Control method, control device, and vehicle

Abstract

The application provides a control method and device of a vehicle and the vehicle, and relates to the field of vehicles.The method comprises the following steps: if it is detected that the vehicle is affected by external wind force, obtaining a current driving state of the vehicle; 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 to reduce the influence of external wind force on the vehicle; and controlling the vehicle to drive based on the target control strategy.The method can reduce the influence of external wind force on the vehicle and improve the driving stability of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to a method for controlling a vehicle, a control device, and a vehicle in the field of vehicles. Background Technology

[0002] In the existing technology, if a vehicle travels on a road with crosswinds, or travels in windy weather (e.g., weather with high wind force), the vehicle in motion may be affected by the external wind force, affecting the overall balance of the vehicle and resulting in poor driving stability.

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

[0004] This application provides a vehicle control method, control device, and vehicle. The method can determine the target control strategy of the vehicle based on the vehicle's current driving state (e.g., autonomous 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 vehicle's stability.

[0005] Firstly, a method for controlling a vehicle is provided, the method comprising:

[0006] If the vehicle is detected to be affected by external wind, the vehicle's current driving status is obtained; the current driving status includes either autonomous driving or manual driving.

[0007] Based on the current driving status, a target control strategy for the vehicle is determined; the target control strategy is used to reduce the impact of external wind on the vehicle.

[0008] The vehicle's movement is controlled based on a target control strategy.

[0009] In the embodiments of this application, when the vehicle is detected to be affected by external wind, a target control strategy for the vehicle is determined based on the vehicle's current driving state; and the vehicle is controlled according to the target control strategy. Since the control strategy adapted to the vehicle varies depending on its driving state, the target control strategy corresponding to the current driving state is determined to ensure that the target control strategy is adaptable to the vehicle's driving state. Because the target control strategy is used to reduce the impact of external wind on the vehicle, controlling the vehicle's movement through the target control strategy ensures that when the vehicle is detected to be affected by external wind, the degree of impact of external wind is reduced, improving vehicle stability and thus enhancing vehicle safety during operation.

[0010] In conjunction with the first aspect, some implementations of the first aspect also include:

[0011] Determine the amount of change in the vehicle's body posture; whereby the amount of change in body posture is used to determine the degree of impact of external wind force on the vehicle;

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

[0013] Based on the current driving status and changes in vehicle posture, the target control strategy for the vehicle is determined.

[0014] In the embodiments of this application, a target control strategy for the vehicle is determined based on the vehicle's current driving state and the change in vehicle body posture. The change in vehicle body posture is used to determine the degree of influence of external wind force on the vehicle. Since the degree of influence of external wind force on the vehicle differs depending on the change in vehicle body posture, the control measures adapted to the vehicle also differ to reduce the influence of external wind force. Therefore, determining the target control strategy based on the vehicle's current driving state and the change in vehicle body posture ensures that the influence of the vehicle's current driving state and the change in vehicle body posture are taken into account, and ensures that the obtained target control strategy is adapted to the vehicle's current driving state and the change in vehicle body posture.

[0015] Combining the first aspect and the above-mentioned implementation methods, in some implementation methods of the first aspect, the target control strategy of the vehicle is determined based on the current driving state and the change in vehicle posture, including:

[0016] 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 autonomous driving state, the first control strategy will be used to determine the target control strategy.

[0017] 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 manual driving, the second control strategy is determined as the target control strategy; the target control strategy is determined as the second control strategy; the second preset threshold is less than the first preset threshold.

[0018] The first control strategy includes: controlling the vehicle's suspension height to decrease to a preset height; the second control strategy includes: controlling the vehicle's suspension height to decrease to a preset height, and controlling the vehicle to travel to a preset lane.

[0019] In the embodiments of this application, when the change in vehicle posture is greater than a second preset threshold and less than a first preset threshold, it indicates that the vehicle is affected by external wind force, and the degree of influence from the external wind force is relatively small. If the current driving state is manual driving, the target control strategy includes controlling the vehicle's suspension height to decrease to a preset height. By adjusting the vehicle's suspension height, the vehicle's center of gravity is lowered, thereby improving the vehicle's driving stability. If the current driving state is autonomous driving, the target control strategy includes controlling the vehicle's suspension height to decrease to a preset height and controlling the vehicle to drive in a preset lane. By adjusting the suspension height, the vehicle's center of gravity is lowered, improving the vehicle's stability. At the same time, by controlling the vehicle to drive in the preset lane, the probability of the vehicle colliding with other vehicles is reduced, thereby improving the safety of the vehicle during autonomous driving.

[0020] Combining the first aspect and the above-mentioned implementation methods, in some implementation methods of the first aspect, the target control strategy of the vehicle is determined based on the current driving state and the change in vehicle posture, including:

[0021] When the change in vehicle posture is greater than or equal to the first preset threshold, and the current driving state is autonomous driving, the third control strategy is determined as the target control strategy.

[0022] If the change in vehicle posture is greater than or equal to the first preset threshold, and the current driving state is manual driving, the fourth control strategy will be determined as the target control strategy.

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

[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 significantly affected by external wind force. For the sake of vehicle safety, it is determined that the vehicle is not suitable to continue driving.

[0025] In embodiments of this 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 autonomous driving, determining the target control strategy includes controlling the vehicle to drive to a preset area and stop, and activating the hazard lights; ensuring the vehicle can safely stop in the preset area, avoiding safety risks caused by the vehicle maintaining a driving state when the change in the vehicle's body posture is large. When the change in the vehicle's body posture is greater than or equal to the first preset threshold, and the current driving state is manual driving, determining the target control strategy includes outputting a first prompt message, prompting the user to drive to the preset area and stop, ensuring the user can promptly understand the impact of external wind force on the vehicle and take corresponding control strategies.

[0026] In conjunction with the first aspect and the above implementation methods, some implementation methods of the first aspect also include:

[0027] Acquire information about the vehicle's driving environment and changes in the vehicle's body posture; the changes in body posture are used to determine the extent to which the vehicle is affected by external wind forces.

[0028] If the driving environment information indicates that the wind force level is greater than the target level, or if 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 the 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 the embodiments of this application, based on driving status information and vehicle posture change, it is determined whether the vehicle is affected by 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 there is currently external wind force; if there is currently external wind force, it is determined that the vehicle may be affected by external wind force, or based on whether the vehicle posture change is greater than a second preset threshold, it is determined whether the vehicle is affected by external wind force.

[0031] Optionally, 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, and the detected change in vehicle body posture is greater than the second preset threshold, it is determined that the vehicle is affected by external wind force.

[0032] In conjunction with the first aspect and the above implementation methods, some implementation methods of the first aspect also include:

[0033] Obtain the target parameters of the vehicle; among which, the target parameters include the vehicle's sideslip angle and the duration of the sideslip angle.

[0034] Based on the target parameters, the amount of change in the vehicle's body attitude is determined.

[0035] Combining the first aspect and the above implementation methods, in some implementation methods of the first aspect, the change in vehicle body attitude is determined based on the target parameters, including:

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

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

[0038] In the embodiments of this application, if the sideslip angle of the center of gravity 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 gravity is greater than the preset duration, it is determined that the change in vehicle posture is greater than the second preset threshold, that is, it is determined that the change in vehicle posture indicates that the vehicle is affected by external wind force; if the sideslip angle of the center of gravity is greater than the first preset angle, and the duration of the sideslip angle of the center of gravity is greater than the preset duration, it is determined that the change in vehicle posture is greater than the first preset threshold, that is, it is determined that the change in vehicle posture indicates that the vehicle is affected by external wind force, and the degree of influence of external wind force is relatively large.

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

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

[0041] In the embodiments of this application, when the vehicle is affected by external wind and the change in vehicle posture is less than a first preset threshold, the vehicle speed is controlled to be less than a preset speed threshold, the vehicle windows are closed, and the vehicle's rear wing is deployed. Since the higher the vehicle speed when affected by wind, the higher the probability of the vehicle overturning, the vehicle speed is controlled to be less than the preset threshold to reduce the probability of the vehicle overturning. The vehicle windows are closed to reduce the impact of external wind on the environment inside the vehicle cabin. The vehicle's rear wing is deployed to reduce the impact of external wind on the vehicle, and a prompt message is output.

[0042] Secondly, a vehicle control device is provided, the device comprising:

[0043] The acquisition module is used to acquire the vehicle's current driving status if the vehicle is detected to be affected by external wind force; the current driving status includes autonomous driving status or manual driving status.

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

[0045] In conjunction with the second aspect, in some implementations of the second aspect, the processing module 420 is specifically used to: determine the amount of change in the vehicle's body posture; wherein the amount of change in body posture is used to determine the degree of influence of external wind force on the vehicle; and determine the target control strategy of the vehicle based on the current driving state and the amount of change in body posture.

[0046] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the processing module 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 autonomous driving state, determining the first control strategy as the target control strategy; 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 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 vehicle's suspension height to decrease to a preset height; the second control strategy includes: controlling the vehicle's suspension height to decrease to a preset height, and controlling the vehicle to drive to a preset lane.

[0047] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the processing module is specifically used to: 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 autonomous driving; and determine the fourth 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 manual driving; wherein, the third control strategy includes: controlling the vehicle to drive to a preset area on the current road and stopping, 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 the preset area and stop.

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

[0049] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the acquisition module is further used to: acquire the target parameters of the vehicle; wherein, the target parameters include the vehicle's center of gravity sideslip angle and the duration of the center of gravity sideslip angle; the processing module is used to: determine the amount of change in the vehicle's body posture based on the target parameters.

[0050] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the processing module is specifically used to: determine that the change in vehicle posture is greater than the first preset threshold if the center of gravity sideslip angle is greater than the first preset angle and the duration of the center of gravity sideslip angle is greater than the preset duration; determine that the change in vehicle posture is greater than the second preset threshold if the center of gravity 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 gravity sideslip angle is greater than the preset duration; wherein, the second preset angle is less than the first preset angle.

[0051] Thirdly, a vehicle is provided, including a memory and a processor, the memory for storing executable program code, and the processor for calling and running the executable program code from the memory, causing the vehicle to perform the methods of the first aspect or any possible implementation thereof.

[0052] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0053] Fifthly, a computer-readable storage medium is provided that stores a computer program, which, when executed, implements the method described in the first aspect or any possible implementation thereof. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of a scenario provided in an embodiment of this application;

[0055] Figure 2This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0056] Figure 3 This is a schematic flowchart of another vehicle control method provided in an embodiment of this application;

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

[0058] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0059] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0060] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting 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 that feature.

[0061] In existing technologies, if a vehicle travels on a road with crosswinds, or in windy weather (high wind force), the vehicle may be affected by external wind forces, impacting its overall balance and resulting in poor driving stability. Therefore, reducing the impact of external wind forces on vehicles and improving their driving stability is a technical problem that needs to be solved.

[0062] In view of this, this application provides a vehicle control method, control device, and vehicle. The method can determine the target control strategy of the vehicle based on the current driving state of the vehicle (autonomous driving state or 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.

[0063] Figure 1 This is a schematic diagram of a scenario provided in an embodiment of this application.

[0064] like Figure 1 Scenario 100, V shown x V represents the longitudinal speed of the vehicle. yLet V represent the lateral speed of the vehicle, V represent the resultant velocity of the vehicle, and β represent the sideslip angle of the vehicle's center of gravity; where the longitudinal speed V... x It refers to the velocity component of a vehicle along the direction of its forward or backward movement during travel; lateral speed V y The lateral speed of a vehicle during its movement is the speed generated by external wind forces; the sideslip angle is the longitudinal speed V at the vehicle's center of gravity. x The angle between the vehicle's velocity V and the center of gravity's velocity direction will produce a center of gravity sideslip angle when the vehicle's direction of travel is not consistent with the direction of the center of gravity's velocity.

[0065] It is understandable that the sideslip angle is used to indicate the degree of vehicle deflection, that is, the sideslip angle reflects the degree of influence of external wind force on the vehicle during driving; the size of the sideslip angle is positively correlated with the magnitude of the external wind force.

[0066] The following is combined Figure 1 The scene diagram in the diagram is Figure 2 The vehicle control method will be further explained.

[0067] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

[0068] For example, Figure 2 The method 200 shown can be performed by a vehicle; or it can be performed by a processor or chip in the vehicle.

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

[0070] S210: If the vehicle is detected to be affected by external wind, the current driving status of the vehicle is obtained.

[0071] The current driving status includes the vehicle's autonomous driving status or manual driving status. The autonomous driving status refers to the driving status in which the vehicle's autonomous driving system takes over and controls the vehicle's driving status; the manual driving status refers to the driving status in which the driver operates the vehicle.

[0072] For example, a vehicle can determine its current driving status through information such as driving mode selection signals, vehicle sensor data, autonomous driving system status, or vehicle network communication.

[0073] For example, a vehicle may be equipped with a driving mode selector (such as a button, lever, or touchscreen) that allows the driver to choose between an automated driving mode (e.g., Level 2, Level 3, etc.) or a manual driving mode. The driving mode selector sends the user-selected driving mode signal to the vehicle's control system (e.g., the vehicle control system) to obtain the vehicle's current driving status. If the driving mode signal indicates automated driving mode, the vehicle's current driving status is determined to be automated driving mode; if the driving mode signal indicates manual driving mode, the vehicle's current driving status is determined to be manual driving mode.

[0074] Optionally, the current driving state of the vehicle can be determined based on the state of the autonomous driving system. If the autonomous driving system is active and controlling the vehicle (e.g., controlling the steering wheel, accelerator, and brakes), then the current driving state of the vehicle is determined to be autonomous driving. If the autonomous driving system is not active or does not intervene in vehicle control, then the current driving state of the vehicle is manual driving.

[0075] Optionally, the current driving state of the vehicle can be determined based on vehicle sensor data; for example, data from the steering wheel torque sensor can be acquired to determine whether the driver's operation on the steering wheel is detected; if the driver applies torque to the steering wheel, the vehicle is determined to be in manual driving mode; data from the pedal sensor can be acquired to determine whether the driver's operation on the accelerator or brake pedal is detected; if the driver is detected pressing the pedal, the vehicle is determined to be in manual driving mode.

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

[0077] It should be noted that the above is an illustrative description of how to determine the current driving status of a vehicle; in practical applications, any of the above methods can be used to determine the current driving status of a vehicle, or a combination of the above methods can be used to determine the current driving status of a vehicle, or other feasible methods can be used to obtain the current driving status of a vehicle.

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

[0079] In the embodiments of this application, based on driving status information and vehicle posture change, it is determined whether the vehicle is affected by 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 there is currently external wind force; if there is currently external wind force, it is determined that the vehicle may be affected by external wind force, or based on whether the vehicle posture change is greater than a second preset threshold, it is determined whether the vehicle is affected by external wind force.

[0080] For example, the vehicle's driving environment information and the amount of change in the vehicle's body posture are obtained; based on the driving environment information and the amount of change in the vehicle's body posture, it is determined whether the vehicle is affected by external wind force; the vehicle's driving environment information includes weather information and navigation information; wherein, the weather information is used to determine the wind force level of the vehicle, 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 in windy areas or wide open spaces. When a vehicle passes through a crosswind section, it will be subjected to lateral wind forces perpendicular to the vehicle's direction (such as...). Figure 1 As shown in the figure, the wind force is greater than the target level (for example, the target level is level 5), which means that the wind force is strong. The external wind force may cause the vehicle to deviate from its course, that is, the vehicle may be affected by the external wind force.

[0082] Optionally, 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 there is external wind. If the change in the vehicle body posture is greater than the second preset threshold when there is external wind, it means that the external wind has caused the vehicle body posture to change and the vehicle has deviated, that is, it is determined that the vehicle is affected by the external wind.

[0083] It is understandable that when the wind force level is greater than the target level, or when the vehicle is in a crosswind section, it indicates that there is currently external wind and the vehicle may be affected by the external wind. Further, by accurately determining whether the vehicle is affected by external wind based on the change in vehicle body posture, and by combining driving environment information with the vehicle body posture, it is possible to more accurately determine whether the vehicle is affected by external wind.

[0084] For example, target parameters of the vehicle are obtained; wherein, the target parameters include the vehicle's center of gravity sideslip angle and the duration of the center of gravity sideslip angle; based on the target parameters, the amount of change in the vehicle's body attitude is determined.

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

[0086] Specifically, when the change in vehicle posture is greater than the second preset threshold, it indicates that the vehicle is affected by external wind force; when the change in vehicle posture is greater than the first preset threshold, it indicates that the vehicle is affected by external wind force, and the degree of influence is relatively high. The degree of influence of external wind force on the vehicle is distinguished according to different preset thresholds (the first preset threshold and the second preset threshold), which facilitates the determination of different target control strategies based on the different degrees of influence of external wind force.

[0087] For example, the change in vehicle body attitude is determined based on the vehicle's sideslip angle and its duration; the sideslip angle represents the degree of sideslip of the vehicle, as shown in the figure. Figure 1 The shown is the sideslip angle β.

[0088] For example, the first preset angle is 15°, the second preset angle is 10°, and the preset duration is 3s. The initial driving direction of the vehicle is consistent with the longitudinal axis of the vehicle, and the sideslip angle β is 0°. If the vehicle is detected to be in a crosswind section, the sideslip angle of the vehicle's center of gravity is 13° and the duration of the sideslip angle is greater than 3s, it is determined that the change in the vehicle's posture is greater than the first preset threshold, that is, it is determined that the vehicle is affected by external wind force. If the vehicle is detected to be in a crosswind section, the sideslip angle of the vehicle's center of gravity is 16° and the duration of the sideslip angle is greater than 3s, it is determined that the change in the vehicle's 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 of external wind force is relatively large.

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

[0090] It is understandable that when a vehicle is traveling on a curve or bumpy road, it may experience a slight lateral tilt within a short period of time, resulting in a change in the vehicle's sideslip angle. Determining the change in vehicle attitude solely based on the magnitude of the sideslip angle could lead to misjudgments of the impact of external wind forces. Therefore, determining the change in vehicle attitude based on both the sideslip angle and its duration can improve the accuracy of assessing whether a vehicle is affected by external wind forces.

[0091] In the embodiments of this application, if the sideslip angle of the center of gravity 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 gravity is greater than the preset duration, it is determined that the change in vehicle posture is greater than the second preset threshold, that is, it is determined that the change in vehicle posture indicates that the vehicle is affected by external wind force; if the sideslip angle of the center of gravity is greater than the first preset angle, and the duration of the sideslip angle of the center of gravity is greater than the preset duration, it is determined that the change in vehicle posture is greater than the first preset threshold, that is, it is determined that the change in vehicle posture indicates that the vehicle is affected by external wind force, and the degree of influence of external wind force is relatively large.

[0092] S220 determines the target control strategy for the vehicle based on the current driving status.

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

[0094] In one implementation, the amount of change in the vehicle's body posture is determined; wherein, the amount of change in body posture is used to determine the degree of influence of external wind force on the vehicle; and based on the current driving state and the amount of change in body posture, the target control strategy of the vehicle is determined.

[0095] It is understandable that the degree of impact of external wind on a vehicle varies depending on the amount of change in its body posture. Therefore, the control measures adapted to reduce the impact of external wind on the vehicle also differ. Thus, the target control strategy is determined based on the vehicle's current driving state and the amount of change in its body posture, ensuring that the impact of the vehicle's current driving state and the amount of change in its 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 its body posture.

[0096] For example, when determining the vehicle's target control strategy based on the current driving state and the change in vehicle posture, there are two scenarios: Scenario 1, where the change in vehicle posture is less than a first preset threshold (i.e., the vehicle is affected by external wind force, and the impact is minor), the target control strategy is determined; and Scenario 2, where the change in vehicle posture is greater than or equal to the first preset threshold (i.e., the vehicle is affected by external wind force, and the impact is significant), the target control strategy is determined. The implementation methods for Scenario 1 and Scenario 2 are explained in detail below.

[0097] Case 1: 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 autonomous driving, the first control strategy is determined 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 manual driving, the second control strategy is determined as the target control strategy; the target control strategy is determined as the second control strategy; the second preset threshold is less than the first preset threshold.

[0098] The first control strategy includes: controlling the vehicle's suspension height to decrease to a preset height; the second control strategy includes: controlling the vehicle's suspension height to decrease to a preset height, and controlling the vehicle to travel to a preset lane.

[0099] It is understandable 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 indicates that the vehicle is affected by external wind force and the degree of impact from external wind force is small, thus determining that the vehicle can continue to maintain its 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 its driving state.

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

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

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

[0103] The purpose of deploying a vehicle's rear wing is usually to increase downforce at high speeds, thereby improving the vehicle's stability and handling performance. At high speeds, the rear wing can generate downward aerodynamic force, increasing the traction of the rear wheels; and the rear wing can also counteract the lift that the vehicle may generate due to aerodynamic effects, thus improving the vehicle's stability.

[0104] For example, the second prompt message is used to remind the user that the vehicle is affected by external wind force and to drive safely (e.g., reminding the user to grip the steering wheel firmly and avoid sudden braking); the third prompt message is used to remind the user that the vehicle is affected by external wind force and to be ready to take over the vehicle at any time.

[0105] The first and second prompts can be displayed on a vehicle display screen (e.g., an instrument panel or a head-up display) or output via voice prompts. This application does not specify the method of displaying the prompts.

[0106] For example, if the vehicle's maximum speed is 140 km / h when it is not affected by external wind, when external wind is detected, to avoid the vehicle's speed being too high and causing safety risks, the preset speed threshold (maximum speed) is set at 100 km / h. When the vehicle's speed is less than 100 km / h, when an acceleration operation is detected, the vehicle's speed is increased in response to the acceleration operation. When the vehicle's speed reaches the preset speed threshold of 100 km / h, the vehicle's speed cannot be increased further.

[0107] Optionally, different preset vehicle speed thresholds can be determined based on the strength of the external wind. If the wind force level is higher, the vehicle is more affected by the external wind, and the corresponding preset vehicle speed threshold is smaller, so as to improve vehicle safety.

[0108] In the embodiments of this application, since the higher the vehicle speed when the vehicle is affected by wind, the greater the probability of the vehicle overturning; controlling the vehicle speed to be lower than a preset speed threshold (i.e., limiting the maximum speed of the vehicle) prevents the vehicle from overturning due to excessive speed, thereby improving vehicle safety; closing the vehicle windows reduces the impact of external wind on the environment inside the cabin, improving user experience; and controlling the vehicle to deploy the rear wing reduces the impact of external wind on the vehicle.

[0109] Optionally, the first control strategy may further include: controlling the vehicle to drive to a preset lane (e.g., the middle lane), then activating the lane keeping assist function through the lane keeping assist system to prevent the vehicle from deviating from the current lane due to strong winds; and determining the target speed of the vehicle based on the distance between the vehicle and the first vehicle, and controlling the vehicle to drive at the target speed; the first vehicle includes the vehicle in front of the vehicle and the vehicle to the side of the vehicle.

[0110] The lane keeping assist system, based on the lane departure warning system, controls the steering system to help the vehicle stay within its lane. It identifies lane markings; if it detects the vehicle approaching a marked line and potentially leaving the lane, it alerts the driver through steering wheel vibration or sound, and subtly corrects the direction of travel by slightly turning the steering wheel to bring the vehicle back into the correct lane. If no intervention is detected for an extended period, an alarm is issued to remind the driver.

[0111] For example, when the distance between the vehicle and the first vehicle is less than a preset safe distance, the vehicle is controlled to accelerate or decelerate to maintain a safe distance from the first vehicle and reduce the probability of a collision.

[0112] It is understandable that when a vehicle is affected by external wind, it may deviate during its journey. If the distance between the vehicle and the first vehicle (the vehicle in front of or behind the vehicle) is less than a preset safe 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, the vehicle can be accelerated or decelerated when the distance is less than the preset safe distance to reduce the probability of a collision between the vehicle and the first vehicle.

[0113] Case 2: When the change in vehicle posture is greater than or equal to the first preset threshold and the current driving state is autonomous driving, the third control strategy is determined 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 manual driving, the fourth control strategy is determined as the target control strategy.

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

[0115] Understandably, when the change in the vehicle's body posture is greater than or equal to the first preset threshold, the vehicle is significantly affected by external wind forces. For vehicle safety reasons, it is determined that the vehicle is not suitable to continue driving. The vehicle is then controlled using a third and fourth control strategy to move it to a safe area and stop. In other words, the third and fourth control strategies are used to control the vehicle to move it to a safe area and stop when it is significantly affected by external wind forces, thereby improving vehicle safety.

[0116] For example, 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 autonomous driving, 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 and stop and turn on the hazard lights; ensuring that the vehicle can stop safely in the preset area, and avoiding safety risks caused by the vehicle maintaining a driving state when the change in the vehicle's body posture is large.

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

[0118] In the embodiments of this 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 autonomous driving, the vehicle is controlled by a third control strategy to automatically drive to a safe area to stop and avoid danger.

[0119] S230 controls vehicle movement based on a target control strategy.

[0120] In this process, the vehicle's movement is controlled according to the target control strategy to reduce the impact of external wind forces on the vehicle.

[0121] Optionally, it also includes: acquiring the initial state of the vehicle; after controlling the vehicle to drive based on the target control strategy, if it is detected that the vehicle has passed through a crosswind section and the change in the vehicle's body posture is less than or equal to a second preset threshold, it is determined that the vehicle has not been 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's body posture is less than or equal to the second preset threshold, it is determined that the vehicle has not been affected by external wind force; when the vehicle has not been affected by external wind force, the vehicle is restored to its initial state.

[0122] In the above embodiments, when the vehicle is detected to be affected by external wind, a target control strategy is determined based on the vehicle's current driving state; and the vehicle is controlled according to the target control strategy. Since different driving states require different control strategies, the target control strategy is determined based on the vehicle's current driving state to ensure that it adapts to the vehicle's driving state. Because the target control strategy is used to reduce the impact of external wind on the vehicle, controlling the vehicle's movement through this strategy ensures that the impact of external wind is reduced when it is detected, improving vehicle stability and thus enhancing safety during driving.

[0123] Figure 3 This is a schematic flowchart of another vehicle control method provided in the embodiments of this application.

[0124] Figure 3 The method 300 shown can be performed by a vehicle; or it can be performed by a processor or chip in the vehicle.

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

[0126] S301, acquire the target parameters of the vehicle and the vehicle's driving environment information.

[0127] For example, the target parameters include the vehicle's sideslip angle and the duration of the 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, and the vehicle's target parameters are used to determine whether the vehicle is affected by external wind.

[0128] S302, determine the amount of change in vehicle body posture based on target parameters.

[0129] For example, the change in vehicle body attitude is determined based on the sideslip angle and the duration of the sideslip angle.

[0130] If the sideslip angle is greater than a first preset angle and the duration of the sideslip angle is greater than a preset duration, the change in vehicle posture is determined to be greater than a first preset threshold. This indicates that the vehicle is affected by external wind forces, and the degree of influence from the external wind forces is relatively high (higher than a preset level). If the sideslip angle is greater than a second preset angle, less than or equal to the first preset angle, and the duration of the sideslip angle is greater than a preset duration, the change in vehicle posture is determined to be greater than a second preset threshold. This indicates that the change in vehicle posture is affected by external wind forces.

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

[0132] For example, based on driving environment information and changes in vehicle posture, it is determined whether the vehicle is affected by external wind force; if the vehicle is affected by external wind force, the current driving status of the vehicle is obtained.

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

[0134] Alternatively, if the vehicle is not affected by external wind, the vehicle can be controlled based on the original control strategy.

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

[0136] For example, the vehicle's current driving state includes either the vehicle's autonomous driving state or the vehicle's manual driving state. The vehicle can determine its current driving state through information such as driving mode selection signals, vehicle sensor data, autonomous driving system status, or vehicle network communication.

[0137] Alternatively, the implementation methods of S301 to S304 can be found in [reference needed]. Figure 2 The relevant descriptions in S210 will not be repeated here.

[0138] S305, determine whether the change in vehicle body posture is greater than the second preset threshold and less than the first preset threshold; if yes, execute S306; if no, execute S307.

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

[0140] S306, if the current driving state is autonomous driving, the first control strategy is determined as the target control strategy; if the current driving state is manual driving, the second control strategy is determined as the target control strategy.

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

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

[0143] S307, if the current driving state is autonomous driving, the third control strategy is determined as the target control strategy; if the current driving state is manual driving, the fourth control strategy is determined as the target control strategy.

[0144] For example, the third control strategy includes: controlling the vehicle to drive to a preset area on the current road and stop, and controlling the vehicle to turn on its hazard lights. The fourth control strategy includes: outputting a first prompt message, which prompts the user to drive to the preset area and stop.

[0145] Alternatively, the implementation methods of S305 to S307 can be found in [reference needed]. Figure 2 The relevant descriptions of the S220 are not repeated here.

[0146] S308 controls vehicle movement based on a target control strategy.

[0147] For example, vehicle movement is controlled according to a target control strategy to reduce the impact of external wind forces on the vehicle.

[0148] Alternatively, the implementation of S308 can be parameterized. Figure 2The relevant descriptions of the S230 are not repeated here.

[0149] In the embodiments of this application, a target control strategy is determined based on the vehicle's current driving state and the change in vehicle body posture. This ensures that the influence of the vehicle's current driving state and the change in vehicle body posture are taken into account, and that the obtained target control strategy is adapted to the vehicle's current driving state and the change in vehicle body posture. By controlling the vehicle's driving through the target control strategy, it is ensured that when the vehicle is affected by external wind, the degree of influence of external wind is reduced, the vehicle's stability is improved, and thus the safety of the vehicle during driving is enhanced.

[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 start. For example, if the preset wind force level is level 5, and the detected external wind force level is level 6, a prompt message is output when the vehicle is detected to start, indicating to the driver that it is currently windy weather and suggesting that they do not drive.

[0151] It is understandable that this application determines whether a vehicle is affected by external wind by predicting and judging the external environment, and adjusts the vehicle status and parameters when the external wind is detected to reduce the impact of external wind on the vehicle and improve vehicle stability.

[0152] The above text combined Figures 1 to 3 The vehicle control method provided in the embodiments of this application is described in detail below; the following will be combined with Figure 4 and Figure 5 The apparatus embodiments of this application are described in detail below. It should be understood that the apparatus in the embodiments of this application can perform the various methods described in the foregoing embodiments of this application, that is, the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing method embodiments.

[0153] Figure 4 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

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

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

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

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

[0158] Optionally, as an embodiment, the processing module 420 is specifically configured to: 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 autonomous 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 vehicle's suspension height to decrease to a preset height; the second control strategy includes: controlling the vehicle's suspension height to decrease 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 configured to: 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 an autonomous driving state; and determine the fourth 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; wherein the third control strategy includes: controlling the vehicle to drive to a preset area on the current road and stopping, 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 the preset area and stop.

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

[0161] Optionally, as an embodiment, the acquisition module 410 is further configured to: acquire target parameters of the vehicle; wherein the target parameters include the vehicle's center of gravity sideslip angle and the duration of the center of gravity sideslip angle; the processing module is configured to: determine the amount of 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 center of gravity sideslip angle is greater than a first preset angle and the duration of the center of gravity sideslip angle is greater than a preset duration, determine that the change in vehicle posture is greater than a first preset threshold; if the center of gravity 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 gravity sideslip angle is greater than a preset duration, determine that the change in vehicle posture is greater than a second preset threshold; wherein, the second preset angle is less than the first preset angle.

[0163] It should be noted that the control devices of the aforementioned vehicles are embodied in the form of functional units. The term "module" here can be implemented in software and / or hardware, without specific limitations.

[0164] For example, a "module" can be a software program, hardware circuit, or a combination of both that implements the above functions. Hardware circuits may include application-specific integrated circuits (ASICs), electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functions.

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

[0166] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0167] For example, vehicle 500 includes processor 510, memory 520 and executable program code 530.

[0168] For example, vehicle 500 includes one or more processors 510 that can support 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] For example, processor 510 can be used to control vehicle 500, execute software programs, and process data from the software programs. Vehicle 500 may also include a communication unit for receiving and transmitting signals.

[0170] For example, 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 run by the processor 510 to generate instructions, causing the processor 510 to execute the vehicle control method described in the above method embodiments according to the instructions.

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

[0172] For example, the processor 510 and memory 520 can be configured separately or integrated together, for example, integrated on the system on chip (SOC) of the terminal device.

[0173] For example, the memory 520 can be used to store related programs of the vehicle control method provided in the embodiments of this 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 embodiments of this application; for example, if it is detected that the vehicle is affected by external wind, the current driving state of the vehicle is obtained; wherein, the current driving state includes automatic driving state or manual driving state; based on the current driving state, a target control strategy for the vehicle is determined; wherein, the target control strategy is used to reduce the impact of external wind on the vehicle; based on the target control strategy, the vehicle is controlled to drive.

[0174] This 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 foregoing embodiments.

[0175] The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROM), microdrives, and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), dynamic random access memory (DRAM), 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] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method as described in the above embodiments.

[0177] In addition, the vehicle provided in the embodiments of this application may specifically be a chip, component or module. The vehicle may include a connected processor and a memory. The memory is used to store instructions. When the vehicle is running, the processor may call and execute the instructions to make the chip execute a vehicle control method in the above embodiments.

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

[0179] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above 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 this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0181] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method of a vehicle, characterized by, The method comprises: if it is detected that the vehicle is affected by external wind force, obtaining a current driving state of the vehicle; wherein the current driving state comprises an automatic driving state or a manual driving state; determining a change amount of a body posture of the vehicle; wherein the change amount of the body posture is used to determine an influence degree of the vehicle being affected by external wind force; based on the current driving state and the change amount of the body posture, determining a target control strategy of the vehicle; wherein the target control strategy is used to reduce the influence of external wind force on the vehicle; based on the target control strategy, controlling the vehicle to drive; the determination of the target control strategy of the vehicle based on the current driving state and the change amount of the body posture comprises: when the change amount of the body posture is greater than a second preset threshold and less than a first preset threshold, if the current driving state is the automatic driving state, a first control strategy is determined as the target control strategy; when the change amount of the 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, a second control strategy is determined as the target control strategy; the second preset threshold is less than the first preset threshold; wherein the first control strategy comprises: controlling the suspension height of the vehicle to be lowered to a preset height; the second control strategy comprises: controlling the suspension height of the vehicle to be lowered to a preset height, and controlling the vehicle to drive to a preset lane, the preset lane being the middle lane of the current road.

2. The method of claim 1, wherein, the determination of the target control strategy of the vehicle based on the current driving state and the change amount of the body posture comprises: when the change amount of the body posture is greater than or equal to the first preset threshold and the current driving state is the automatic driving state, a third control strategy is determined as the target control strategy; when the change amount of the body posture is greater than or equal to the first preset threshold and the current driving state is the manual driving state, a fourth control strategy is determined as the target control strategy; wherein the third control strategy comprises: controlling the vehicle to drive to a preset area of the current road to park, and controlling the vehicle to turn on the double flasher; the fourth control strategy comprises: outputting first prompt information, the first prompt information being used to prompt the user to drive to the preset area to park.

3. The method of claim 1, wherein, Further comprising: obtaining driving environment information of the vehicle and a change amount of the body posture of the vehicle; wherein the change amount of the body posture is used to determine the influence degree of the vehicle being affected by external wind force; if the wind force level indicated by the driving environment information is greater than a target level, or the vehicle is in a cross-wind road section, it is determined that the vehicle is affected by external wind force; or, if the change amount of the body posture of the vehicle 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 a first preset threshold.

4. The method according to claim 1 or 2, characterized in that, Further comprising: obtaining a target parameter of the vehicle; wherein the target parameter comprises a center of mass side slip angle of the vehicle and a duration of the center of mass side slip angle; determine a change amount of a body posture of the vehicle based on the target parameter.

5. The method of claim 4, wherein, The determining of the change amount of the body posture of the vehicle based on the target parameter comprises: if the center of mass side slip angle is greater than a first preset angle and a duration of the center of mass side slip angle is greater than a preset duration, determining that the change amount of the body posture is greater than a first preset threshold; if the center of mass side slip angle is greater than a second preset angle and less than or equal to the first preset angle and the duration of the center of mass side slip angle is greater than the preset duration, determining that the change amount of the body posture is greater than a second preset threshold; wherein the second preset angle is less than the first preset angle.

6. The method of claim 1, wherein, The first control strategy further comprises at least one of outputting second prompt information, controlling a vehicle speed of the vehicle to be less than a preset vehicle speed threshold, closing a vehicle window of the vehicle, and controlling the vehicle to deploy a spoiler if it is detected that the vehicle has a spoiler. The second control strategy further comprises at least one of outputting third prompt information, controlling the vehicle speed of the vehicle to be less than the preset vehicle speed threshold, closing the vehicle window of the vehicle, and controlling the vehicle to deploy the spoiler if it is detected that the vehicle has the spoiler.

7. A control device of a vehicle characterized by comprising: The device comprises: an acquisition module configured to acquire a current driving state of the vehicle if it is detected that the vehicle is affected by external wind force; wherein the current driving state comprises an automatic driving state or a manual driving state; a processing module configured to determine a change amount of a body posture of the vehicle; wherein the change amount of the body posture is used to determine an influence degree of the vehicle affected by the external wind force; determine a target control strategy of the vehicle based on the current driving state and the change amount of the body posture; wherein the target control strategy is used to reduce the influence of the external wind force on the vehicle; and control the vehicle to drive based on the target control strategy. The processing module is specifically configured to, when the change amount of the body posture is greater than a second preset threshold and less than a first preset threshold, determine the first control strategy as the target control strategy if the current driving state is the automatic driving state; and when the change amount of the body posture is greater than the second preset threshold and less than the first preset threshold, determine the second control strategy as the target control strategy if the current driving state is the manual driving state; the second preset threshold is less than the first preset threshold; wherein the first control strategy comprises controlling a suspension height of the vehicle to be reduced to a preset height; and the second control strategy comprises controlling the suspension height of the vehicle to be reduced to the preset height and controlling the vehicle to drive to a preset lane, the preset lane being a middle lane of a current road.

8. A vehicle characterized by comprising: The vehicle comprises: a memory configured to store executable program code; a processor configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 6.

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