Vehicle control method and device and vehicle

Abstract

The invention provides a vehicle control method and device and a vehicle, the method relates to the field of vehicles, and the method comprises the steps that if it is detected that the vehicle is influenced by external wind power, the current driving state of the vehicle is obtained; wherein the current driving state comprises an automatic driving state or a manual driving state; determining a target control strategy of the vehicle based on the current driving state; wherein the target control strategy is used for reducing the influence of external wind on the vehicle; and controlling the vehicle to run based on the target control strategy. The method can reduce the influence of external wind on the vehicle and improve the driving stability of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle control method, a control device and a vehicle in the field of vehicles. Background Art

[0002] In the prior art, if a vehicle travels on a crosswind section, or if the vehicle travels in windy weather (for example, weather with high wind force levels), the vehicle in motion may be affected by the external wind force, affecting the overall balance of the vehicle, resulting in poor driving stability of the vehicle.

[0003] Therefore, how to reduce the impact of external wind force on the vehicle and improve the driving stability of the vehicle is a technical problem that needs to be solved at present. Summary of the invention

[0004] The present application provides a vehicle control method, a control device and a vehicle. The method can determine a target control strategy for the vehicle according to the current driving state of the vehicle (for example, an automatic driving state or a manual driving state), and control the vehicle driving according to the target control strategy to reduce the impact of external wind force on the vehicle, thereby improving the stability of the vehicle.

[0005] In a first aspect, a vehicle control method is provided, the method comprising:

[0006] If it is detected that the vehicle is affected by external wind force, the current driving state of the vehicle is obtained; wherein the current driving state includes an automatic driving state or a manual driving state;

[0007] Based on the current driving state, determining a target control strategy for the vehicle; wherein the target control strategy is used to reduce the external wind impact on the vehicle;

[0008] Based on the target control strategy, the vehicle is controlled.

[0009] In an embodiment of the present application, when it is detected that the vehicle is affected by external wind force, the target control strategy of the vehicle is determined according to the current driving state of the vehicle; and the vehicle is controlled according to the target control strategy. Since the control strategy adapted to the vehicle is different when the driving state of the vehicle is different; therefore, according to the current driving state of the vehicle, the target control strategy corresponding to the current driving state is determined to ensure that the target control strategy can adapt to the driving state of the vehicle. Since the target control strategy is used to reduce the external wind force effect on the vehicle; therefore, the vehicle driving is controlled by the target control strategy to ensure that when it is detected that the vehicle is affected by external wind force, the degree of influence of the external wind force can be reduced, the stability of the vehicle can be improved, and the safety of the vehicle during driving can be improved.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0011] Determine the amount of change in the vehicle's body posture; wherein the amount of change in the vehicle's body posture is used to determine the degree to which the vehicle is affected by external wind force;

[0012] Based on the current driving state, determine the vehicle's target control strategy, including:

[0013] Based on the current driving state and the change in vehicle body posture, the vehicle's target control strategy is determined.

[0014] In an embodiment of the present application, a target control strategy for the vehicle is determined based on the current driving state of the vehicle and the amount of change in the body posture; the amount of change in the body posture is used to determine the degree to which the vehicle is affected by external wind forces. Since the degree to which the vehicle is affected by external wind forces differs when the amount of change in the vehicle's body posture is different, in order to reduce the impact of external wind forces on the vehicle, the controls adapted to the vehicle are also different; therefore, the target control strategy is determined based on the current driving state of the vehicle and the amount of change in the body posture, ensuring that the impact of the current driving state of the vehicle and the amount of change in the body posture are taken into account, and ensuring that the obtained target control strategy is adapted to the current driving state of the vehicle and the amount of change in the body posture.

[0015] In combination with the first aspect and the above implementations, in some implementations of the first aspect, determining a target control strategy for the vehicle based on the current driving state and the amount of change in the vehicle body posture includes:

[0016] When the vehicle body posture change is greater than the second preset threshold and less than the first preset threshold, if the current driving state is the automatic driving state, the first control strategy is used to determine the target control strategy;

[0017] When the vehicle body posture change is greater than the second preset threshold and less than the first preset threshold, if the current driving state is a manual driving state, the second control strategy is determined as the target control strategy; the target control strategy is determined to be the second control strategy; the second preset threshold is less than the first preset threshold;

[0018] Among them, the first control strategy includes: controlling the suspension height of the vehicle to be lowered to a preset height; the second control strategy includes: controlling the suspension height of the vehicle to be lowered to a preset height, and controlling the vehicle to travel to a preset lane.

[0019] In an embodiment of the present application, when the change in vehicle body posture is greater than the second preset threshold and less than the first preset threshold, it indicates that the vehicle is affected by external wind force and the degree of influence of the external wind force is small; if the current driving state is a manual driving state, determining the target control strategy includes controlling the suspension height of the vehicle to be lowered to a preset height, and by adjusting the suspension height of the vehicle, the center of gravity of the vehicle is lowered, thereby improving the driving stability of the vehicle; if the current driving state is an automatic driving state, determining the target control strategy includes controlling the suspension height of the vehicle to be lowered to a preset height and controlling the vehicle to drive to a preset lane, and by adjusting the suspension height, the center of gravity of the vehicle is lowered to improve the stability of the vehicle, and at the same time, by controlling the vehicle to drive to the preset lane, the probability of the vehicle colliding with other vehicles is reduced, thereby improving the safety of the vehicle during automatic driving.

[0020] In combination with the first aspect and the above implementations, in some implementations of the first aspect, determining a target control strategy for the vehicle based on the current driving state and the amount of change in the vehicle body posture includes:

[0021] When the change in the vehicle body posture is greater than or equal to a first preset threshold and the current driving state is an automatic driving state, determining the third control strategy as the target control strategy;

[0022] When the change in the vehicle body posture is greater than or equal to the first preset threshold and the current driving state is a manual driving state, determining the fourth control strategy as the target control strategy;

[0023] Among them, the third control strategy includes: controlling the vehicle to drive to a preset area on the current road to park, and controlling the vehicle to turn on the hazard lights; the fourth control strategy includes: outputting a first prompt message, and the first prompt message is used to prompt the user to drive to a preset area to park.

[0024] It should be noted that when the change in the vehicle's body posture is greater than or equal to the first preset threshold, the vehicle is greatly affected by the external wind force. For the sake of vehicle safety, it is determined that the vehicle is not suitable for continued driving.

[0025] In an embodiment of the present application, when the change in the vehicle's body posture is greater than or equal to the first preset threshold value, and the current driving state is an automatic driving state, determining the target control strategy includes controlling the vehicle to drive to a preset area to stop and turning on the double flash lights; ensuring that the vehicle can park safely in the preset area to avoid the vehicle maintaining a driving state when the vehicle's body posture changes greatly, causing safety risks. When the change in the vehicle's body posture is greater than or equal to the first preset threshold value, and the current driving state is a manual driving state, determining the target control strategy includes outputting a first prompt message, prompting the user to drive to a preset area to stop through the first prompt message, ensuring that the user can promptly understand the external wind impact on the vehicle and take corresponding control strategies.

[0026] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the following further includes:

[0027] Acquiring the driving environment information of the vehicle and the change amount of the vehicle body posture; wherein the change amount of the vehicle body posture is used to determine the degree to which the vehicle is affected by the external wind force;

[0028] If the driving environment information indicates that the wind force level is greater than the target level, or the vehicle is in a crosswind section, it is determined that the vehicle is affected by external wind force;

[0029] Alternatively, if the change in the vehicle's body posture is greater than a second preset threshold, it is determined that the vehicle is affected by external wind force; wherein the second preset threshold is less than the first preset threshold.

[0030] In an embodiment of the present application, whether the vehicle is affected by external wind is determined based on driving status information and the change in vehicle body posture; if the driving environment information indicates that the wind level is greater than the target level, or the vehicle is in a crosswind section, it is determined that external wind currently exists; in the case that external wind currently exists, it is determined that the vehicle may be affected by external wind, or whether the vehicle is affected by external wind is determined based on whether the change in vehicle body posture is greater than a second preset threshold.

[0031] Optionally, if the driving environment information indicates that the wind level is greater than the target level, or the vehicle is in a crosswind section, it is determined that the vehicle is affected by external wind, and the detected vehicle body posture change is greater than a second preset threshold, it is determined that the vehicle is affected by external wind.

[0032] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the following further includes:

[0033] Obtaining target parameters of the vehicle; wherein the target parameters include the center of mass sideslip angle of the vehicle and the duration of the center of mass sideslip angle;

[0034] Based on the target parameter, the amount of change in the body posture of the vehicle is determined.

[0035] In combination with the first aspect and the above implementations, in some implementations of the first aspect, determining the change amount of the vehicle body posture based on the target parameter includes:

[0036] If the sideslip angle of the center of mass is greater than the first preset angle, and the duration of the sideslip angle of the center of mass is greater than the preset duration, it is determined that the change in the vehicle body posture is greater than the first preset threshold;

[0037] If the sideslip angle of the center of mass is greater than the second preset angle, less than or equal to the first preset angle, and the duration of the sideslip angle of the center of mass is greater than the preset duration, it is determined that the change in the vehicle body posture is greater than the second preset threshold; wherein the second preset angle is smaller than the first preset angle.

[0038] In an embodiment of the present application, if the sideslip angle of the center of mass is greater than the second preset angle, less than or equal to the first preset angle, and the duration of the sideslip angle of the center of mass is greater than the preset duration, it is determined that the change in the vehicle body posture is greater than the second preset threshold, that is, it is determined that the change in the vehicle body posture indicates that the vehicle is affected by external wind force; if the sideslip angle of the center of mass is greater than the first preset angle, and the duration of the sideslip angle of the center of mass is greater than the preset duration, it is determined that the change in the vehicle body posture is greater than the first preset threshold, that is, it is determined that the change in the vehicle body posture indicates that the vehicle is affected by external wind force, and the degree of influence by the external wind force is large.

[0039] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the first control strategy further includes: outputting a second prompt message, controlling the vehicle speed to be less than a preset vehicle speed threshold, closing the vehicle windows, and if a rear wing is detected on the vehicle, controlling the vehicle to deploy the rear wing;

[0040] The second control strategy also includes: outputting a third prompt message, controlling the vehicle speed to be less than a preset speed threshold, closing the vehicle windows, and if a rear wing is detected on the vehicle, controlling the vehicle to deploy the rear wing, at least one of the following.

[0041] In an embodiment of the present application, when the vehicle is affected by external wind and the change in body posture is less than a first preset threshold, the vehicle speed is controlled to be less than the preset speed threshold, the vehicle windows are closed, and the vehicle tail wing is controlled to unfold; because when the vehicle is affected by wind, the higher the vehicle speed, the higher the probability of the vehicle rollover; therefore, the vehicle speed is controlled to be less than the preset threshold to reduce the probability of the vehicle rollover; the vehicle windows are closed to reduce the impact of external wind on the environment inside the cabin; the vehicle tail wing is controlled to unfold, the impact of external wind on the vehicle is reduced by the tail wing, and a prompt message is output.

[0042] In a second aspect, a vehicle control device is provided, the device comprising:

[0043] An acquisition module, used to acquire the current driving state of the vehicle if it is detected that the vehicle is affected by external wind force; wherein the current driving state includes an automatic driving state or a manual driving state;

[0044] The processing module is used to determine a target control strategy for the vehicle based on the current driving state; wherein the target control strategy is used to reduce the external wind impact on the vehicle; and control the vehicle driving based on the target control strategy.

[0045] In combination with the second aspect, in certain implementations of the second aspect, the processing module 420 is specifically used to: determine the change in the vehicle's body posture; wherein the change in the vehicle's body posture is used to determine the degree to which the vehicle is affected by external wind forces; and determine the vehicle's target control strategy based on the current driving state and the change in the vehicle's body posture.

[0046] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the processing module is specifically used to: when the change in vehicle posture is greater than the second preset threshold and less than the first preset threshold, if the current driving state is an automatic driving state, determine the first control strategy as the target control strategy; when the change in vehicle posture is greater than the second preset threshold and less than the first preset threshold, if the current driving state is a manual driving state, determine the second control strategy as the target control strategy; determine the target control strategy as the second control strategy; the second preset threshold is less than the first preset threshold; wherein the first control strategy includes: controlling the suspension height of the vehicle to be lowered to a preset height; the second control strategy includes: controlling the suspension height of the vehicle to be lowered to a preset height, and controlling the vehicle to drive to a preset lane.

[0047] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the processing module is specifically used to: when the change in the vehicle body posture is greater than or equal to the first preset threshold value and the current driving state is an automatic driving state, determine the third control strategy as the target control strategy; when the change in the vehicle body posture is greater than or equal to the first preset threshold value and the current driving state is a manual driving state, determine the fourth control strategy as the target control strategy; wherein the third control strategy includes: controlling the vehicle to drive to a preset area on the current road to stop, and controlling the vehicle to turn on the hazard lights; the fourth control strategy includes: outputting a first prompt message, and the first prompt message is used to prompt the user to drive to a preset area to stop.

[0048] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the acquisition module is specifically used to: obtain the vehicle's driving environment information and the change in the vehicle's body posture; wherein the change in the body posture is used to determine the degree to which the vehicle is affected by external wind force; if the driving environment information indicates that the wind level is greater than the target level, or the vehicle is in a crosswind section, determine whether the change in the body posture is greater than a second preset threshold; if the change in the body posture is greater than the second preset threshold, determine that the vehicle is affected by external wind force; wherein the second preset threshold is less than the first preset threshold.

[0049] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the acquisition module is also used to: obtain target parameters of the vehicle; wherein the target parameters include the vehicle's center of mass sideslip angle, and the duration of the center of mass sideslip angle; the processing module is used to: determine the change in the vehicle's body posture based on the target parameters.

[0050] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the processing module is specifically used to: if the center of mass sideslip angle is greater than a first preset angle, and the duration of the center of mass sideslip angle is greater than the preset duration, determine that the change in the vehicle body posture is greater than a first preset threshold; if the center of mass sideslip angle is greater than a second preset angle, less than or equal to the first preset angle, and the duration of the center of mass sideslip angle is greater than the preset duration, determine that the change in the vehicle body posture is greater than a second preset threshold; wherein the second preset angle is smaller than the first preset angle.

[0051] In a third aspect, a vehicle is provided, comprising a memory and a processor, wherein the memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0052] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0053] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed, the method in the above-mentioned first aspect or any possible implementation manner of the first aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a schematic diagram of a scenario provided by an embodiment of the present application;

[0055] Figure 2is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0056] Figure 3 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0057] Figure 4 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0058] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0060] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0061] In the prior art, if a vehicle is traveling on a crosswind section, or in windy weather (weather with high wind force), the vehicle in motion may be affected by the external wind force, affecting the overall balance of the vehicle, resulting in poor driving stability of the vehicle. Therefore, how to reduce the impact of external wind force on the vehicle and improve the driving stability of the vehicle is a technical problem that needs to be solved at present.

[0062] In view of this, the present application provides a vehicle control method, a control device and a vehicle. The method can determine the vehicle's target control strategy according to the vehicle's current driving state (automatic driving state or manual driving state), and control the vehicle's driving according to the target control strategy to reduce the impact of external wind force on the vehicle, thereby improving the stability of the vehicle.

[0063] Figure 1 It is a schematic diagram of a scenario provided in an embodiment of the present application.

[0064] like Figure 1 The scene shown is 100, V x Indicates the longitudinal speed of the vehicle, V yrepresents the lateral speed of the vehicle, V represents the total speed of the vehicle, and β represents the side slip angle of the center of mass of the vehicle; among them, the longitudinal speed V x It refers to the speed component of the vehicle in the forward or backward direction during the driving process; the lateral speed V y It is the lateral speed of the vehicle generated during driving under the action of external wind force; the center of mass slip angle is the longitudinal speed V at the center of mass of the vehicle x The angle between the vehicle's total velocity V and the center of mass velocity will produce a sideslip angle when the vehicle's traveling direction is inconsistent with the center of mass velocity.

[0065] It can be understood that the center of mass sideslip angle is used to indicate the degree of deflection of the vehicle, that is, the center of mass sideslip angle reflects the degree to which the vehicle is affected by external wind force during driving; the size of the center of mass sideslip angle is positively correlated with the size of the external wind force.

[0066] Combine the following Figure 1 The scene diagram in Figure 2 The control method of the vehicle in the embodiment is further explained.

[0067] Figure 2 It is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0068] For example, Figure 2 The illustrated method 200 may be performed by a vehicle; or may be performed by a processor or chip in a vehicle.

[0069] like Figure 2 As shown, the vehicle control method 200 includes S210 to S230, and S210 to S230 are described in detail below.

[0070] S210: If it is detected that the vehicle is affected by external wind force, the current driving state of the vehicle is obtained.

[0071] Among them, the current driving state includes the vehicle's automatic driving state or manual driving state. The automatic driving state refers to the driving state of the vehicle taken over and controlled by the vehicle's automatic driving system; the manual driving state refers to the driving state of the vehicle operated by the driver.

[0072] For example, the vehicle can determine the current driving state of the vehicle through information such as driving mode selection signals, vehicle sensor data, autonomous driving system status, or vehicle network communications.

[0073] For example, the vehicle is equipped with a driving mode selector (such as a button, a lever or a touch screen), and the driver can select an automatic driving mode (such as L2 automatic driving, L3 automatic driving, etc.) or a manual driving mode; the driving mode selector sends the driving mode signal selected by the user to the vehicle's control system (such as the vehicle control system) to obtain the vehicle's current driving state. If the driving mode signal indicates the automatic driving mode, the current driving state of the vehicle is determined to be the automatic driving state; if the driving mode signal indicates the manual driving mode, the current driving state of the vehicle is determined to be the manual driving state.

[0074] Optionally, the current driving state of the vehicle is determined according to the state of the automatic driving system; if the automatic driving system is in an activated state and is controlling the vehicle (such as controlling the steering wheel, accelerator, brake), the current driving state of the vehicle is determined to be the automatic driving state. If the automatic driving system is not activated or does not intervene in the vehicle control, the current driving state of the vehicle is the manual driving state.

[0075] Optionally, the current driving state of the vehicle is determined based on vehicle sensor data; for example, data from a steering wheel torque sensor is obtained to determine whether the driver's operation of the steering wheel is detected; if the driver applies torque to the steering wheel, it is determined that the vehicle is in a manual driving state; data from a pedal sensor is obtained to determine whether the driver's operation of the accelerator or brake pedal is detected; if it is detected that the driver has stepped on the pedal, it is determined that the vehicle is in a manual driving state.

[0076] Optionally, the current driving state of the vehicle is determined based on the vehicle's network communication, and the driving mode, system status and driver operation information are obtained through the vehicle's internal network communication to determine the current driving state of the vehicle.

[0077] It should be noted that the above is a schematic description of the implementation method of determining the current driving state of the vehicle; in actual applications, any of the above methods can be used to determine the current driving state of the vehicle, or a combination of the above methods can be used to determine the current driving state of the vehicle, or other feasible methods can be used to obtain the current driving state of the vehicle.

[0078] In one possible implementation, the vehicle's driving environment information and the change in the vehicle's body posture are obtained; wherein the change in the vehicle's body posture is used to determine the degree to which the vehicle is affected by external wind force; if the driving environment information indicates that the wind level is greater than the target level, or the vehicle is in a crosswind section, it is determined that the vehicle is affected by external wind force; or, if the change in the vehicle's body posture is greater than a second preset threshold, it is determined that the vehicle is affected by external wind force; wherein the second preset threshold is less than the first preset threshold.

[0079] In an embodiment of the present application, whether the vehicle is affected by external wind is determined based on driving status information and the change in vehicle body posture; if the driving environment information indicates that the wind level is greater than the target level, or the vehicle is in a crosswind section, it is determined that external wind currently exists; in the case that external wind currently exists, it is determined that the vehicle may be affected by external wind, or whether the vehicle is affected by external wind is determined based on whether the change in vehicle body posture is greater than a second preset threshold.

[0080] Exemplarily, the vehicle's driving environment information and the vehicle's body posture change are obtained; based on the driving environment information and the vehicle's body posture change, it is determined whether the vehicle is affected by external wind; the vehicle's driving environment information includes weather information and navigation information; wherein the weather information is used to determine the vehicle's wind force level, and the navigation information is used to determine whether the vehicle is in a crosswind section.

[0081] It should be noted that crosswind sections are usually located at wind outlets or wide areas. When a vehicle passes through a crosswind section, it will be subject to lateral wind forces perpendicular to the wind direction of the vehicle body (such as Figure 1 As shown), the vehicle may easily deviate from the driving direction or roll over; if the external wind force level is greater than the target level (for example, the target level is level 5), it means that the wind force is strong and the external wind force may cause the vehicle to deviate from the driving direction, that is, the vehicle may be affected by the external wind force.

[0082] Optionally, if the driving environment information indicates that the wind level is greater than the target level, or the vehicle is in a crosswind section, it is determined that external wind is currently present; in the presence of external wind, if the change in vehicle body posture is greater than a second preset threshold, it indicates that the external wind has caused the vehicle's body posture to change and the vehicle has shifted, i.e., it is determined that the vehicle is affected by external wind.

[0083] It can be understood that when the wind level is greater than the target level, or the vehicle is in a crosswind section, it means that there is external wind and the vehicle may be affected by the external wind; further, whether the vehicle is affected by the external wind can be accurately determined based on the change in the vehicle body posture. By combining the driving environment information with the vehicle's body posture, it can be more accurately judged whether the vehicle is affected by the external wind.

[0084] Exemplarily, target parameters of the vehicle are obtained; wherein the target parameters include the vehicle's center of mass sideslip angle, and the duration of the center of mass sideslip angle; based on the target parameters, a change in the vehicle's body posture is determined.

[0085] Specifically, if the sideslip angle of the center of mass is greater than a first preset angle, and the duration of the sideslip angle of the center of mass is greater than the preset duration, it is determined that the change in the vehicle body posture is greater than a first preset threshold; if the sideslip angle of the center of mass is greater than a second preset angle, less than or equal to the first preset angle, and the duration of the sideslip angle of the center of mass is greater than the preset duration, it is determined that the change in the vehicle body posture is greater than a second preset threshold; wherein the second preset angle is smaller than the first preset angle, and the second preset threshold is smaller than the first preset threshold.

[0086] Among them, when the change in body posture is greater than the second preset threshold, it means that the vehicle is affected by external wind force; when the change in body posture is greater than the first preset threshold, it means that the vehicle is affected by external wind force, and the degree of influence is high; according to different preset thresholds (the first preset threshold and the second preset threshold), the degree to which the vehicle is affected by external wind force is distinguished, so as to facilitate the subsequent determination of different target control strategies according to the different degrees of influence of external wind force.

[0087] For example, the amount of change in the vehicle's body posture is determined based on the vehicle's center of mass slip angle and the duration of the center of mass slip angle. The center of mass slip angle is used to indicate the degree of side slip of the vehicle. Figure 1 The slip angle β is shown.

[0088] For example, the first preset angle is 15° (degrees), the second preset angle is 10°, and the preset duration is 3s (seconds); the initial driving direction of the vehicle is consistent with the longitudinal axis of the vehicle, and the sideslip angle β is 0°. If it is detected that the vehicle is in a crosswind section, the vehicle's center of mass sideslip angle is 13° and the duration of the center of mass sideslip angle is greater than 3s, it is determined that the change in body posture is greater than the first preset threshold, that is, it is determined that the vehicle is affected by external wind force; if it is detected that the vehicle is in a crosswind section, the vehicle's center of mass sideslip angle is 16° and the duration of the center of mass sideslip angle is greater than 3s, it is determined that the change in body posture is greater than the second preset threshold, that is, it is determined that the vehicle is affected by external wind force, and the degree of influence by external wind force is greater.

[0089] It should be noted that the above are examples of the numerical values ​​of the first preset angle, the second preset angle, the preset duration and the sideslip angle of the vehicle's center of gravity, and this solution does not make any specific limitations on this.

[0090] It is understandable that when a vehicle is driving on a turning section or a bumpy section, it may cause a small deviation of the vehicle in a short period of time, that is, it may cause the vehicle's center of mass sideslip angle to change in a short period of time. If the change in the vehicle posture is determined only based on the angle of the center of mass sideslip angle, it may lead to a misjudgment of the external wind force; therefore, determining the change in the vehicle posture based on the center of mass sideslip angle and the duration of the center of mass sideslip angle can improve the accuracy of judging whether the vehicle is affected by external wind force.

[0091] In an embodiment of the present application, if the sideslip angle of the center of mass is greater than the second preset angle, less than or equal to the first preset angle, and the duration of the sideslip angle of the center of mass is greater than the preset duration, it is determined that the change in the vehicle body posture is greater than the second preset threshold, that is, it is determined that the change in the vehicle body posture indicates that the vehicle is affected by external wind force; if the sideslip angle of the center of mass is greater than the first preset angle, and the duration of the sideslip angle of the center of mass is greater than the preset duration, it is determined that the change in the vehicle body posture is greater than the first preset threshold, that is, it is determined that the change in the vehicle body posture indicates that the vehicle is affected by external wind force, and the degree of influence by the external wind force is large.

[0092] S220: Determine a target control strategy for the vehicle based on the current driving state.

[0093] The target control strategy is used to reduce the external wind impact on the vehicle; that is, when it is detected that the vehicle is affected by external wind, the external wind impact on the vehicle is reduced according to the target control strategy.

[0094] In one implementation, the change in the vehicle's body posture is determined; wherein the change in the vehicle's body posture is used to determine the extent to which the vehicle is affected by external wind forces; and based on the current driving state and the change in the body posture, a target control strategy for the vehicle is determined.

[0095] It can be understood that since the degree to which the vehicle is affected by external wind forces varies when the vehicle's body posture changes, the degree to which the vehicle is affected by external wind forces varies; in order to reduce the impact of external wind forces on the vehicle, the control adapted to the vehicle also varies; therefore, the target control strategy is determined based on the vehicle's current driving state and the amount of change in body posture, ensuring that the impact of the vehicle's current driving state and the amount of change in body posture are taken into account, and ensuring that the obtained target control strategy is adapted to the vehicle's current driving state and the amount of change in body posture.

[0096] Exemplarily, when determining the target control strategy of the vehicle based on the current driving state and the change in the vehicle body posture, there are two situations, including: situation 1, when the change in the vehicle body posture is less than the first preset threshold (i.e., the vehicle is affected by the external wind force, and the degree of influence is small), the target control strategy of the vehicle is determined; and situation 2, when the change in the vehicle body posture is greater than or equal to the first preset threshold (i.e., the vehicle is affected by the external wind force, and the degree of influence is large), the target control strategy of the vehicle is determined. The implementation methods of situation 1 and situation 2 are described in detail below.

[0097] Case 1: When the change amount of the vehicle body posture is greater than the second preset threshold and less than the first preset threshold, if the current driving state is the automatic driving state, the first control strategy is determined as the target control strategy; when the change amount of the vehicle body posture is greater than the second preset threshold and less than the first preset threshold, if the current driving state is the manual driving state, the second control strategy is determined as the target control strategy; the target control strategy is determined to be the second control strategy; the second preset threshold is less than the first preset threshold;

[0098] Among them, the first control strategy includes: controlling the suspension height of the vehicle to be lowered to a preset height; the second control strategy includes: controlling the suspension height of the vehicle to be lowered to a preset height, and controlling the vehicle to travel to a preset lane.

[0099] It can be understood that when the change in the vehicle's body posture is greater than the second preset threshold and less than the first preset threshold, it means that the vehicle is affected by external wind force and the degree of influence of the external wind force is small, and it is determined that the vehicle can continue to maintain the driving state; therefore, the vehicle is controlled by the first control strategy and the second control strategy to improve the driving safety of the vehicle during driving; that is, the first control strategy and the second control strategy are used to improve the safety of the vehicle while maintaining the driving state of the vehicle.

[0100] Exemplarily, when the change in vehicle body posture is greater than a second preset threshold and less than a first preset threshold, if the current driving state is a manual driving state, the first control strategy is determined as the target control strategy of the vehicle. The first control strategy includes controlling the suspension height of the vehicle to be lowered to a preset height. By adjusting the suspension height of the vehicle, the center of gravity of the vehicle is lowered, thereby improving the stability of the vehicle during driving.

[0101] When the change in vehicle body posture is greater than the second preset threshold and less than the first preset threshold, if the current driving state is the automatic driving state, the second control strategy is determined as the target control strategy, and the second control strategy includes controlling the suspension height of the vehicle to be lowered to a preset height and controlling the vehicle to travel to a preset lane. By adjusting the suspension height, the center of gravity of the vehicle is lowered, thereby improving the stability of the vehicle during driving. At the same time, by controlling the vehicle to travel to the preset lane, the probability of a vehicle collision is reduced, thereby improving the safety of the vehicle. The preset lane is the middle lane of the current road. Since the vehicle may deviate when affected by external wind force, the probability of a vehicle collision with fences on both sides of the road is reduced by controlling the vehicle to travel to the preset lane.

[0102] In one possible implementation, the first control strategy also includes: outputting a second prompt message, controlling the vehicle speed to be less than a preset speed threshold, closing the vehicle windows, and if a rear wing is detected on the vehicle, controlling the vehicle to unfold the rear wing; the second control strategy also includes: outputting a third prompt message, controlling the vehicle speed to be less than a preset speed threshold, closing the vehicle windows, and if a rear wing is detected on the vehicle, controlling the vehicle to unfold the rear wing.

[0103] Among them, the vehicle's rear wing is usually deployed to increase downforce when driving at high speed, improve the vehicle's stability and handling performance. When driving at high speed, the rear wing can generate downward aerodynamic force to increase the grip of the rear wheels; and the rear wing can offset the lift that the vehicle may generate due to aerodynamic effects, thereby improving the stability of the vehicle.

[0104] Exemplarily, the second prompt message is used to remind the user that the vehicle is affected by external wind force, so please drive safely (for example, remind the user to hold the steering wheel tightly, avoid sudden braking, etc.); the third prompt message is used to remind the user that the vehicle is affected by external wind force, so please be sure to take over the vehicle at any time.

[0105] Among them, the prompt method of the first prompt information and the second prompt information can be a method of displaying the prompt information on a vehicle display screen (for example, an instrument screen or a head-up display screen), or a method of outputting the prompt information through voice prompting. This application does not specifically limit the prompt method of the prompt information.

[0106] For example, if the vehicle is not affected by external wind force, the maximum speed of the vehicle is 140km / h; when it is detected that the vehicle is affected by external wind force, in order to avoid the vehicle's excessive speed causing safety risks to the vehicle, the preset speed threshold of the vehicle is determined to be (maximum speed) 100km / h; when the vehicle's speed is less than 100km / h, when an acceleration operation on the vehicle is detected, the vehicle's speed is increased in response to the acceleration operation of the vehicle; when the vehicle's speed reaches the preset speed threshold of 100km / h, the vehicle's speed cannot continue to increase.

[0107] Optionally, different preset vehicle speed thresholds are determined according to the size of the external wind force; if the wind force level of the external wind force is higher, the vehicle is more affected by the external wind force, and the corresponding preset vehicle speed threshold is smaller, so as to improve the safety of the vehicle.

[0108] In the embodiments of the present application, when the vehicle is affected by wind, the higher the speed of the vehicle, the greater the probability of the vehicle rolling over; the speed of the vehicle is controlled to be lower than a preset speed threshold (i.e., the maximum speed of the vehicle is limited) to avoid the vehicle rolling over due to excessive speed, thereby improving the safety of the vehicle; the windows of the vehicle are closed to reduce the impact of external wind on the environment inside the cabin, thereby improving user experience; the vehicle is controlled to unfold the tail wing to reduce the impact of external wind on the vehicle through the tail wing.

[0109] Optionally, the first control strategy may also include: after controlling the vehicle to travel to a preset lane (for example, the middle lane), activating the lane keeping function through the lane keeping assist system to prevent the vehicle from deviating from the current lane due to strong winds; and determining the vehicle's target speed based on the distance between the vehicle and a first vehicle, and controlling the vehicle to travel based on the target speed; the first vehicle includes the vehicle in front of the vehicle and the vehicle to the side of the vehicle.

[0110] Among them, the lane keeping assist system controls the steering system based on the lane departure warning system to assist the vehicle to stay in the lane. By identifying the lane marking line; if it is detected that the vehicle is approaching the identified marking line and may leave the driving lane, the driver's attention will be drawn through the vibration of the steering wheel or sound, and the steering wheel will be slightly turned to correct the driving direction so that the vehicle is in the correct lane. If the steering wheel detects that no one actively intervenes for a long time, an alarm will be issued to remind the driver.

[0111] For example, when the distance between the vehicle and the first vehicle is less than a preset safety distance, the vehicle is controlled to accelerate or decelerate so as to keep a safe distance between the vehicle and the first vehicle, thereby reducing the probability of a collision between the vehicle and the first vehicle.

[0112] It is understandable that when the vehicle is affected by external wind force, the vehicle may deviate during driving. If the distance between the vehicle and a first vehicle (the vehicle in front of the vehicle or the vehicle behind the vehicle) is less than a preset safety distance, there is a risk of collision with the first vehicle after the vehicle deviates. Therefore, by identifying the distance between the vehicle and the first vehicle, when the distance is less than the preset safety distance, the vehicle is controlled to accelerate or decelerate to reduce the probability of collision between the vehicle and the first vehicle.

[0113] Case 2: When the change amount of the vehicle body posture is greater than or equal to the first preset threshold value and the current driving state is the automatic driving state, the third control strategy is determined as the target control strategy; when the change amount of the vehicle body posture is greater than or equal to the first preset threshold value and the current driving state is the manual driving state, the fourth control strategy is determined as the target control strategy;

[0114] Among them, the third control strategy includes: controlling the vehicle to drive to a preset area on the current road to park, and controlling the vehicle to turn on the hazard lights; the fourth control strategy includes: outputting a first prompt message, the first prompt message is used to prompt the user to drive to a preset area to park; for example, the first prompt message may be "The current wind is too strong and driving is dangerous, please pull over or go to the nearest service area for avoidance"; when outputting the first prompt message, the preset area where parking can be performed is marked on the vehicle's navigation map.

[0115] It can be understood that when the change in the vehicle's body posture is greater than or equal to the first preset threshold, the vehicle is greatly affected by the external wind force, and for the sake of vehicle safety, it is determined that the vehicle is not suitable for continued driving. The vehicle is controlled by the third control strategy and the fourth control strategy to drive to a safe area and stop; that is, the third control strategy and the fourth control strategy are used to control the vehicle to drive to a safe area and stop when the vehicle is greatly affected by the external wind force, so as to improve the safety of the vehicle.

[0116] Exemplarily, when the change in the vehicle's body posture is greater than or equal to a first preset threshold and the current driving state is an automatic driving state, the third control strategy is determined as the target control strategy. The third control strategy includes controlling the vehicle to drive to a preset area to stop and turn on the hazard lights; ensuring that the vehicle can park safely in the preset area to avoid safety risks caused by the vehicle remaining in a driving state when the vehicle's body posture changes significantly.

[0117] When the change in the vehicle's body posture is greater than or equal to a first preset threshold and the current driving state is a manual driving state, the fourth control strategy is determined as the target control strategy of the vehicle. The fourth control strategy includes outputting a first prompt message, prompting the user to drive to a preset area to park through the first prompt message, thereby ensuring that the user can promptly understand the external wind impact on the vehicle and adopt corresponding control strategies.

[0118] In an embodiment of the present application, when the change in the vehicle's body posture is greater than or equal to a first preset threshold and the current driving state is an automatic driving state, the vehicle is controlled by a third control strategy to automatically drive to a safe area to park and avoid danger.

[0119] S230, controlling the vehicle driving based on the target control strategy.

[0120] Among them, according to the target control strategy, the vehicle driving is controlled to reduce the impact of external wind force on the vehicle.

[0121] Optionally, it also includes obtaining the initial state of the vehicle; after controlling the vehicle driving based on the target control strategy, if it is detected that the vehicle passes through a crosswind section and the change in the vehicle's body posture is less than or equal to a second preset threshold, determining that the vehicle is not affected by external wind force; or if it is detected that the external wind force level is less than the target level and the change in the vehicle body posture is less than or equal to the second preset threshold, determining that the vehicle is not affected by external wind force; when the vehicle is not affected by external wind force, restoring the vehicle to its initial state.

[0122] In the above embodiment, when it is detected that the vehicle is affected by external wind force, the target control strategy of the vehicle is determined according to the current driving state of the vehicle; and the vehicle is controlled according to the target control strategy. Since the control strategy adapted to the vehicle is different when the driving state of the vehicle is different; therefore, according to the current driving state of the vehicle, the target control strategy corresponding to the current driving state is determined to ensure that the target control strategy can adapt to the driving state of the vehicle. Since the target control strategy is used to reduce the external wind force effect on the vehicle; therefore, the driving of the vehicle is controlled by the target control strategy, ensuring that when it is detected that the vehicle is affected by external wind force, the degree of influence of the external wind force can be reduced, the stability of the vehicle can be improved, and the safety of the vehicle during driving can be improved.

[0123] Figure 3 It is a schematic flow chart of another vehicle control method provided in an embodiment of the present application.

[0124] Figure 3 The illustrated method 300 may be performed by a vehicle; or may be performed by a processor or chip in a vehicle.

[0125] like Figure 3 As shown, the vehicle control method 300 includes S301 to S308, and S301 to S308 are described in detail below.

[0126] S301, obtaining target parameters of the vehicle and driving environment information of the vehicle.

[0127] Exemplarily, the target parameters include the vehicle's center of mass sideslip angle and the duration of the center of mass sideslip angle; the vehicle's driving environment information includes weather information and navigation information; wherein the vehicle's driving environment information is used to determine whether there is external wind force at present, and the vehicle's target parameters are used to determine whether the vehicle is affected by external wind force.

[0128] S302, determining a change amount of the vehicle body posture according to the target parameter.

[0129] Exemplarily, the change in the vehicle's body posture is determined based on the center of mass sideslip angle and the duration of the center of mass sideslip angle.

[0130] If the center of mass sideslip angle is greater than the first preset angle, and the duration of the center of mass sideslip angle is greater than the preset duration, it is determined that the body posture change is greater than the first preset threshold, that is, the body posture change indicates that the vehicle is affected by external wind force, and the degree of influence by the external wind force is high (higher than the preset influence degree). If the center of mass sideslip angle is greater than the second preset angle, less than or equal to the first preset angle, and the duration of the center of mass sideslip angle is greater than the preset duration, it is determined that the body posture change is greater than the second preset threshold; that is, the body posture change indicates that the vehicle is affected by external wind force.

[0131] S303, determine whether the vehicle is affected by external wind force based on the driving environment information and the change in vehicle body posture; if so, execute S304.

[0132] Exemplarily, whether the vehicle is affected by external wind force is determined based on the driving environment information and the change in vehicle body posture; if the vehicle is affected by external wind force, the current driving state of the vehicle is obtained.

[0133] Specifically, if the driving environment information indicates that the wind level is higher than the target level and the body posture change is greater than a second preset threshold, or the vehicle is in a crosswind section and the body posture change is greater than a second preset threshold, it is determined that the vehicle is affected by external wind.

[0134] Optionally, if the vehicle is not affected by external wind force, the vehicle driving is controlled based on the original control strategy.

[0135] S304, obtaining the current driving status of the vehicle.

[0136] Exemplarily, the current driving state of the vehicle includes the automatic driving state of the vehicle or the manual driving state of the vehicle. The vehicle can determine the current driving state of the vehicle through information such as a driving mode selection signal, vehicle sensor data, automatic driving system status, or vehicle network communication.

[0137] Optionally, the implementation of S301 to S304 can refer to Figure 2 The relevant description in S210 will not be repeated here.

[0138] S305, determining whether the change in the vehicle body posture is greater than the second preset threshold and less than the first preset threshold; if so, executing S306; if not, executing S307.

[0139] Exemplarily, it is determined whether the change in the vehicle's body posture is greater than a second preset threshold and less than a first preset threshold; if the change in the vehicle's body posture is greater than the second preset threshold and less than the first preset threshold, when the current driving state is an automatic driving state, the first control strategy is determined as the target control strategy, and when the current driving state is a manual driving state, the second control strategy is determined as the target control strategy; if the change in the vehicle's body posture is greater than or equal to the first preset threshold, when the current driving state is an automatic driving state, the third control strategy is determined as the target control strategy, and when the current driving state is a manual driving state, the fourth control strategy is determined as the target control strategy.

[0140] S306: If the current driving state is an automatic driving state, the first control strategy is determined as the target control strategy; if the current driving state is a manual driving state, the second control strategy is determined as the target control strategy.

[0141] Exemplarily, the first control strategy includes: controlling the vehicle's suspension height to be lowered to a preset height, outputting a second prompt message, controlling the vehicle's speed to be less than a preset speed threshold, closing the vehicle's windows, and if a rear wing is detected on the vehicle, controlling the vehicle to deploy the rear wing, at least one of the following.

[0142] The second control strategy includes: controlling the vehicle's suspension height to be lowered to a preset height, controlling the vehicle to drive to a preset lane, outputting a third prompt message, controlling the vehicle's speed to be less than a preset speed threshold, closing the vehicle's windows, and if a rear wing is detected on the vehicle, controlling the vehicle to deploy the rear wing.

[0143] S307: If the current driving state is an automatic driving state, the third control strategy is determined as the target control strategy; if the current driving state is a manual driving state, the fourth control strategy is determined as the target control strategy.

[0144] Exemplarily, the third control strategy includes: controlling the vehicle to drive to a preset area of ​​the current road to park, and controlling the vehicle to turn on the double flash lights. The fourth control strategy includes: outputting a first prompt message, the first prompt message is used to prompt the user to drive to a preset area to park.

[0145] Optionally, the implementation of S305 to S307 can refer to Figure 2 The relevant description of S220 is not repeated here.

[0146] S308, controlling the vehicle driving based on the target control strategy.

[0147] Exemplarily, the vehicle driving is controlled according to the target control strategy to reduce the impact of external wind force on the vehicle.

[0148] Optionally, the implementation of S308 may be parameterized Figure 2The relevant description of S230 is not repeated here.

[0149] In the embodiment of the present application, the target control strategy is determined according to the current driving state of the vehicle and the amount of change in the body posture, ensuring that the influence of the current driving state of the vehicle and the amount of change in the body posture are taken into account, and ensuring that the obtained target control strategy is adapted to the current driving state of the vehicle and the amount of change in the body posture. The vehicle driving is controlled by the target control strategy, ensuring that when it is detected that the vehicle is affected by external wind force, the degree of influence of the external wind force can be reduced, the stability of the vehicle can be improved, and then the safety of the vehicle during driving can be improved.

[0150] In one possible implementation, if the external wind force level is higher than the preset wind force level, a prompt message is output when the vehicle is detected to be started; for example, the preset wind force level is level 5, if the external wind force level is detected to be level 6, a prompt message is output when the vehicle is detected to be started, and the prompt message reminds the driver that it is currently windy and it is recommended not to drive out.

[0151] It can be understood that the present application determines whether the vehicle is affected by external wind force by predicting and judging the external environment, and adjusts the vehicle state and parameters when it is detected that the vehicle is affected by external wind force, so as to reduce the impact of external wind force on the vehicle and improve vehicle stability.

[0152] Combination of the above Figures 1 to 3 The vehicle control method provided by the embodiment of the present application is described in detail; Figure 4 and Figure 5 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0153] Figure 4 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0154] For example, Figure 4 As shown, the vehicle control device 400 includes:

[0155] The acquisition module 410 is used to acquire the current driving state of the vehicle if it is detected that the vehicle is affected by external wind force; wherein the current driving state includes an automatic driving state or a manual driving state;

[0156] The processing module 420 is used to determine a target control strategy for the vehicle based on the current driving state; wherein the target control strategy is used to reduce the external wind impact on the vehicle; and control the driving of the vehicle based on the target control strategy.

[0157] Optionally, as an embodiment, the processing module 420 is specifically used to: determine the change in the vehicle's body posture; wherein the change in the vehicle's body posture is used to determine the degree to which the vehicle is affected by external wind forces; and determine the vehicle's target control strategy based on the current driving state and the change in the body posture.

[0158] Optionally, as an embodiment, the processing module 420 is specifically used for: when the change in vehicle posture is greater than a second preset threshold and less than a first preset threshold, if the current driving state is an automatic driving state, determining the first control strategy as a target control strategy; when the change in vehicle posture is greater than the second preset threshold and less than the first preset threshold, if the current driving state is a manual driving state, determining the second control strategy as the target control strategy; determining the target control strategy as the second control strategy; the second preset threshold is less than the first preset threshold; wherein the first control strategy includes: controlling the suspension height of the vehicle to be lowered to a preset height; the second control strategy includes: controlling the suspension height of the vehicle to be lowered to a preset height, and controlling the vehicle to drive to a preset lane.

[0159] Optionally, as an embodiment, the processing module 420 is specifically used to: when the change in vehicle posture is greater than or equal to a first preset threshold and the current driving state is an automatic driving state, determine the third control strategy as the target control strategy; when the change in vehicle posture is greater than or equal to the first preset threshold and the current driving state is a manual driving state, determine the fourth control strategy as the target control strategy; wherein the third control strategy includes: controlling the vehicle to drive to a preset area on the current road to stop, and controlling the vehicle to turn on the hazard lights; the fourth control strategy includes: outputting a first prompt message, the first prompt message being used to prompt the user to drive to a preset area to stop.

[0160] Optionally, as an embodiment, the acquisition module 410 is specifically used to: obtain the vehicle's driving environment information and the change in the vehicle's body posture; wherein the change in the body posture is used to determine the degree to which the vehicle is affected by external wind force; if the driving environment information indicates that the wind level is greater than the target level, or the vehicle is in a crosswind section, determine whether the change in the body posture is greater than a second preset threshold; if the change in the body posture is greater than the second preset threshold, determine that the vehicle is affected by external wind force; wherein the second preset threshold is less than the first preset threshold.

[0161] Optionally, as an embodiment, the acquisition module 410 is also used to: obtain target parameters of the vehicle; wherein the target parameters include the vehicle's center of mass sideslip angle, and the duration of the center of mass sideslip angle; the processing module is used to: determine the change in the vehicle's body posture based on the target parameters.

[0162] Optionally, as an embodiment, the processing module 420 is specifically used to: if the sideslip angle of the center of mass is greater than a first preset angle, and the duration of the sideslip angle of the center of mass is greater than the preset duration, determine that the change in the vehicle body posture is greater than a first preset threshold; if the sideslip angle of the center of mass is greater than a second preset angle, less than or equal to the first preset angle, and the duration of the sideslip angle of the center of mass is greater than the preset duration, determine that the change in the vehicle body posture is greater than a second preset threshold; wherein the second preset angle is smaller than the first preset angle.

[0163] It should be noted that the control device of the vehicle is embodied in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0164] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0165] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0166] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0167] Exemplarily, vehicle 500 includes: a processor 510 , a memory 520 , and executable program code 530 .

[0168] Exemplarily, the vehicle 500 includes one or more processors 510, which can support the vehicle 500 to implement the vehicle control method in the method embodiment. The processor 510 can be a general-purpose processor or a special-purpose processor. For example, the processor 510 can be a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0169] Exemplarily, the processor 510 may be used to control the vehicle 500, execute software programs, and process data of the software programs. The vehicle 500 may also include a communication unit to implement input (reception) and output (transmission) of signals.

[0170] Exemplarily, the vehicle 500 may include one or more memories 520 on which executable program code 530 is stored. The executable program code 530 can be executed by the processor 510 to generate instructions so that the processor 510 executes the vehicle control method described in the above method embodiment according to the instructions.

[0171] Optionally, data may be stored in the memory 520. Optionally, the processor 510 may read data stored in the memory 520, which may be stored at the same storage address as the executable program code 530, or may be stored at a different storage address from the executable program code 530.

[0172] Exemplarily, the processor 510 and the memory 520 may be provided separately or integrated together, for example, integrated on a system on chip (SOC) of the terminal device.

[0173] Exemplarily, the memory 520 can be used to store relevant programs of the vehicle control method provided in the embodiment of the present application, and the processor 520 can be used to call the executable program code 530 stored in the memory 520 when controlling the vehicle to execute the vehicle control method of the embodiment of the present application; for example, if it is detected that the vehicle is affected by external wind force, the current driving state of the vehicle is obtained; wherein the current driving state includes an automatic driving state or a manual driving state; based on the current driving state, the target control strategy of the vehicle is determined; wherein the target control strategy is used to reduce the external wind force impact on the vehicle; based on the target control strategy, the vehicle driving is controlled.

[0174] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method of any of the aforementioned embodiments.

[0175] Among them, computer-readable storage media may include but are not limited to any type of disk, including floppy disks, optical disks, digital versatile disks (Digital Video Disc, DVD), compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), microdrives and magneto-optical disks, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable programmable read only memory (Electrically Erasable Programmable read only memory, EEPROM), dynamic random access memory (Dynamic Random Access Memory, DRAM), video random access memory (Video Random Access Memory, VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0176] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0177] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle control method in the above-mentioned embodiments.

[0178] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in the present application are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be repeated here.

[0179] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0180] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0181] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: If it is detected that the vehicle is affected by external wind force, the current driving state of the vehicle is obtained; wherein the current driving state includes an automatic driving state or a manual driving state; Based on the current driving state, determining a target control strategy for the vehicle; wherein the target control strategy is used to reduce the external wind impact on the vehicle; Based on the target control strategy, the vehicle is controlled to travel.

2. The method according to claim 1, characterized in that Also includes: Determining a change in the body posture of the vehicle; wherein the change in the body posture is used to determine the degree to which the vehicle is affected by external wind force; The determining of the target control strategy of the vehicle based on the current driving state includes: Based on the current driving state and the amount of change in the vehicle body posture, a target control strategy for the vehicle is determined.

3. The method according to claim 2, characterized in that The determining of the target control strategy of the vehicle based on the current driving state and the change in the vehicle body posture includes: When the vehicle body posture change is greater than a second preset threshold value and less than a first preset threshold value, if the current driving state is an automatic driving state, the first control strategy is used to determine the target control strategy; When the vehicle body posture change amount is greater than the second preset threshold and less than the first preset threshold, if the current driving state is a manual driving state, determining the second control strategy as the target control strategy; determining the target control strategy as the second control strategy; the second preset threshold is less than the first preset threshold; Wherein, the first control strategy includes: controlling the suspension height of the vehicle to be lowered to a preset height; the second control strategy includes: controlling the suspension height of the vehicle to be lowered to a preset height, and controlling the vehicle to travel to a preset lane.

4. The method according to claim 2, characterized in that: The determining of the target control strategy of the vehicle based on the current driving state and the change in the vehicle body posture includes: When the change amount of the vehicle body posture is greater than or equal to a first preset threshold value and the current driving state is the automatic driving state, determining the third control strategy as the target control strategy; When the change amount of the vehicle body posture is greater than or equal to the first preset threshold and the current driving state is the manual driving state, determining the fourth control strategy as the target control strategy; Among them, the third control strategy includes: controlling the vehicle to drive to a preset area on the current road to park, and controlling the vehicle to turn on the hazard lights; the fourth control strategy includes: outputting a first prompt message, and the first prompt message is used to prompt the user to drive to the preset area to park.

5. The method according to claim 1, characterized in that Also includes: Acquiring the driving environment information of the vehicle and the change amount of the vehicle body posture; wherein the change amount of the vehicle body posture is used to determine the degree to which the vehicle is affected by the external wind force; If the driving environment information indicates that the wind force level is greater than the target level, or the vehicle is in a crosswind section, it is determined that the vehicle is affected by external wind force; Alternatively, if the change in the vehicle's body posture is greater than a second preset threshold, it is determined that the vehicle is affected by the external wind force; wherein the second preset threshold is less than the first preset threshold.

6. The method according to any one of claims 1 to 4, characterized in that Also includes: Acquire target parameters of the vehicle; wherein the target parameters include a center of mass sideslip angle of the vehicle and a duration of the center of mass sideslip angle; Based on the target parameter, a change amount of the body posture of the vehicle is determined.

7. The method according to claim 6, characterized in that The step of determining the change amount of the vehicle body posture based on the target parameter includes: If the center of mass sideslip angle is greater than a first preset angle, and the duration of the center of mass sideslip angle is greater than a preset duration, determining that the vehicle body posture change is greater than a first preset threshold; If the sideslip angle of the center of mass is greater than the second preset angle, less than or equal to the first preset angle, and the duration of the sideslip angle of the center of mass is greater than the preset duration, it is determined that the change in the vehicle body posture is greater than the second preset threshold; wherein the second preset angle is smaller than the first preset angle.

8. The method according to claim 3, characterized in that The first control strategy further includes: outputting a second prompt message, controlling the speed of the vehicle to be less than a preset speed threshold, closing the windows of the vehicle, and if a tail wing is detected on the vehicle, controlling the vehicle to deploy the tail wing; The second control strategy also includes: outputting a third prompt message, controlling the vehicle speed to be less than a preset speed threshold, closing the vehicle windows, and if a rear wing is detected on the vehicle, controlling the vehicle to deploy the rear wing, at least one of the following.

9. A vehicle control device, characterized in that: The device comprises: An acquisition module, configured to acquire the current driving state of the vehicle if it is detected that the vehicle is affected by external wind force; wherein the current driving state includes an automatic driving state or a manual driving state; A processing module is used to determine a target control strategy for the vehicle based on the current driving state; wherein the target control strategy is used to reduce the external wind impact on the vehicle; and control the driving of the vehicle based on the target control strategy.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory so that the vehicle executes the method as claimed in any one of claims 1 to 8.

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