvature radius; Judge whether the vehicle is in an intense driving mode according to the vehicle lateral acceleration and the vehicle turning lateral acceleration.

3. The vehicle driving control method according to claim 1, wherein, The judging whether the vehicle lateral acceleration exceeds the limit according to the vehicle lateral acceleration, the lateral offset distance threshold and the preset driver reaction time includes: Determine the vehicle lateral acceleration threshold according to the lateral offset distance threshold and the preset driver reaction time; Judge whether the vehicle lateral acceleration exceeds the limit according to the vehicle lateral acceleration and the vehicle lateral acceleration threshold.

4. The vehicle driving control method according to claim 1, wherein, Before the step of, in response to the vehicle being affected by crosswind, determining whether the current vehicle lateral offset distance reaches the lateral offset distance threshold, further includes: Determine the lateral offset distance threshold according to the lane width, vehicle width, position of the vehicle center line and vehicle offset direction.

5. The vehicle driving control method according to claim 1, characterized in that The determining the termination distance according to the reverse steering wheel angle, the lateral offset distance threshold and the wheelbase includes: Determine the turning radius according to the reverse steering wheel angle and the wheelbase; Determine the termination distance according to the turning radius and the lateral offset distance threshold.

6. A vehicle driving control device, characterized in that, Comprising: A judgment module, configured to determine whether the current vehicle lateral offset distance reaches the lateral offset distance threshold in response to the vehicle being affected by crosswind; The steering wheel reverse deflection angle determination module is configured 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; The termination distance determination module is configured to determine the termination distance according to the steering wheel reverse deflection angle, the lateral offset distance threshold, and the wheelbase; The driving control module is configured to control the vehicle to drive according to the steering wheel reverse deflection angle, and when the vehicle driving distance reaches the termination distance, control the vehicle to return to a straight driving state; The vehicle driving control device is further configured to: detect whether the vehicle is affected by crosswinds 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; Wherein, the detecting whether the vehicle is affected by crosswinds 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: Judging whether the vehicle is in an intense driving mode according to the vehicle lateral acceleration, the current vehicle speed, and the lane curvature radius; Determining whether the vehicle has collided according to the detection data of the airbag detection module; Judging whether the vehicle lateral acceleration exceeds the limit according to the vehicle lateral acceleration, the lateral offset distance threshold, and the preset driver reaction time; When the vehicle is not in an intense driving mode, the vehicle has not collided, and the vehicle lateral acceleration exceeds the limit, it is determined that the vehicle is affected by crosswinds.

7. An electronic device, characterized in that, 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 so that at least one of the processors can execute the method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, Computer instructions are stored on the medium, and the computer instructions are used to cause a computer to execute the method according to any one of claims 1-5.

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