Vehicle steering control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle steering control method and device, electronic equipment and a storage medium, pressure intensity sensors are arranged on the left side and the right side of a vehicle, and then under the condition that the vehicle speed of the vehicle reaches a preset vehicle speed threshold value, the pressure intensity difference of the left side and the right side of the vehicle is determined through the pressure intensity sensors; under the condition that the pressure difference exceeds a preset pressure difference threshold value, the transverse force borne by the vehicle is determined according to the pressure difference, and whether the transverse force exceeds a first preset transverse force threshold value or not is judged; then, under the condition that the transverse force exceeds a first preset transverse force threshold value, steering control is conducted on the vehicle according to the transverse force, when strong transverse wind interference occurs, the pressure intensity difference of the left side and the right side of the vehicle is monitored through a pressure intensity sensor, then the transverse force is calculated, and steering correction is actively intervened when the transverse force reaches a certain threshold value; repeated deviation correction conducted by passively responding to deviation of the vehicle is avoided, the safety of the vehicle in the crosswind environment is improved, and the use experience of the lane deviation correction auxiliary function is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and particularly to a vehicle steering control method and device, an electronic device, and a storage medium. Background Art

[0002] With the development of vehicle automation and intelligence, the Lane Keeping Assist System (LKAS) and vehicle steering control technology play an important role in improving the driving safety and stability of vehicles. It can control the steering system on the basis of the Lane Departure Warning System (LDWS) to assist the vehicle in staying within the current lane. For example, if the vehicle approaches the recognized marking line and may deviate from the driving lane, the driver will be alerted by the vibration of the steering wheel or a sound, and the steering wheel will be slightly turned to correct the driving direction so that the vehicle is in the correct lane. If no active intervention is detected on the steering wheel for a long time, an alarm will be issued to remind the driver.

[0003] Existing lane deviation correction assistance systems and vehicle steering control systems usually rely on the offset of the vehicle deviating from the lane and determine whether steering correction is required based on the distance between the vehicle and the lane line. The system calculates the control command through the lateral control module and sends a correction command to the steering actuator (such as a steering controller) to make the vehicle return to the center of the lane and maintain stable driving.

[0004] However, at high speeds, the crosswind acting on the vehicle surface will generate a significant lateral force, causing the vehicle to deviate from the lane or even lose control. The solutions in the related art can only passively respond to the deviation of the vehicle for correction in this case, and the correction effect is poor. Summary of the Invention

[0005] In view of the above problems, a vehicle steering control method and device, an electronic device, and a storage medium are provided to overcome or at least partially solve the above problems, including:

[0006] A vehicle steering control method, wherein pressure sensors are arranged on both the left and right sides of the vehicle, and the method includes:

[0007] When the vehicle speed of the vehicle reaches a preset vehicle speed threshold, determine the pressure difference between the left and right sides of the vehicle through the pressure sensors, and judge whether the pressure difference exceeds a preset pressure difference threshold;

[0008] When the pressure difference exceeds the preset pressure difference threshold, determine the lateral force received by the vehicle according to the pressure difference, and judge whether the lateral force exceeds a first preset lateral force threshold;

[0009] When the lateral force exceeds a first preset lateral force threshold, the vehicle is steered according to the lateral force.

[0010] Optionally, determining the lateral force received by the vehicle according to the pressure difference includes:

[0011] Determine the area of the cross-section of the longitudinal centerline of the vehicle, and determine the lateral force received by the vehicle according to the area of the cross-section of the longitudinal centerline and the pressure difference.

[0012] Optionally, steering control of the vehicle according to the lateral force includes:

[0013] Determine the current steering angle and the current driving force of the vehicle, and determine a steering correction angle according to the lateral force, the current steering angle and the current driving force;

[0014] Steer the vehicle according to the steering correction angle.

[0015] Optionally, after determining the lateral force received by the vehicle according to the pressure difference, it further includes:

[0016] Judge whether the lateral force exceeds a second preset lateral force threshold; wherein, the second preset lateral force threshold is less than the first preset lateral force threshold;

[0017] When the lateral force exceeds the second preset lateral force threshold, remind the user that the vehicle has entered a crosswind area.

[0018] Optionally, it further includes:

[0019] Judge whether the lateral force exceeds a third preset lateral force threshold, wherein the third preset lateral force threshold is greater than the first preset lateral force threshold;

[0020] When the lateral force exceeds the third preset lateral force threshold, remind the user to perform deceleration control on the vehicle.

[0021] Optionally, it further includes:

[0022] When the lateral force continuously does not exceed the second preset lateral force threshold and the duration is greater than a preset timeout threshold, turn off the pressure sensor.

[0023] Optionally, pressure sensors are provided in the front, body and rear regions of the vehicle, and the number of pressure sensors provided in the body region of the vehicle is greater than the number of pressure sensors provided in the front region or the rear region.

[0024] A vehicle steering control device, characterized in that pressure sensors are arranged on the left and right sides of the vehicle, and the device includes:

[0025] A pressure difference determination module, configured to determine the pressure difference between the left and right sides of the vehicle through the pressure sensors when the vehicle speed reaches a preset vehicle speed threshold, and determine whether the pressure difference exceeds a preset pressure difference threshold;

[0026] A lateral force determination module, configured to determine the lateral force received by the vehicle according to the pressure difference when the pressure difference exceeds the preset pressure difference threshold, and determine whether the lateral force exceeds a first preset lateral force threshold;

[0027] A steering control module, configured to perform steering control on the vehicle according to the lateral force when the lateral force exceeds the first preset lateral force threshold.

[0028] An electronic device includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the vehicle steering control method described above is implemented.

[0029] A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the vehicle steering control method described above is implemented.

[0030] The embodiments of the present invention have the following advantages:

[0031] In the embodiments of the present invention, by arranging pressure sensors on the left and right sides of the vehicle, then when the vehicle speed reaches the preset vehicle speed threshold, the pressure difference between the left and right sides of the vehicle is determined through the pressure sensors, and it is determined whether the pressure difference exceeds the preset pressure difference threshold; thus, when the pressure difference exceeds the preset pressure difference threshold, the lateral force received by the vehicle is determined according to the pressure difference, and it is determined whether the lateral force exceeds the first preset lateral force threshold; furthermore, when the lateral force exceeds the first preset lateral force threshold, the vehicle is steered and controlled according to the lateral force. In this way, when there is a strong crosswind interference, the pressure difference between the left and right sides of the vehicle is monitored through the pressure sensors, and then the lateral force is calculated, and when the lateral force reaches a certain threshold, active intervention is carried out for steering correction; it avoids passive response to the deviation of the vehicle during crosswind interference and repeated correction, improves the driving stability and safety of the vehicle in a crosswind environment, and enhances the use experience of the lane deviation correction assistance function. Description of the Drawings

[0032] To more clearly illustrate the technical solutions of the present invention, the accompanying drawings required for the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other accompanying drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 is a flowchart of the steps of a vehicle steering control method provided by some embodiments of the present invention;

[0034] Figure 2 is an example diagram of the installation position of the pressure sensor of the present invention provided by some embodiments of the present invention;

[0035] Figure 3 is a schematic diagram of the overall control logic of the vehicle steering control method of the present invention provided by some embodiments of the present invention;

[0036] Figure 4 is a schematic structural diagram of a vehicle steering control device provided by some embodiments of the present invention. Detailed Embodiments

[0037] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0038] With the development of vehicle automation and intelligence, lane keeping assist systems and vehicle steering control technologies play an important role in improving the driving safety and stability of vehicles. They can control the steering system based on the lane departure warning system to assist the vehicle in staying within the lane. For example, if the vehicle approaches the recognized marking line and may deviate from the driving lane, the driver will be alerted through the vibration of the steering wheel or a sound, and the steering wheel will be slightly turned to correct the driving direction so that the vehicle is in the correct lane. If no active intervention is detected by the steering wheel for a long time, an alarm will be issued to alert the driver.

[0039] Existing lane departure correction assist systems and vehicle steering control systems usually rely on the offset of the vehicle from the lane and determine whether a steering correction is required based on the distance between the vehicle and the lane line. The system calculates the control command through the lateral control module and sends a correction command to the steering actuator (such as the steering controller) to make the vehicle return to the center of the lane and maintain stable driving.

[0040] However, during high-speed driving, the crosswind acting on the vehicle surface will generate significant lateral forces, causing the vehicle to deviate from the lane or even lose control. In such a situation, the solutions in the related art can only passively respond to the vehicle's deviation for correction, and the correction effect is poor. For example, when the vehicle deviates from the lane under the action of the crosswind, the corrections of the lane departure assist system and the vehicle steering control system lag, or the correction is not in place due to the irregular pressure of the crosswind, resulting in the vehicle being unable to maintain stable driving.

[0041] In the embodiments of the present invention, based on the core technical concept of monitoring the pressure difference between the left and right sides of the vehicle through pressure sensors, the vehicle steering control method in the related art is improved. The present invention will be described in detail below with reference to the accompanying drawings:

[0042] Refer to Figure 1 , which shows a flowchart of the steps of a vehicle steering control method provided by some embodiments of the present invention. Pressure sensors are provided on the left and right sides of the vehicle, and the specific steps may include the following:

[0043] Step 101, when the vehicle speed reaches a preset vehicle speed threshold, determine the pressure difference between the left and right sides of the vehicle through the pressure sensor, and judge whether the pressure difference exceeds a preset pressure difference threshold;

[0044] In a specific implementation, as Figure 2 shown, multiple pressure sensors can be respectively provided on the left and right sides of the vehicle. For example, as Figure 2 shown, 5 pressure sensors can be respectively provided on the left and right sides of the vehicle. In terms of specific distribution, the vehicle can be divided into three regions: the vehicle head, the vehicle body, and the vehicle tail (corresponding to Figure 2 regions 1, 2, and 3 respectively). For example, one pressure sensor can be symmetrically provided on each of the left and right sides of the vehicle head region and the vehicle tail region, and three pressure sensors can be symmetrically provided on each of the left and right sides of the vehicle body region to conform to the actual force condition of the vehicle when encountering a crosswind;

[0045] On this basis, the pressure of the sensors on the right side of the driver's perspective can be sequentially represented as Pr1, Pr2, Pr3, Pr4, Pr5 from the vehicle head to the vehicle tail; the pressure of the sensors on the left side of the driver's perspective can be sequentially represented as Pl1, Pl2, Pl3, Pl4, Pl5 from the vehicle head to the vehicle tail;

[0046] The comprehensive pressure on the right side of the vehicle can be calculated according to the following formula:

[0047] Pr = i * Pr1 + j * (Pr2 + Pr3 + Pr4) / 3 + k * Pr5

[0048] Among them, Pr is the comprehensive pressure on the right side of the vehicle, i is the sensor proportion coefficient in area 1 (front of the vehicle), j is the sensor proportion coefficient in area 2 (body of the vehicle), and k is the sensor proportion coefficient in area 3 (rear of the vehicle); among them, i + j + k = 1, and i, j, and k can be set according to the actual situation of the windward side of the vehicle side and tested and calibrated.

[0049] The comprehensive pressure on the left side of the vehicle can be calculated according to the following formula:

[0050] Pl = i * Pl1 + j * (Pl2 + Pl3 + Pl4) / 3 + k * Pl5

[0051] Among them, Pl is the comprehensive pressure on the left side of the vehicle, i is the sensor proportion coefficient in area 1 (front of the vehicle), j is the sensor proportion coefficient in area 2 (body of the vehicle), and k is the sensor proportion coefficient in area 3 (rear of the vehicle); among them, i + j + k = 1, and i, j, and k can be set according to the actual situation of the windward side of the vehicle side and tested and calibrated.

[0052] Furthermore, a failure handling mechanism can be introduced to ensure that when abnormal data or failure of some sensors occurs in the pressure sensor data, the system can still generate effective pressure data through appropriate algorithms, thus ensuring the stability of the lateral force calculation and subsequent control; specifically, the failure handling can be divided into the following three situations:

[0053] First, without distinguishing between left and right, the sensor pressures from the front to the rear of the vehicle are represented as P1, P2, P3, P4, and P5 in sequence;

[0054] When one pressure value on one side is invalid, the weighted average method can be used to replace the value of the failed sensor according to the data of the remaining effective sensors:

[0055] P1 is invalid: P = (i + j) * (P2 + P3 + P4) / 3 + k * P5;

[0056] P2 is invalid: P = i * P1 + j * (P3 + P4) / 2 + k * P5;

[0057] P3 is invalid: P = i * P1 + j * (P2 + P4) / 2 + k * P5;

[0058] P4 is invalid: P = i * P1 + j * (P2 + P3) / 2 + k * P5;

[0059] P5 is invalid: P = i * P1 + (i + j) * (P2 + P3 + P4) / 3;

[0060] When two pressure values on one side are invalid, the weighted average method can also be used to replace the value of the failed sensor according to the data of the remaining effective sensors:

[0061] P1 and P2 are invalid: P = (i + j) * (P3 + P4) / 2 + k * P5;

[0062] P1 and P3 are invalid: P = (i + j) * (P2 + P4) / 2 + k * P5;

[0063] P1 and P4 are invalid: P = (i + j) * (P2 + P3) / 2 + k * P5;

[0064] P1 and P5 are invalid: P = (P2 + P3 + P4) / 3;

[0065] P2 and P3 are invalid: P = i * P1 + j * P4 + k * P5;

[0066] P2 and P4 are invalid: P = i * P1 + j * P3 + k * P5;

[0067] P2 and P5 are invalid: P = i * P1 + (j + k) * (P3 + P4) / 2;

[0068] P3 and P4 are invalid: P = i * P1 + j * P2 + k * P5;

[0069] P3 and P5 are invalid: P = i * P1 + (j + k) * (P2 + P4) / 2;

[0070] P4 and P5 are invalid: P = i * P1 + (j + k) * (P2 + P3) / 2;

[0071] When there are three or more invalid pressure values on one side, since it is no longer possible to calculate the accurate pressure value from the remaining sensor data, the crosswind correction function can be directly exited.

[0072] In practical applications, a pressure sensing module and a pressure information processing module can be set up. The pressure sensing module can be used to measure the pressure information on both sides of the vehicle around the clock by using the pressure sensors on both sides of the vehicle, and has the functions of working mode switching and fault diagnosis. The pressure information processing module can be used to receive the pressure data and status information transmitted by the pressure sensing module, manage the pressure sensing module and output the real-time lateral force value.

[0073] Based on the above content, as Figure 3 shown, when the vehicle speed reaches the preset vehicle speed threshold (such as 80 km / h), the pressure information processing module can send a low-power working instruction to the pressure sensing module to start collecting pressure signals; after the vehicle is powered on, the pressure sensing module is initially in the standby state and the pressure sensors do not work, and when the pressure sensing module receives the low-power working instruction from the pressure information processing module, it can control some sensors to be in the working state;

[0074] Further, when the pressure difference obtained by the pressure sensing module and input into the pressure information processing module exceeds the preset pressure difference threshold and is valid, the pressure information processing module can send a high-power instruction to the pressure sensing module to enter the full-power working state, that is, control all pressure sensors to enter the working state to further obtain pressure data. For example, the pressure difference data can be compared with the pressure difference MAP diagram stored inside the module to obtain the lateral force received by the vehicle at this time, or the area of the longitudinal centerline section of the vehicle can be determined, and the lateral force received by the vehicle can be determined according to the area of the longitudinal centerline section and the pressure difference. After receiving the high-power working instruction from the pressure information processing module and entering the full-power working state, the pressure sensing module can monitor the state of each pressure sensor and feedback the sensor state to the pressure information processing module in real time.

[0075] On this basis, a comprehensive decision-making module can also be set up to integrate various parts of information (such as receiving the lateral force information sent by the pressure information processing module), and according to the preset logic and safety strategy, efficiently coordinate the warning and suspension adjustment actions to ensure the timeliness and accuracy of the system response; and a steering control module can be correspondingly set up to receive instructions from the comprehensive decision-making module and perform the steering angle correction operation.

[0076] In some embodiments of the present invention, the pressure sensors are arranged in the head, body and tail regions of the vehicle, and the number of pressure sensors arranged in the body region of the vehicle is greater than the number of pressure sensors arranged in the head region or the tail region.

[0077] In practical applications, as Figure 2 shown, a plurality of pressure sensors can be respectively arranged on the left and right sides of the vehicle. For example, as Figure 2 shown, 5 pressure sensors can be respectively arranged on the left and right sides of the vehicle. In terms of specific distribution, the vehicle can be divided into three regions: the head, the body and the tail (corresponding to Figure 2 regions 1, 2 and 3 respectively), and it is ensured that the number of pressure sensors arranged in the body region of the vehicle is greater than the number of pressure sensors arranged in the head region or the tail region; for example, one pressure sensor can be symmetrically arranged on the left and right sides of the head region and the tail region respectively, and three pressure sensors can be symmetrically arranged on the left and right sides of the body region respectively.

[0078] In this embodiment, by reasonably distributing the pressure sensors in the head, body and tail regions of the vehicle, especially increasing the number of sensors in the body region, the pressure changes on both sides of the vehicle can be captured more comprehensively, the perception ability of crosswinds can be improved, so that the data can be better averaged and calibrated, and the accuracy of lateral force calculation can be improved.

[0079] Step 102, in the case where the pressure difference exceeds the preset pressure difference threshold, determine the lateral force received by the vehicle according to the pressure difference, and determine whether the lateral force exceeds a first preset lateral force threshold;

[0080] In a specific implementation, when the pressure difference obtained by the pressure sensing module and input to the pressure information processing module exceeds the preset pressure difference threshold and is valid, the pressure information processing module can send a high-power instruction to the pressure sensing module to enter the full-power working state, that is, control all pressure sensors to enter the working state, and further obtain pressure data. For example, the pressure data can be compared with the pressure MAP diagram stored inside the module to obtain the lateral force received by the vehicle at this time, or the area of the longitudinal centerline section of the vehicle can be determined, and the lateral force received by the vehicle can be determined according to the area of the longitudinal centerline section and the pressure difference;

[0081] Further, as Figure 3 shown, it can be determined whether the lateral force exceeds a first preset lateral force threshold (i.e., Figure 3 threshold 2 in

[0082] In some embodiments of the present invention, the determining the lateral force received by the vehicle according to the pressure difference includes:

[0083] Determine the area of the longitudinal centerline section of the vehicle, and determine the lateral force received by the vehicle according to the area of the longitudinal centerline section and the pressure difference.

[0084] In practical applications, in order to determine the lateral force received by the vehicle, the area S of the longitudinal centerline section of the vehicle (i.e., the side profile of the vehicle) can be determined first, and the lateral force received by the vehicle can be determined according to the area of the longitudinal centerline section and the pressure difference; specifically, the lateral force received by the vehicle can be determined according to the following formula:

[0085] Fp = |Pr - Pl| * S

[0086] where Fp is the lateral force, Pr is the comprehensive pressure on the right side of the vehicle, Pl is the comprehensive pressure on the left side of the vehicle, and S is the area of the longitudinal centerline section of the vehicle.

[0087] In this embodiment, by using the vehicle surface area and the pressure difference to determine the magnitude of the lateral force, the crosswind intensity can be better reflected, providing an accurate basis for subsequent steering correction.

[0088] In some embodiments of the present invention, after determining the lateral force received by the vehicle according to the pressure difference, it further includes:

[0089] Determine whether the lateral force exceeds a second preset lateral force threshold; wherein, the second preset lateral force threshold is less than the first preset lateral force threshold;

[0090] When the lateral force exceeds the second preset lateral force threshold, the user is reminded that the vehicle has entered a crosswind area.

[0091] In practical applications, such as Figure 3 shown, after determining the lateral force received by the vehicle, it can be judged whether the lateral force exceeds the second preset lateral force threshold (i.e., Figure 3 threshold 1 in, threshold 1 is less than threshold 2), and when the lateral force exceeds the second preset lateral force threshold, the user can be reminded by voice that the vehicle has entered a crosswind area.

[0092] In this embodiment, by judging whether the lateral force exceeds the second preset lateral force threshold, a reminder of the crosswind area can be sent to the driver in advance when the interference has not seriously affected the vehicle driving, enhancing driving safety. The crosswind area reminder function can also help the driver quickly perceive changes in the external environment, enabling the driver to adjust the driving strategy in time and improving the initiative of driving.

[0093] In some embodiments of the present invention, it further includes:

[0094] Judging whether the lateral force exceeds a third preset lateral force threshold, where the third preset lateral force threshold is greater than the first preset lateral force threshold;

[0095] When the lateral force exceeds the third preset lateral force threshold, the user is reminded to perform a deceleration control on the vehicle.

[0096] In practical applications, such as Figure 3 shown, after determining the lateral force received by the vehicle, it can be judged whether the lateral force exceeds the third preset lateral force threshold (i.e., Figure 3 threshold 3 in, threshold 3 is greater than threshold 2), and when the lateral force exceeds the third preset lateral force threshold, the user can be reminded to perform a deceleration control on the vehicle.

[0097] In this embodiment, since when the lateral force is too large, the steering correction may not be able to completely offset the external interference, the driver can be prompted to decelerate the vehicle when the lateral force exceeds the third preset lateral force threshold, thereby effectively reducing the risk of loss of control that may be caused by extreme crosswinds during high-speed driving, helping the driver adopt a safer driving strategy, and further ensuring driving safety.

[0098] In some embodiments of the present invention, it further includes:

[0099] When the lateral force continuously does not exceed the second preset lateral force threshold and the duration is greater than the preset timeout threshold, the pressure sensor is turned off.

[0100] In practical applications, such as Figure 3As shown, the pressure sensor can be turned off when the lateral force continuously does not exceed the second preset lateral force threshold and the duration is greater than the preset timeout threshold (such as 5 minutes).

[0101] In this embodiment, by setting the timeout threshold, it can be ensured that the pressure sensor is turned off after the crosswind interference disappears and lasts for a certain period of time, which can effectively reduce unnecessary sensor power consumption, extend the service life of the system, and optimize the system resource utilization rate. In addition, through the preset timeout threshold logic, it can be ensured that the sensor is turned off only when there is no crosswind interference for a long time, avoiding misclosure caused by short-term data fluctuations and ensuring system stability.

[0102] Step 103, when the lateral force exceeds the first preset lateral force threshold, perform steering control on the vehicle according to the lateral force.

[0103] In practical applications, a pressure sensing module and a pressure information processing module can be set up. The pressure sensing module can be used to measure the pressure information on both sides of the vehicle around the clock using the pressure sensors on both sides of the vehicle, and has functions of working mode switching and fault diagnosis. The pressure information processing module can be used to receive the pressure data and status information transmitted by the pressure sensing module, manage the pressure sensing module, and output the real-time lateral force value.

[0104] Based on the above content, as Figure 3 shown, when the vehicle speed reaches the preset vehicle speed threshold (such as 80 km / h), the pressure information processing module can send a low-power working instruction to the pressure sensing module to start collecting pressure signals; after the vehicle is powered on, the pressure sensing module is initially in the standby state and the pressure sensor does not work. When the pressure sensing module receives the low-power working instruction from the pressure information processing module, it can control some sensors to be in the working state;

[0105] Furthermore, when the pressure difference obtained by the pressure sensing module and input to the pressure information processing module exceeds the preset pressure difference threshold and is valid, the pressure information processing module can send a high-power instruction to the pressure sensing module to enter the full-power working state, that is, control all pressure sensors to enter the working state to further obtain pressure data. For example, the pressure data can be compared with the pressure MAP diagram stored in the module to obtain the lateral force received by the vehicle at this time, or the area of the longitudinal centerline section of the vehicle can be determined, and the lateral force received by the vehicle can be determined according to the area of the longitudinal centerline section and the pressure difference; after the pressure sensing module receives the high-power working instruction from the pressure information processing module and enters the full-power working state, it can monitor the state of each pressure sensor and feedback the sensor state to the pressure information processing module in real time.

[0106] On this basis, a comprehensive decision-making module can also be set up to integrate information from various parts (for example, receiving the lateral force information sent by the pressure information processing module), and according to preset logic and safety policies, efficiently coordinate the early warning and suspension adjustment actions to ensure the timeliness and accuracy of the system response; and a steering control module can be correspondingly set to receive instructions from the comprehensive decision-making module and control the steering of the vehicle by means of steering angle correction operations according to the lateral force information.

[0107] In some embodiments of the present invention, the steering control of the vehicle according to the lateral force includes:

[0108] Determine the current steering angle and the current driving force of the vehicle, and determine the steering correction angle according to the lateral force, the current steering angle and the current driving force;

[0109] Steer the vehicle according to the steering correction angle.

[0110] In some embodiments, the current steering angle ω can be the included angle formed by the current head direction of the vehicle (the direction of the longitudinal center line of the vehicle) and the target lane, and the current driving force can be obtained by calculating the driving torque, transmission ratio, transmission efficiency and wheel diameter.

[0111] In practical applications, the current steering angle ω can be confirmed when steering correction is required, the steering correction angle ω 1 and the current driving force F, and the limit value Ф of the corrected steering angle is set.

[0112] Among them, angle correction can be intervened only when ω 1 +ω<Ф to avoid overcorrection and causing driving hazards, and the steering correction angle ω 1 can be determined with reference to the following formula:

[0113]

[0114] Among them, ω 1 is the steering correction angle, F p is the lateral force, F is the current driving force, and ω is the current steering angle. After determining the steering correction angle ω 1 the vehicle can be steered according to the steering correction angle.

[0115] It should be emphasized that in some complex environments, such as the vehicle body shaking caused by uneven road surfaces or the air flow interference of other vehicles, etc., it may cause relatively frequent fluctuations in the calculation of the lateral force, and the system may intervene in the steering correction frequently within a short period of time. Frequent steering corrections will cause the vehicle's driving trajectory to show a "snake-like" swing, which not only reduces driving comfort but may also affect driving safety; therefore, if the steering correction angle ω within 10s1 If the direction is changed three times, the crosswind correction function can be exited and no longer respond within 30 minutes, thus avoiding the negative impact caused by frequent correction.

[0116] It should be noted that for the method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present invention are not limited by the described action sequence, because according to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential for the embodiments of the present invention.

[0117] Referring to Figure 4 , a schematic structural diagram of a vehicle steering control device provided by some embodiments of the present invention is shown. Pressure sensors are arranged on both the left and right sides of the vehicle, and specifically may include the following modules:

[0118] A pressure difference determination module 401, configured to determine the pressure difference between the left and right sides of the vehicle through the pressure sensors when the vehicle speed reaches a preset vehicle speed threshold, and determine whether the pressure difference exceeds a preset pressure difference threshold;

[0119] A lateral force determination module 402, configured to determine the lateral force received by the vehicle according to the pressure difference when the pressure difference exceeds the preset pressure difference threshold, and determine whether the lateral force exceeds a first preset lateral force threshold;

[0120] A steering control module 403, configured to perform steering control on the vehicle according to the lateral force when the lateral force exceeds the first preset lateral force threshold.

[0121] In some embodiments of the present invention, the lateral force determination module 402 includes:

[0122] A lateral force determination sub-module, configured to determine the area of the longitudinal centerline section of the vehicle, and determine the lateral force received by the vehicle according to the area of the longitudinal centerline section and the pressure difference.

[0123] In some embodiments of the present invention, the steering control module 403 includes:

[0124] A steering correction angle determination sub-module, configured to determine the current steering angle and the current driving force of the vehicle, and determine a steering correction angle according to the lateral force, the current steering angle and the current driving force;

[0125] A steering control sub-module, configured to perform steering control on the vehicle according to the steering correction angle.

[0126] In some embodiments of the present invention, the device further comprises:

[0127] A first lateral force judgment module, configured to judge whether the lateral force exceeds a second preset lateral force threshold; wherein, the second preset lateral force threshold is less than the first preset lateral force threshold;

[0128] A crosswind area reminder module, configured to remind the user that the vehicle has entered the crosswind area when the lateral force exceeds the second preset lateral force threshold.

[0129] In some embodiments of the present invention, the device further comprises:

[0130] A second lateral force judgment module, configured to judge whether the lateral force exceeds a third preset lateral force threshold, wherein the third preset lateral force threshold is greater than the first preset lateral force threshold;

[0131] A deceleration control reminder module, configured to remind the user to perform deceleration control on the vehicle when the lateral force exceeds the third preset lateral force threshold.

[0132] In some embodiments of the present invention, the device further comprises:

[0133] A pressure sensor closing module, configured to close the pressure sensor when the lateral force continuously does not exceed the second preset lateral force threshold and the duration is greater than a preset timeout threshold.

[0134] Some embodiments of the present invention further provide an electronic device, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the above vehicle steering control method is implemented.

[0135] Some embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the processor, the above vehicle steering control method is implemented.

[0136] Some embodiments of the present invention further provide a computer program product, including a computer program, which implements the above vehicle steering control method when executed by a processor.

[0137] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, refer to the partial description of the method embodiments.

[0138] Each embodiment in this specification is described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, refer to each other.

[0139] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, an apparatus, or a computer program product. Therefore, the embodiments of the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0140] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate a device for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0141] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that implements the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0142] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, such that a series of operation steps are executed on the computer or other programmable terminal device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0143] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the embodiments of the present invention.

[0144] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the above elements.

[0145] The above provides a detailed introduction to a vehicle steering control method and device, an electronic device, and a storage medium. Specific examples are used in this text to illustrate the principles and implementation manners of the present invention. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A vehicle steering control method, characterized in that: The vehicle is provided with pressure sensors on both sides thereof, and the method comprises: When the speed of the vehicle reaches a preset speed threshold, the pressure difference between the left and right sides of the vehicle is determined by the pressure sensor, and whether the pressure difference exceeds a preset pressure difference threshold; In the case where the pressure difference exceeds the preset pressure difference threshold, determining the lateral force applied to the vehicle according to the pressure difference, and judging whether the lateral force exceeds a first preset lateral force threshold; When the lateral force exceeds a first preset lateral force threshold, steering control is performed on the vehicle according to the lateral force.

2. The method according to claim 1, characterized in that: The determining the lateral force applied to the vehicle according to the pressure difference comprises: The area of ​​the longitudinal centerline cross section of the vehicle is determined, and the lateral force applied to the vehicle is determined based on the area of ​​the longitudinal centerline cross section and the pressure difference.

3. The method according to claim 1, characterized in that The step of controlling the steering of the vehicle according to the lateral force comprises: Determining a current steering angle of the vehicle and a current driving force of the vehicle, and determining a steering correction angle according to the lateral force, the current steering angle and the current driving force; The vehicle is steered according to the steering correction angle.

4. The method according to claim 1, characterized in that After determining the lateral force applied to the vehicle according to the pressure difference, the method further includes: Determining whether the lateral force exceeds a second preset lateral force threshold; wherein the second preset lateral force threshold is less than the first preset lateral force threshold; When the lateral force exceeds a second preset lateral force threshold, the user is reminded that the vehicle has entered a crosswind area.

5. The method according to claim 4, characterized in that Also includes: determining whether the lateral force exceeds a third preset lateral force threshold, wherein the third preset lateral force threshold is greater than the first preset lateral force threshold; When the lateral force exceeds a third preset lateral force threshold, a user is reminded to perform deceleration control on the vehicle.

6. The method according to claim 4, characterized in that Also includes: When the lateral force does not exceed the second preset lateral force threshold continuously and the duration is greater than a preset timeout threshold, the pressure sensor is turned off.

7. The method according to claim 1, characterized in that The pressure sensors are arranged in the front, body and rear areas of the vehicle, and the number of pressure sensors arranged in the body area of ​​the vehicle is greater than the number of pressure sensors arranged in the front area or the rear area.

8. A vehicle steering control device, characterized in that: Pressure sensors are provided on the left and right sides of the vehicle, and the device comprises: a pressure difference determination module, configured to determine the pressure difference between the left and right sides of the vehicle through the pressure sensor when the vehicle speed reaches a preset vehicle speed threshold, and determine whether the pressure difference exceeds a preset pressure difference threshold; a lateral force determination module, configured to determine the lateral force applied to the vehicle according to the pressure difference when the pressure difference exceeds the preset pressure difference threshold, and to judge whether the lateral force exceeds a first preset lateral force threshold; The steering control module is used to control the steering of the vehicle according to the lateral force when the lateral force exceeds a first preset lateral force threshold.

9. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the vehicle steering control method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle steering control method according to any one of claims 1 to 7 is implemented.

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