Vehicle control method, vehicle controller and vehicle

Abstract

The invention discloses a vehicle control method, a vehicle controller and a vehicle, and the vehicle control method comprises the steps: obtaining steering wheel angle information and yaw angle information of the vehicle, and obtaining an interference value according to the steering wheel angle information and the yaw angle information; and when the interference value is larger than or equal to the first preset interference value, the brake execution unit is controlled to apply braking force to at least one wheel so as to reduce the interference value. According to the vehicle control method, the steering wheel angle information and the yaw angle information of the vehicle are monitored in real time, the interference value is calculated according to the information, and response can be made rapidly and accurately when the vehicle is subjected to external interference such as crosswind. When the interference value exceeds the first preset interference value, the braking execution unit applies braking force to the wheels so as to reduce the interference value and keep the stability of the vehicle. The controllability and safety of the vehicle under the crosswind condition are improved, and the operation difficulty of a driver under the emergency situation can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle manufacturing, and in particular to a vehicle control method, a vehicle controller and a vehicle. Background Art

[0002] In certain areas such as cross-sea bridges, riverside roads and valley tunnels, the terrain is relatively open and lacks natural barriers, allowing the wind to fully develop. When a vehicle is driving in these areas, the vehicle body is easily affected by the crosswind. The crosswind will not only increase the yaw angle of the vehicle and increase the instability of the vehicle's driving, but may also cause the vehicle to lose control and cause a traffic accident. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a vehicle control method that can respond quickly and accurately when the vehicle is subject to external disturbances such as side wind.

[0004] The present invention also proposes a vehicle controller, a vehicle and a computer-readable storage medium to which the above-mentioned vehicle control method is applied.

[0005] According to a vehicle control method provided by an embodiment of the present invention, the vehicle includes a brake execution unit and a plurality of wheels, the brake execution unit is configured to apply braking force to the plurality of wheels respectively, and the vehicle control method includes: Acquire steering wheel angle information and yaw angle information of the vehicle, and acquire an interference value according to the steering wheel angle information and the yaw angle information; When the interference value is greater than or equal to a first preset interference value, the brake execution unit is controlled to apply a braking force to at least one of the wheels to reduce the interference value.

[0006] The vehicle control method provided by the embodiment of the present invention has at least the following beneficial effects: By monitoring the vehicle's steering wheel angle information and yaw angle information in real time and calculating the interference value based on this, the system can respond quickly and accurately when the vehicle is subject to external interference such as crosswind. When the interference value exceeds the preset threshold, the brake actuator will apply braking force to at least one wheel to actively reduce the interference value and maintain the stability of the vehicle. This method not only improves the vehicle's handling and safety under adverse conditions such as crosswind, but also effectively reduces the driver's difficulty in operating in emergencies, providing passengers with a more comfortable and safe riding experience.

[0007] According to a vehicle control method provided by an embodiment of the present invention, the vehicle includes a suspension actuator, and the suspension actuator is configured to control the height of the vehicle. The control method further includes: When the interference value is greater than or equal to a first preset interference value, the suspension execution unit is controlled to lower the height of the vehicle to reduce the interference value.

[0008] According to the vehicle control method provided by an embodiment of the present invention, when the interference value is greater than or equal to the first preset interference value, controlling the brake execution unit to apply braking force to at least one of the wheels includes: Obtaining the speed of the vehicle; When the interference value is greater than or equal to a first preset interference value, and the vehicle speed is greater than or equal to a first preset vehicle speed value, the brake execution unit is controlled to apply a braking force to at least one of the wheels to reduce the interference value.

[0009] According to the vehicle control method provided by an embodiment of the present invention, after controlling the brake execution unit to apply braking force to at least one of the wheels, the method includes: When the interference value is less than the first preset interference value and the vehicle speed is greater than or equal to a second preset vehicle speed value, the brake execution unit is controlled to reduce the braking force applied to at least one of the wheels at a first deceleration.

[0010] According to the vehicle control method provided by an embodiment of the present invention, when the interference value is greater than or equal to the first preset interference value, controlling the brake execution unit to apply braking force to at least one of the wheels to reduce the interference value, the method comprises: When the interference value is less than the first preset interference value and the vehicle speed is greater than or equal to a third preset vehicle speed value, the brake execution unit is controlled to reduce the braking force applied to at least one of the wheels at a second deceleration.

[0011] According to a vehicle control method provided by an embodiment of the present invention, the vehicle has a steering wheel angle sensor and a yaw angle sensor, the steering wheel angle sensor is configured to detect the steering wheel angle in a current state, and the yaw angle sensor is configured to obtain the yaw angle of the vehicle in a current state, and the obtaining of steering wheel angle information and yaw angle information of the vehicle, and obtaining an interference value according to the steering wheel angle information and the yaw angle information, includes: Detecting the steering wheel angle of the vehicle in the current state by means of the steering wheel angle sensor; Detecting the yaw angle of the vehicle in a current state by means of the yaw angle sensor; The interference value is obtained according to a difference between the steering wheel angle and the yaw angle.

[0012] According to the vehicle control method provided by an embodiment of the present invention, after controlling the brake execution unit to apply braking force to at least one of the wheels, the method includes: When the steering wheel angle sensor detects that the steering wheel angle increases or decreases in the current state, the brake execution unit is controlled to stop applying the braking force to at least one of the wheels.

[0013] According to a vehicle control method provided by an embodiment of the present invention, the vehicle includes a dashboard, and an indicator light is provided in the dashboard. After controlling the brake execution unit to apply a braking force to at least one of the wheels, the method includes: Information that the interference value is reduced by braking is sent to the instrument panel, and an indicator light in the instrument panel is controlled to flash.

[0014] According to a vehicle controller provided by an embodiment of the present invention, the vehicle includes a brake execution unit and a plurality of wheels, the brake execution unit is configured to apply braking force to the plurality of wheels respectively, and the vehicle controller includes: The acquisition module is configured to acquire steering wheel angle information, vehicle yaw angle information, and vehicle speed information; The execution module is configured to control the brake execution unit.

[0015] According to an embodiment of the present invention, a vehicle controller is provided, which has at least the following beneficial effects: the vehicle controller can respond quickly and accurately when the vehicle is subject to external interference such as crosswinds by monitoring the steering wheel angle information and yaw angle information of the vehicle in real time and calculating the interference value accordingly. When the interference value exceeds a preset threshold, the brake execution unit will apply braking force to at least one wheel to actively reduce the interference value and maintain the stability of the vehicle. This method not only improves the handling and safety of the vehicle under adverse conditions such as crosswinds, but also effectively reduces the difficulty of the driver's operation in emergency situations, providing passengers with a more comfortable and safe riding experience.

[0016] The vehicle provided according to the embodiment of the present invention is controlled by applying the vehicle control method provided by the embodiment of the present invention.

[0017] The vehicle provided according to the embodiment of the present invention has at least the following beneficial effects: during the driving process of the vehicle, by real-time monitoring of the steering wheel angle information and yaw angle information of the vehicle and calculating the interference value accordingly, it can respond quickly and accurately when the vehicle is subject to external interference such as crosswind. When the interference value exceeds the preset threshold, the brake execution unit will apply braking force to at least one wheel to actively reduce the interference value and maintain the stability of the vehicle. This method not only improves the handling and safety of the vehicle under adverse conditions such as crosswind, but also effectively reduces the difficulty of the driver's operation in emergency situations, providing passengers with a more comfortable and safe riding experience.

[0018] An electronic device provided according to an embodiment of the present invention includes: at least one processor; at least one memory for storing at least one program; when the at least one program is executed by the at least one processor, the at least one processor implements the vehicle control method provided by the embodiment of the present invention.

[0019] According to the computer-readable storage medium provided by the embodiment of the present invention, processor-executable instructions are stored therein, and the processor-executable instructions are used to execute the vehicle control method provided by the embodiment of the present invention when executed by the processor.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments in conjunction with the accompanying drawings, in which: Figure 1 A flow chart of the steps of a vehicle control method provided by an embodiment of the present invention; Figure 2 A flowchart of a vehicle control method provided by another embodiment of the present invention; Figure 3 A schematic diagram of an embodiment of a vehicle controller provided by an embodiment of the present invention.

[0022] The figures are as follows: Vehicle controller 100; acquisition module 110; execution module 120. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0024] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0025] In the description of the present invention, if there is a description of first and second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0026] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0027] In certain areas such as cross-sea bridges, riverside roads and valley tunnels, the terrain is relatively open and lacks natural barriers, allowing the wind to fully develop. When a vehicle is driving in these areas, the vehicle body is easily affected by the crosswind. The crosswind will not only increase the yaw angle of the vehicle and increase the instability of the vehicle's driving, but may also cause the vehicle to lose control and cause a traffic accident.

[0028] In order to enhance the safety of a vehicle traveling in a crosswind environment, an embodiment of the present invention provides a vehicle control method. The specific structure and function of the vehicle control method provided by the embodiment of the present invention will be further explained below in combination with text and drawings.

[0029] Reference Figure 1 As shown, according to a vehicle control method provided by an embodiment of the present invention, the vehicle includes a brake execution unit and a plurality of wheels, the brake execution unit is configured to apply braking force to the plurality of wheels respectively, and the vehicle control method includes: Step S100, obtaining steering wheel angle information and yaw angle information of the vehicle, and obtaining an interference value according to the steering wheel angle information and the yaw angle information; It can be understood that the vehicle's steering wheel angle information is the rotation angle of the steering wheel in the vehicle's current state, and the yaw angle information is the yaw angle of the vehicle in the current state. The interference value is obtained based on the steering wheel angle information and the yaw angle information. Specifically, the interference value is obtained based on the difference between the rotation angle of the steering wheel in the vehicle's current state and the yaw angle of the vehicle.

[0030] Step S200: When the interference value is greater than or equal to a first preset interference value, the brake execution unit is controlled to apply a braking force to at least one wheel to reduce the interference value.

[0031] It is understandable that during driving, the vehicle's sensors continuously monitor the steering wheel angle information and the yaw angle information. When the vehicle suddenly encounters a crosswind, a difference between the steering wheel angle and the yaw angle of the vehicle's actual driving direction will be generated, namely the interference value. If this interference value is greater than or equal to the preset first preset interference value, such as 5 degrees, the vehicle's control system will immediately instruct the brake execution unit to apply braking force to the wheel that is more affected by the wind, thereby correcting the vehicle's driving direction, reducing the interference value, and ensuring stable driving of the vehicle.

[0032] It is understandable that when a vehicle is driving in a crosswind environment, a vehicle to which this control method is applied suddenly encounters a strong crosswind while driving at high speed. The vehicle's control system monitors the changes in the steering wheel angle and yaw angle in real time through sensors, and calculates the interference value. When the interference value exceeds the preset threshold, the control system responds quickly, applying braking force to the corresponding wheels through the brake execution unit, so that the vehicle can return to a stable driving state in a short time, greatly reducing the impact of the crosswind on driving safety. Through real-time monitoring and active intervention, this control method significantly improves the stability and safety of the vehicle under adverse conditions such as crosswinds, providing more reliable protection for drivers and passengers.

[0033] Reference Figure 2 As shown, in some embodiments, the vehicle includes a suspension actuator, and the suspension actuator is configured to control the height of the vehicle, when the interference value is greater than or equal to the first preset interference value, including: Step S201, controlling the suspension execution unit to lower the height of the vehicle to reduce the interference value.

[0034] It is understandable that during the driving of the vehicle, if the sensor detects that the interference value is greater than or equal to the first preset interference value, the system will trigger the suspension actuator to make adjustments. The suspension actuator is tightly integrated with the vehicle control system, and can receive instructions from the control system and accurately adjust the height of the vehicle according to the instructions. When the interference value exceeds the standard, the control system will send an instruction to the suspension actuator, instructing it to lower the height of the vehicle. This action is achieved by adjusting the air pressure or hydraulic pressure in the suspension system, depending on the type of suspension system (such as pneumatic suspension or hydraulic suspension). Lowering the height of the vehicle can reduce the area of ​​the vehicle affected by wind resistance, thereby reducing the interference caused by wind resistance, that is, reducing the interference value.

[0035] In addition, adjustment of the suspension actuator can also improve the vehicle's handling and stability, especially when driving at high speeds or encountering adverse conditions such as crosswinds. By lowering the vehicle height, the contact area between the wheels and the road can be increased, improving grip and further ensuring driving safety.

[0036] During this process, the control system will also monitor the effect of the adjustment in real time to ensure that the interference value is effectively reduced. If the interference value is still higher than the preset safety range after lowering the vehicle height, the control system will take further measures, such as adjusting the speed or direction, to ensure the vehicle's stable driving.

[0037] It can be understood that when the interference value is greater than or equal to the first preset interference value, the brake execution unit and the suspension execution unit work synchronously, so as to quickly reduce the interference value to ensure the safety of the vehicle when driving at high speed.

[0038] In some embodiments, the vehicle is provided with a vehicle speed sensor, and step S200, when the interference value is greater than or equal to a first preset interference value, controls the brake execution unit to apply a braking force to at least one wheel to reduce the interference value, including: Step S202, obtaining the vehicle speed through a vehicle speed sensor; Step S203: When the interference value is greater than or equal to the first preset interference value and when the vehicle speed is greater than or equal to the first preset vehicle speed value, control the brake execution unit to apply braking force to at least one wheel to reduce the interference value.

[0039] It is understandable that the vehicle is equipped with a speed sensor, which can monitor and feedback the current speed of the vehicle in real time. When the interference value exceeds the first preset interference value, the system will first obtain the current speed through the speed sensor. Then, the system will check whether the current speed exceeds the first preset speed value. When the current speed of the vehicle is low (for example, the speed is less than 60 kilometers per hour), the brake execution unit will not apply braking force to the wheels, which is conducive to improving the driving experience of the driver at low speeds.

[0040] It is understandable that the first preset vehicle speed value is set based on considerations of safety and driving experience, and its specific numerical calibration may vary according to different vehicle models.

[0041] When the current speed of the vehicle exceeds the first preset speed value, and the interference value is also greater than or equal to the first preset interference value, the control system will immediately activate the brake execution unit. The brake execution unit will quickly and accurately apply braking force to at least one wheel to reduce the vehicle speed and reduce the interference value. This immediate braking response helps to maintain the stability and control of the vehicle, especially in high-speed driving or emergency situations. The specific manner and degree of applying the braking force are dynamically calculated and adjusted by the control system based on the vehicle speed, interference value and other relevant parameters (such as road conditions, vehicle load, etc.). In this way, it can not only ensure driving safety, but also optimize the driving experience and avoid excessive braking causing discomfort to passengers. In this way, this embodiment can reduce the vehicle speed by accurately controlling the braking force when the vehicle speed is too high and is subject to greater interference, thereby effectively reducing the interference value and improving driving safety and stability.

[0042] In some embodiments, in step S200, when the interference value is greater than or equal to the first preset interference value, controlling the brake execution unit to apply braking force to at least one wheel to reduce the interference value, the method further includes: Step S204: When the interference value is less than the first preset interference value and the vehicle speed is greater than or equal to the second preset vehicle speed value, the brake execution unit is controlled to reduce the braking force applied to at least one wheel at a first deceleration.

[0043] It is understandable that during the driving process of the vehicle, if the system detects that the interference value has dropped below the first preset interference value, it indicates that the external interference currently suffered by the vehicle has been significantly reduced. At this time, if the vehicle speed is still greater than or equal to the second preset vehicle speed value (for example, the vehicle speed is greater than or equal to 100 kilometers per hour), that is, the vehicle is still driving at a high speed, the control system will issue a new instruction to the brake execution unit. Specifically, the control system will command the brake execution unit to gradually reduce the braking force applied to at least one wheel at a first deceleration. This operation is gradual and is intended to avoid vehicle instability or passenger discomfort that may be caused by the sudden disappearance of the braking force. The first deceleration is set based on the vehicle speed, vehicle dynamic characteristics and passenger comfort requirements to ensure that the vehicle can maintain stable driving during the reduction of the braking force. As the braking force gradually decreases, the vehicle will be able to return to the normal driving state more naturally without causing abruptness due to the sudden change in the braking force. This control method not only improves the stability and safety of driving, but also greatly enhances the riding comfort of passengers.

[0044] It should be noted that the second preset vehicle speed value is set to ensure that the braking force reduction operation can be more cautious and smooth when driving at high speed. This value is usually slightly higher than the first preset vehicle speed value to meet the special needs of high-speed driving.

[0045] In some embodiments, in step S200, when the interference value is greater than or equal to the first preset interference value, controlling the brake execution unit to apply braking force to at least one wheel to reduce the interference value, the method further includes: Step S205: When the interference value is less than the first preset interference value and the vehicle speed is greater than or equal to the third preset vehicle speed value, the brake execution unit is controlled to reduce the braking force applied to at least one wheel at a second deceleration.

[0046] It is understandable that, during vehicle driving, once the interference value drops below the first preset interference value, it means that the influence of external interference on the vehicle has weakened, and at this time, the braking force needs to be adjusted appropriately to restore the normal driving state of the vehicle. However, the deceleration of the braking force should be different according to the vehicle speed to ensure the safety and stability of driving.

[0047] When the vehicle speed is greater than or equal to the third preset speed value (for example, the vehicle speed is greater than or equal to 110 kilometers per hour), it means that the vehicle is traveling at a higher speed. In this case, if the braking force is suddenly and quickly reduced, it may cause the vehicle to lose control or passengers to feel uncomfortable. Therefore, the control system will command the brake execution unit to reduce the braking force applied to at least one wheel at a second deceleration. The second deceleration is slower than the first deceleration. This is to provide a smoother transition when driving at high speeds and prevent safety problems or passenger discomfort caused by excessive changes in braking force. By reducing the braking force more gradually, it can ensure that the vehicle remains stable during high-speed driving, while giving the driver and passengers a more comfortable experience.

[0048] It is understandable that the third preset vehicle speed value is usually higher than the second preset vehicle speed value, representing a more extreme high-speed driving state. In this speed range, the adjustment of the braking force needs to be more cautious to ensure that the stability and safety of the vehicle can be maintained in any situation.

[0049] According to the vehicle control method provided by the embodiment of the present invention, the vehicle has a steering wheel angle sensor and a yaw angle sensor, the steering wheel angle sensor is configured to detect the steering wheel angle in the current state, and the yaw angle sensor is configured to obtain the yaw angle of the vehicle in the current state, step S100, obtaining the steering wheel angle information and the yaw angle information of the vehicle, and obtaining the interference value according to the steering wheel angle information and the yaw angle information, including: Step S101, detecting the steering wheel angle of the vehicle in the current state by using a steering wheel angle sensor; Step S102, detecting the yaw angle of the vehicle in the current state by using a yaw angle sensor; Step S103: obtaining an interference value according to the difference between the steering wheel angle and the yaw angle.

[0050] It is understandable that the vehicle is equipped with a steering wheel angle sensor and a yaw angle sensor. The steering wheel angle sensor can detect and output the steering wheel angle information in real time, while the yaw angle sensor can obtain the current yaw angle information of the vehicle.

[0051] During the driving process of the vehicle, the steering wheel angle sensor will continuously monitor the steering wheel angle and transmit the angle information to the control system. At the same time, the yaw angle sensor will also continuously detect the yaw angle of the vehicle, that is, the angle between the vehicle's driving direction and the true north direction, and transmit this information to the control system. After receiving the angle information and yaw angle information, the control system will process these two sets of data. Specifically, the control system will calculate the difference between the steering wheel angle and the actual yaw angle of the vehicle. This difference reflects the deviation between the actual driving direction of the vehicle and the driver's intended driving direction, that is, the interference value. The size of the interference value directly reflects the degree of influence of external interference on the driving direction of the vehicle. For example, when the vehicle is subject to external interference such as crosswind, the yaw angle of the vehicle may deviate from the direction indicated by the steering wheel angle, thereby generating a large interference value. By real-time monitoring and calculating the interference value, the control system can quickly identify the external interference during the driving process of the vehicle, and take corresponding control measures according to the size of the interference value, such as adjusting the suspension height, applying braking force, etc., to ensure that the vehicle can drive stably and safely.

[0052] In some embodiments, after controlling the brake execution unit to apply braking force to at least one wheel, the method includes: Step S206: When the steering wheel angle sensor detects that the steering wheel angle increases or decreases in the current state, the brake execution unit is controlled to stop applying braking force to at least one wheel.

[0053] It is understandable that during vehicle driving, if the control system has applied braking force to at least one wheel based on the previous interference value, and at this time the steering wheel angle sensor detects that the steering wheel angle has increased or decreased, this usually means that the driver is actively adjusting the driving direction to cope with external interference or perform normal driving operations.

[0054] In this case, the control system will immediately respond to the change in steering wheel angle and control the brake actuator to stop applying braking force to the wheel that was previously braked. The purpose of this operation is to avoid conflicts between the braking force and the driver's steering wheel operation, and to ensure that the vehicle can smoothly turn or adjust the driving direction according to the driver's intention. After stopping the application of braking force, the vehicle will rely more on the driver's steering wheel operation to control the driving direction, which helps to improve driving flexibility and response speed. At the same time, this also reflects the control system's respect and response to the driver's operation, ensuring smooth interaction between man and machine.

[0055] It should be noted that stopping the application of braking force does not mean that the brake actuator unit stops working completely. If necessary, if a new interference value exceeding the preset threshold is detected, the control system will still quickly activate the brake actuator unit to apply the necessary braking force to ensure driving safety.

[0056] In some embodiments, the vehicle includes a dashboard, and an indicator light is provided in the dashboard. After controlling the brake execution unit to apply a braking force to at least one wheel, the control includes: Send information to the instrument panel that the interference value is reduced by braking and control the indicator light in the instrument panel to flash.

[0057] It is understandable that when the control system determines that it is necessary to control the brake execution unit to apply braking force to at least one wheel to reduce the interference value based on the interference value, the control system will simultaneously send a signal to the instrument panel. This signal contains information about reducing the interference value through braking. After receiving the signal, the instrument panel will immediately process and control the indicator light inside it to flash. This flashing mode can be preset, for example, flashing at a specific frequency and color, so that the driver can quickly identify and understand the meaning of this prompt information. In this way, the driver can intuitively understand through the indicator light on the instrument panel during driving that the vehicle is reducing the interference value through braking, so as to make corresponding driving adjustments or remain vigilant. This real-time information feedback mechanism helps to enhance the driver's understanding of the vehicle status and improve driving safety and comfort.

[0058] In addition, the instrument panel can also display other relevant information according to the instructions of the control system, such as the size of the interference value, the degree of application of the braking force, etc., to provide the driver with more comprehensive driving assistance information.

[0059] Reference Figure 3 According to a vehicle controller provided by an embodiment of the present invention, the vehicle includes a brake execution unit and a plurality of wheels, the brake execution unit is configured to apply braking force to the plurality of wheels respectively, and the vehicle controller 100 includes: The acquisition module 110 is configured to acquire steering wheel angle information, vehicle yaw angle information, and vehicle speed information; The execution module 120 is configured to control the brake execution unit.

[0060] According to an embodiment of the present invention, a vehicle controller 100 is provided. The vehicle controller 100 can respond quickly and accurately when the vehicle is subject to external interference such as crosswinds by monitoring the steering wheel angle information and yaw angle information of the vehicle in real time and calculating the interference value accordingly. When the interference value exceeds a preset threshold, the brake execution unit will apply braking force to at least one wheel to actively reduce the interference value and maintain the stability of the vehicle. This method not only improves the maneuverability and safety of the vehicle under adverse conditions such as crosswinds, but also effectively reduces the difficulty of the driver's operation in emergency situations, providing passengers with a more comfortable and safe riding experience.

[0061] It can be understood that the execution module 120 is capable of executing all vehicle control methods provided by the embodiments of the present invention.

[0062] The vehicle provided according to the embodiment of the present invention is controlled by applying the vehicle control method provided by the embodiment of the present invention.

[0063] According to the vehicle provided by the embodiment of the present invention, during the driving process of the vehicle, by real-time monitoring of the steering wheel angle information and yaw angle information of the vehicle and calculating the interference value accordingly, it can respond quickly and accurately when the vehicle is subject to external interference such as crosswind. When the interference value exceeds the preset threshold, the brake execution unit will apply braking force to at least one wheel to actively reduce the interference value and maintain the stability of the vehicle. This method not only improves the handling and safety of the vehicle under adverse conditions such as crosswind, but also effectively reduces the difficulty of the driver's operation in emergency situations, providing passengers with a more comfortable and safe riding experience.

[0064] Specifically, in the embodiment of the present invention, the vehicle may be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle may also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle may be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it may be a hybrid vehicle or a pure electric vehicle.

[0065] An electronic device provided according to an embodiment of the present invention includes: at least one processor; at least one memory for storing at least one program; when the at least one program is executed by the at least one processor, the at least one processor implements the vehicle control method provided by the embodiment of the present invention.

[0066] The computer-readable storage medium provided according to an embodiment of the present invention stores instructions executable by a processor, and the instructions executable by the processor are used to execute the vehicle control method provided by the embodiment of the present invention when executed by the processor.

[0067] The terms "first", "second", "third", "fourth", etc. (if any) in the description of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0068] It should be understood that in the present invention, "at least one (item)" refers to one or more, and "plurality" refers to two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can represent: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0069] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0070] In the embodiments of the present invention, the term "module" or "unit" refers to a computer program or a part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0071] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Acce Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0072] The step numbers in the above method embodiment are only provided for the convenience of explanation and description, and no limitation is imposed on the order of the steps. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

Claims

1. A method for controlling a vehicle, wherein the vehicle comprises a brake execution unit and a plurality of wheels, wherein the brake execution unit is configured to apply braking force to the plurality of wheels respectively, wherein: The vehicle control method comprises: Acquire steering wheel angle information and yaw angle information of the vehicle, and acquire an interference value according to the steering wheel angle information and the yaw angle information; When the interference value is greater than or equal to a first preset interference value, the brake execution unit is controlled to apply a braking force to at least one of the wheels to reduce the interference value.

2. The vehicle control method according to claim 1, characterized in that: The vehicle includes a suspension actuator, wherein the suspension actuator is configured to control the height of the vehicle, and the control method further includes: When the interference value is greater than or equal to a first preset interference value, the suspension execution unit is controlled to lower the height of the vehicle to reduce the interference value.

3. The vehicle control method according to claim 1 or 2, characterized in that: When the interference value is greater than or equal to a first preset interference value, controlling the brake execution unit to apply a braking force to at least one of the wheels comprises: Obtaining the speed of the vehicle; When the interference value is greater than or equal to a first preset interference value, and the vehicle speed is greater than or equal to a first preset vehicle speed value, the brake execution unit is controlled to apply a braking force to at least one of the wheels to reduce the interference value.

4. The vehicle control method according to claim 3, characterized in that: After controlling the brake execution unit to apply a braking force to at least one of the wheels, the method includes: When the interference value is less than the first preset interference value and the vehicle speed is greater than or equal to a second preset vehicle speed value, the brake execution unit is controlled to reduce the braking force applied to at least one of the wheels at a first deceleration.

5. The vehicle control method according to claim 4, characterized in that: When the interference value is greater than or equal to the first preset interference value, the braking execution unit is controlled to apply braking force to at least one of the wheels to reduce the interference value, comprising: When the interference value is less than the first preset interference value and the vehicle speed is greater than or equal to a third preset vehicle speed value, the brake execution unit is controlled to reduce the braking force applied to at least one of the wheels at a second deceleration.

6. The vehicle control method according to claim 1, characterized in that: The vehicle has a steering wheel angle sensor and a yaw angle sensor, wherein the steering wheel angle sensor is configured to detect a steering wheel angle in a current state, and the yaw angle sensor is configured to obtain a yaw angle of the vehicle in a current state, and the obtaining of steering wheel angle information and yaw angle information of the vehicle, and obtaining an interference value according to the steering wheel angle information and the yaw angle information includes: Detecting the steering wheel angle of the vehicle in the current state by means of the steering wheel angle sensor; Detecting the yaw angle of the vehicle in a current state by means of the yaw angle sensor; The interference value is obtained according to a difference between the steering wheel angle and the yaw angle.

7. The vehicle control method according to claim 6, characterized in that: After controlling the brake execution unit to apply a braking force to at least one of the wheels, the method includes: When the steering wheel angle sensor detects that the steering wheel angle increases or decreases in the current state, the brake execution unit is controlled to stop applying the braking force to at least one of the wheels.

8. The vehicle control method according to claim 1, characterized in that: The vehicle includes a dashboard, an indicator light is provided in the dashboard, and controlling the brake execution unit to apply a braking force to at least one of the wheels includes: Information that the interference value is reduced by braking is sent to the instrument panel, and an indicator light in the instrument panel is controlled to flash.

9. A vehicle controller, the vehicle comprising a brake execution unit and a plurality of wheels, the brake execution unit being configured to apply braking force to the plurality of wheels respectively, characterized in that: The vehicle controller comprises: The acquisition module is configured to acquire steering wheel angle information, vehicle yaw angle information, and vehicle speed information; The execution module is configured to control the brake execution unit.

10. A vehicle, characterized in that: The control is performed by applying the vehicle control method according to any one of claims 1 to 8.

11. An electronic device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle control method according to any one of claims 1 to 8.

12. A computer-readable storage medium storing instructions executable by a processor, characterized in that: The processor-executable instructions are used to perform the vehicle control method according to any one of claims 1 to 8 when executed by the processor.

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