Crosswind stability control method and device, computer equipment and storage medium

Abstract

The invention relates to a crosswind stability control method and device, computer equipment and a storage medium. The crosswind stability control method comprises the steps that the function state of a vehicle crosswind function is obtained; according to the function state, obtaining a first condition when a pre-control function is started and a second condition when a feedback control function is started; when a first instruction is received, the driving performance parameters of the vehicle are adjusted, target driving performance parameters are obtained, the first instruction is used for indicating that the vehicle starts a pre-control function, and the target driving performance parameters are used for controlling the crosswind stability when the vehicle is in a first condition; and when a second instruction is received, yaw parameters of the vehicle under the influence of the crosswind are generated, the yaw parameters are added to a braking system of the vehicle, the second instruction is used for indicating that the feedback control function of the vehicle is started, and the yaw parameters are used for controlling the stability of the crosswind when the vehicle is in a second condition. Through combination of the pre-control function and the feedback control function of the vehicle, the transverse stability of the vehicle is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle networking technology, and in particular to a method, device, computer equipment, and storage medium for controlling crosswind stability. Background Art

[0002] In recent years, the market penetration of new energy vehicles has gradually increased, and domestically produced new energy vehicles are gradually moving towards electrification, intelligence, and high-end features. As the automotive industry grows and develops, ensuring vehicle safety is a major concern for major automakers.

[0003] When encountering extreme weather conditions while driving, especially heavy rain and strong winds, it is crucial to ensure that the car can continue to drive safely despite the impact of crosswinds. Currently, a common method for resisting crosswinds is to identify crosswinds using crosswind signs set up on the road, prompting drivers to improve their awareness of safe driving. However, this method of setting up crosswind signs on the road is easily overlooked by drivers during driving. For example, in foggy weather, visibility is limited, and drivers may not see the crosswind identification, which will inevitably lead to safety issues caused by crosswinds during subsequent driving. Summary of the Invention

[0004] In view of this, the present disclosure provides a method, device, computer equipment, and storage medium for controlling crosswind stability to solve the problem that the related technology of setting crosswind signs on roads is easily ignored by drivers during driving, resulting in the vehicle inevitably suffering from safety problems caused by crosswinds during subsequent driving.

[0005] In a first aspect, the present disclosure provides a method for controlling crosswind stability, the method comprising:

[0006] Get the functional status of the vehicle's crosswind function;

[0007] According to the functional state, obtaining a first condition corresponding to when a pre-control function is activated and a second condition corresponding to when a feedback control function is activated, wherein both the pre-control function and the feedback control function are used to compensate for crosswind interference of the vehicle;

[0008] Upon receiving the first indication, adjusting a driving performance parameter of the vehicle to obtain a target driving performance parameter, wherein the first indication is used to indicate that a pre-control function has been activated for the vehicle, and the target driving performance parameter is used to control crosswind stability of the vehicle when the vehicle is in the first condition;

[0009] When the second indication is received, the yaw parameter of the vehicle under the influence of crosswind is generated, and the yaw parameter is added to the vehicle's braking system, wherein the second indication is used to indicate that the feedback control function of the vehicle has been turned on, and the yaw parameter is used to control the crosswind stability of the vehicle when it is in the second condition.

[0010] In a second aspect, the present disclosure provides a device for controlling crosswind stability, the device comprising:

[0011] A first acquisition module is used to obtain the functional state of the vehicle's crosswind function;

[0012] a second acquisition module, configured to acquire, based on the functional state, a first condition corresponding to when a pre-control function is activated and a second condition corresponding to when a feedback control function is activated, wherein both the pre-control function and the feedback control function are configured to compensate for crosswind interference to the vehicle;

[0013] an adjustment module configured to adjust a driving performance parameter of the vehicle upon receiving a first indication to obtain a target driving performance parameter, wherein the first indication is used to indicate that a pre-control function has been activated for the vehicle, and the target driving performance parameter is used to control crosswind stability of the vehicle when the vehicle is in a first condition;

[0014] The additional module is used to generate a yaw parameter of the vehicle under the influence of crosswind upon receiving a second indication, and to add the yaw parameter to the vehicle's braking system, wherein the second indication is used to indicate that the feedback control function of the vehicle has been turned on, and the yaw parameter is used to control the crosswind stability of the vehicle when it is in the second condition.

[0015] In a third aspect, the present disclosure provides a computer device comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, computer instructions being stored in the memory, and the processor executing the method for controlling crosswind stability of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0016] In a fourth aspect, the present disclosure provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method for controlling crosswind stability according to the first aspect or any corresponding embodiment thereof.

[0017] In an embodiment of the present disclosure, by obtaining the functional state of the vehicle's crosswind function, based on the functional state, a first condition corresponding to when the pre-control function is started and a second condition corresponding to when the feedback control function is started are obtained, wherein both the pre-control function and the feedback control function are used to compensate for the crosswind interference of the vehicle; then, when a first indication is received, the vehicle's driving performance parameters are adjusted to obtain target driving performance parameters, wherein the first indication is used to indicate that the vehicle has turned on the pre-control function, and the target driving performance parameters are used to control the crosswind stability of the vehicle when it is in the first condition; when a second indication is received, the vehicle's yaw parameters under the influence of crosswind are generated, and the vehicle's braking system is added with the yaw parameters, wherein the second indication is used to indicate that the vehicle has turned on the feedback control function, and the yaw parameters are used to control the crosswind stability of the vehicle when it is in the second condition. In this way, when the vehicle starts the pre-control function, the embodiment of the present disclosure first actively adjusts the vehicle's driving performance parameters to achieve pre-operation to resist crosswinds. Then, when a crosswind is identified, the vehicle starts the feedback control function and adds yaw parameters to the vehicle's braking system, so that the generated yaw parameters resist the influence of crosswinds on the vehicle. In this way, by combining the vehicle's pre-control function and feedback control function, lateral deviation of the vehicle is avoided and the lateral stability of the vehicle in harsh environments is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a flow chart of a method for controlling crosswind stability according to an embodiment of the present disclosure;

[0020] Figure 2 is a block diagram of a control function design for crosswind stability according to an embodiment of the present disclosure;

[0021] Figure 3 is a structural block diagram of a crosswind stability control device according to an embodiment of the present disclosure;

[0022] Figure 4 Schematic diagram of the hardware structure of the computer device according to the embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present disclosure.

[0024] It should be noted that, in the description of this disclosure, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. The terms "first," "second," and the like in this disclosure are used to distinguish similar objects, and are not used to describe a particular order or precedence.

[0025] With the development and growth of the automotive industry in recent years, how to ensure the safety of automobiles has also become an issue that major automobile manufacturers need to pay special attention to.

[0026] When encountering extreme weather conditions, especially heavy rain and strong winds, ensuring safe driving is crucial. Currently, a common method for mitigating crosswinds is to use road signs to identify crosswinds and remind drivers to be more aware of safe driving. However, these road signs are easily overlooked by drivers, creating safety risks.

[0027] In order to solve the above problems, according to an embodiment of the present disclosure, a method for controlling crosswind stability is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] In this embodiment, a method for controlling crosswind stability is provided, such as Figure 1 As shown, Figure 1 This is a flow chart of a method for controlling crosswind stability according to an embodiment of the present disclosure. This method can be applied to a vehicle's onboard computer (ECU), which is a dedicated computer system installed in a vehicle and has multiple functions to enhance the driving experience, ensure driving safety, and implement intelligent vehicle management. The method includes the following steps:

[0029] Step S101: Acquire the functional state of the vehicle's crosswind function.

[0030] Optionally, in the disclosed embodiment, the driver can select the vehicle's crosswind function through the vehicle's onboard HMI (Human Machine Interface). The current vehicle's onboard HMI has three options: ON / OFF / Auto. ON corresponds to the first functional state, indicating that the vehicle's crosswind function is turned on; OFF corresponds to the second functional state, indicating that the vehicle's crosswind function is turned off; and Auto corresponds to the third functional state, indicating that the vehicle's crosswind function is in automatic mode.

[0031] If the current on-board computer obtains the crosswind function state selected by the user through the on-board HMI, it is considered that the current vehicle is currently in the selected crosswind function state.

[0032] Step S102 , according to the functional status, obtain a first condition corresponding to starting the pre-control function and a second condition corresponding to starting the feedback control function, wherein both the pre-control function and the feedback control function are used to compensate for crosswind interference of the vehicle.

[0033] Optionally, after obtaining the selected functional state, the onboard computer obtains the first condition corresponding to activating the pre-control function and the second condition corresponding to activating the feedback control function based on the functional state. It should be understood that each functional state is pre-set with the first condition corresponding to activating the pre-control function and the second condition corresponding to activating the feedback control function. The pre-control function of the vehicle is activated only when the current conditions meet the first condition corresponding to activating the pre-control function of a certain functional state. Similarly, the feedback control function of the vehicle is activated only when the current conditions meet the second condition corresponding to activating the feedback control function of a certain functional state.

[0034] Taking the first functional state (such as the ON functional state) as an example, when the driver selects the ON option through the vehicle HMI, it means that the vehicle's crosswind function is turned on, and the pre-control function of the crosswind function is actively activated. The first condition here refers to selecting the ON option to start the pre-control function.

[0035] Taking the second functional state (such as the Auto functional state) as an example, when the driver selects the Auto option through the vehicle HMI, it means that the vehicle's crosswind function is in automatic state, and possible crosswinds need to be identified to activate the pre-control function.

[0036] Specifically, the vehicle uses a visual recognition solution to identify crosswind signs on the road a certain distance in advance, such as 300 meters. It also uses the vehicle's navigation data and real-time weather information to determine whether there is a crosswind. When the vehicle recognizes the crosswind sign or receives a crosswind warning via the navigation system, it assumes that a crosswind is likely ahead and activates the pre-control function. Therefore, the first condition here refers to the vehicle recognizing the crosswind sign or receiving the crosswind warning.

[0037] When obtaining the second condition corresponding to starting the feedback control function in each functional state, it is only necessary to determine whether the current condition meets the second condition corresponding to starting the feedback control function. The second condition here is set to that the current wind force is greater than the first wind force level, the vehicle's body dynamics are greater than the dynamic threshold, and the vehicle is not traveling on the target road.

[0038] Specifically, (1) wind force calculation

[0039] When a vehicle is affected by crosswind, the side slip angle of the wheels will change, thus generating a yaw parameter derived from the vehicle's own characteristics, such as the vehicle's yaw moment M. cw , then obtain the vehicle's yaw moment M cw The vehicle mass, longitudinal speed, distance from the center of mass to the front axle, distance from the center of mass to the rear axle, wheelbase, front axle lateral stiffness, rear axle lateral stiffness, yaw rate, and front wheel angle of the vehicle need to be acquired in real time. The above parameters are then integrated and calculated based on the following formula to obtain the vehicle's yaw moment M. cw .

[0040]

[0041] Where, is the stability coefficient, m is the vehicle mass, v x is the longitudinal speed of the vehicle, L1 is the distance from the center of mass to the front axle, L2 is the distance from the center of mass to the rear axle, L is the wheelbase, k1 is the front axle cornering stiffness, k2 is the rear axle cornering stiffness, ω is the yaw rate, and δ is the front wheel turning angle.

[0042] When the vehicle is subjected to crosswind, the yaw moment generated by the longitudinal force of the vehicle and the yaw moment generated by the lateral force of the vehicle are obtained in real time. Then, according to the yaw moment generated by the longitudinal force of the vehicle, the yaw moment generated by the lateral force of the vehicle, the yaw moment of the vehicle and the moment balance equation, M can be obtained. Fwind , where M Fwind is the yaw moment caused by crosswind.

[0043] Among them, the moment balance equation when the vehicle is subjected to crosswind is:

[0044]

[0045] Where, is the moment of inertia of the vehicle around the z axis, M Lgt is the yaw moment generated by the longitudinal force of the vehicle, M Lat is the yaw moment generated by the vehicle lateral force, M cw is the yaw moment of the vehicle. is a known fixed value, M Lgt It is related to the driving force and ground resistance of the vehicle and can be calculated in real time. Lat It is related to the vehicle's front and rear wheel side slip angles and front wheel turning angles, and can also be calculated in real time.

[0046] Therefore, based on the yaw moment generated by the crosswind and the distance from the wind pressure center to the vehicle's center of mass, the current wind force can be calculated using the following formula:

[0047]

[0048] Where x is the distance from the wind pressure center to the vehicle's center of mass.

[0049] After obtaining the current wind speed, the wind speed is compared with the preset wind speed level. If the current wind speed is greater than the first wind speed level, the vehicle is considered to be in strong wind interference. The preset wind speed levels may be: the first wind speed level is strong wind, with a wind speed of 10.8 to 13.8 m / s; the second wind speed level is strong wind, with a wind speed of 8.0 to 10.7 m / s; and the third wind speed level is light wind, with a wind speed of 3.4 to 5.4 m / s.

[0050] (2) Vehicle body dynamic recognition

[0051] The system determines whether the vehicle body is in a high-dynamic state by acquiring the vehicle's lateral acceleration, lateral acceleration change rate, yaw rate, yaw rate change rate, roll angle, and roll angle change rate. For example, if the vehicle's lateral acceleration is greater than a first threshold, the lateral acceleration change rate is greater than a second threshold, the yaw rate is greater than a third threshold, the yaw rate change rate is greater than a fourth threshold, the roll angle is greater than a fifth threshold, and the roll angle change rate is greater than a sixth threshold, the vehicle body is considered to be in a high-dynamic state.

[0052] (3) Target road recognition

[0053] The system uses suspension height signals to determine if any of the front left, front right, rear left, or rear right suspension heights is greater than the upper limit or less than the lower limit, and the RoughRoadCounter value increases by 1. When RoughRoadCounter exceeds the set threshold, the vehicle is considered to be on the target road (e.g., a rough road). This improves recognition accuracy by identifying unstructured roads and preventing vehicle dynamics caused by road disturbances and wind-induced misidentification.

[0054] In the embodiment of the present disclosure, when the current wind force is greater than the first wind force level and the vehicle body is in high dynamics and the vehicle is not traveling on a rough road, it is considered that the vehicle is disturbed by the crosswind.

[0055] It should also be explained that both the pre-control function and the feedback control function are used to compensate for the crosswind interference of the vehicle, which means that the adverse effects of the crosswind need to be reduced only when the vehicle encounters a crosswind. Therefore, the functional state of the vehicle crosswind function in the embodiment of the present disclosure usually corresponds to the ON functional state or the Auto functional state.

[0056] Step S103, upon receiving the first indication, adjusting the vehicle's driving performance parameters to obtain target driving performance parameters, wherein the first indication is used to indicate that the vehicle has turned on the pre-control function, and the target driving performance parameters are used to control the crosswind stability of the vehicle when it is in the first condition.

[0057] Optionally, after receiving the first indication information indicating that the vehicle has turned on the pre-control function, the on-board computer adjusts the vehicle's driving performance parameters based on the turned-on pre-control function. The driving performance parameters include steering force, air spring height, CDC (Continuous Damping Control) damping, active stabilizer bar, etc. When adjusting the driving performance parameters, the vehicle's steering force is increased, the air spring height is reduced to increase the stiffness, the CDC damping is increased, and the torque of the active stabilizer bar is increased, so that the vehicle is prepared to withstand crosswinds in advance. In this way, based on vehicle visual recognition technology and navigation big data analysis, possible windy sections can be predicted in advance, and the vehicle's steering system and suspension system can be actively adjusted.

[0058] Step S104: upon receiving the second indication, generating a yaw parameter of the vehicle under the influence of crosswind, and adding the yaw parameter to the vehicle's braking system, wherein the second indication is used to indicate that the feedback control function of the vehicle has been turned on, and the yaw parameter is used to control the crosswind stability of the vehicle when it is in the second condition.

[0059] Optionally, after receiving the second indication information indicating that the feedback control function of the vehicle has been activated, the onboard computer generates a yaw parameter of the vehicle under the influence of crosswind based on the activated feedback control function. The yaw parameter under the influence of crosswind here may refer to the yaw moment under the influence of crosswind. When obtaining the yaw moment under the influence of crosswind, the method disclosed in the above embodiment can be used to integrate the vehicle's total mass, the vehicle's longitudinal speed, the distance from the vehicle's center of mass to the front axle, the distance from the vehicle's center of mass to the rear axle, the vehicle's wheelbase, the vehicle's front axle lateral stiffness, the vehicle's rear axle lateral stiffness, the vehicle's yaw angular velocity, and the vehicle's front wheel angle to obtain the vehicle's yaw moment; the yaw moment is then calculated based on the vehicle's yaw moment and the moment balance equation. For details, please refer to the contents of the above embodiment and will not be repeated here.

[0060] After obtaining the yaw moment under the influence of crosswind, the vehicle's stability control function (ABS (Anti-lock Braking System) / TCS (Traction Control System) / VDC (Vehicle Dynamics Contro) / DTC (Drag Torque Control), etc.) and intelligent driving LKA (Lane Keeping Assist) function are obtained. When the above-mentioned stability control function and LKA of the vehicle are not activated, the braking system generates an additional yaw moment under the influence of crosswind. In this way, through wind force estimation and vehicle dynamics, it is determined whether the current vehicle is disturbed by strong wind, and a yaw moment under the influence of crosswind is actively generated through the chassis subsystem to resist the impact of strong wind on the vehicle.

[0061] In an embodiment of the present disclosure, by obtaining the functional state of the vehicle's crosswind function, based on the functional state, a first condition corresponding to when the pre-control function is started and a second condition corresponding to when the feedback control function is started are obtained, wherein both the pre-control function and the feedback control function are used to compensate for the crosswind interference of the vehicle; then, when a first indication is received, the vehicle's driving performance parameters are adjusted to obtain target driving performance parameters, wherein the first indication is used to indicate that the vehicle has turned on the pre-control function, and the target driving performance parameters are used to control the crosswind stability of the vehicle when it is in the first condition; when a second indication is received, the vehicle's yaw parameters under the influence of crosswind are generated, and the vehicle's braking system is added with the yaw parameters, wherein the second indication is used to indicate that the vehicle has turned on the feedback control function, and the yaw parameters are used to control the crosswind stability of the vehicle when it is in the second condition. In this way, when the vehicle starts the pre-control function, the embodiment of the present disclosure first actively adjusts the vehicle's driving performance parameters to achieve pre-operation to resist crosswinds. Then, when a crosswind is identified, the vehicle starts the feedback control function and adds yaw parameters to the vehicle's braking system, so that the generated yaw parameters resist the influence of crosswinds on the vehicle. In this way, by combining the vehicle's pre-control function and feedback control function, lateral deviation of the vehicle is avoided and the lateral stability of the vehicle in harsh environments is improved.

[0062] In some optional implementations, after starting the pre-control function, the method further includes:

[0063] Step a1: After the vehicle has traveled a preset distance or a preset time, the pre-control function is exited.

[0064] Optionally, when the pre-control is activated in the Auto function state, the vehicle exits the pre-control function after traveling a preset distance or a preset time, for example, the vehicle exits the pre-control function after traveling 30 minutes or 10 kilometers.

[0065] Step a2: When the vehicle is in the first condition corresponding to starting the pre-control function or receives the second instruction, the accumulation of driving distance and driving time is restarted, and the pre-control function is exited again after driving the preset distance or the preset driving time.

[0066] Optionally, based on the previous step, the vehicle will exit the pre-control function after traveling a preset distance or a preset driving time, such as 30 minutes or 10 kilometers. During subsequent driving, if the pre-control function activation conditions are met again, such as when the vehicle recognizes crosswind identification information or receives a crosswind warning message, the accumulated driving distance and driving time will be restarted, and the pre-control function will be exited again after traveling the preset distance or the preset driving time.

[0067] In addition, there is a prerequisite for restarting the accumulation of driving distance and driving time, that is, when encountering sudden weather conditions, such as heavy fog, the current vehicle may not be able to recognize the crosswind sign information or the weather changes too quickly and the crosswind prompt information has not been received, etc., and the pre-control function is not turned on, and the feedback control function is directly turned on. At this time, as long as the second indication is received that the feedback control function is turned on, the accumulation of driving distance and driving time can be restarted, and the pre-control function can be exited again after driving the preset distance or the preset time.

[0068] In the embodiment of the present disclosure, after the pre-control function is started when the functional state is the second functional state, the pre-control function is conditionally exited, thereby saving vehicle energy and achieving maximum resource utilization.

[0069] Based on the above embodiments, the vehicle is also provided with a driver warning function: when the vehicle's pre-control function or feedback control function is activated, the vehicle instrument will have different textual reminders and indicator lights to light up to warn the driver, among which the reminder priority of the feedback control function is higher than that of the pre-control function.

[0070] In some optional embodiments, such as Figure 2 As shown, Figure 2 This is a block diagram of the control function design of crosswind stability according to an embodiment of the present disclosure. The specific interaction process is as follows:

[0071] The vehicle visually identifies the crosswind sign or the onboard navigation system to indicate the crosswind situation;

[0072] The crosswind recognition module activates the pre-control function based on the crosswind sign input from the vehicle and the navigation information input from the vehicle, adjusting the vehicle's steering force, air spring height, CDC damping, and the torque of the active stabilizer bar. After determining that the vehicle is disturbed by the crosswind, the feedback control function is activated. The yaw torque generated by the crosswind under the influence of the vehicle is generated based on the feedback function and combined with the vehicle's braking system to reduce the impact of the crosswind on the vehicle. By activating the pre-control and feedback control functions, the crosswind recognition module alerts the driver with different language reminders and indicator lights, and displays the warning information on the HMI.

[0073] This embodiment also provides a crosswind stability control device for implementing the aforementioned embodiments and preferred implementations. Details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. While the devices described in the following embodiments are preferably implemented using software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0074] This embodiment provides a device for controlling crosswind stability, such as Figure 3As shown, including:

[0075] The first acquisition module 301 is used to obtain the functional state of the vehicle's crosswind function;

[0076] A second acquisition module 302 is configured to acquire, based on the functional state, a first condition corresponding to when a pre-control function is activated and a second condition corresponding to when a feedback control function is activated, wherein both the pre-control function and the feedback control function are used to compensate for crosswind interference of the vehicle;

[0077] an adjustment module 303 configured to adjust a driving performance parameter of the vehicle upon receiving a first indication to obtain a target driving performance parameter, wherein the first indication is used to indicate that a pre-control function has been activated for the vehicle, and the target driving performance parameter is used to control crosswind stability of the vehicle when the vehicle is in a first condition;

[0078] The additional module 304 is used to generate a yaw parameter of the vehicle under the influence of crosswind upon receiving a second indication, and to add the yaw parameter to the vehicle's braking system, wherein the second indication is used to indicate that the feedback control function of the vehicle has been turned on, and the yaw parameter is used to control the crosswind stability of the vehicle when it is in the second condition.

[0079] In some optional implementations, the second acquisition module 302 is configured to set the first condition to start the pre-control function when the crosswind function state is the first crosswind function state.

[0080] In some optional implementations, the second acquisition module 302 is used to set the first condition to the vehicle recognizing crosswind identification information or the vehicle receiving crosswind prompt information when the crosswind function state is the second crosswind function state.

[0081] In some optional implementations, the second acquisition module 302 is used to obtain the current wind force; the second condition is set to the wind force being greater than the first wind force level and the vehicle body dynamics being greater than the dynamic threshold and the vehicle not traveling on the target road.

[0082] In some optional embodiments, the yaw parameters include the yaw moment, and the additional module 304 is used to obtain the vehicle's total mass, the vehicle's longitudinal speed, the distance from the vehicle's center of mass to the front axle, the distance from the vehicle's center of mass to the rear axle, the vehicle's wheelbase, the vehicle's front axle lateral stiffness, the vehicle's rear axle lateral stiffness, the vehicle's yaw angular velocity, and the vehicle's front wheel angle; the vehicle's total mass, the vehicle's longitudinal speed, the distance from the vehicle's center of mass to the front axle, the distance from the vehicle's center of mass to the rear axle, the vehicle's wheelbase, the vehicle's front axle lateral stiffness, the vehicle's rear axle lateral stiffness, the vehicle's yaw angular velocity, and the vehicle's front wheel angle are integrated to obtain the vehicle's yaw moment; and according to the vehicle's yaw moment and the moment balance equation, the yaw moment generated by the crosswind when the vehicle is affected by the crosswind is obtained.

[0083] In some optional implementations, the second acquisition module 302 is configured to obtain the current wind force based on the yaw moment generated by the crosswind and the distance from the wind pressure center to the center of mass of the vehicle.

[0084] In some optional embodiments, the device further comprises:

[0085] After the pre-control function is activated, the pre-control function is exited after the vehicle has traveled a preset distance or a preset time;

[0086] When the vehicle is in the first condition corresponding to starting the pre-control function or receives the second instruction, the accumulation of the driving distance and the driving time is restarted, and the pre-control function is exited again after driving the preset distance or the preset driving time.

[0087] The crosswind stability control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0088] The present disclosure also provides a computer device having the above Figure 3 The controls for crosswind stability are shown.

[0089] See also Figure 4 , Figure 4 is a structural diagram of a computer device provided by an optional embodiment of the present disclosure, such as Figure 4 As shown, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of a GUI on an external input / output device (such as, a display device coupled to an interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 4 A processor 10 is taken as an example.

[0090] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0091] The memory 20 stores instructions that can be executed by at least one processor 10, so as to enable at least one processor 10 to execute the method shown in the above embodiment.

[0092] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created based on the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0093] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0094] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0095] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0096] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for controlling crosswind stability, characterized in that: The method comprises: Get the functional status of the vehicle's crosswind function; According to the functional state, obtaining a first condition corresponding to when a pre-control function is activated and a second condition corresponding to when a feedback control function is activated, wherein both the pre-control function and the feedback control function are used to compensate for crosswind interference of the vehicle; Upon receiving a first indication, adjusting a driving performance parameter of the vehicle to obtain a target driving performance parameter, wherein the first indication is used to indicate that the pre-control function has been activated for the vehicle, and the target driving performance parameter is used to control crosswind stability of the vehicle when the vehicle is in the first condition; Upon receiving a second indication, a yaw parameter of the vehicle under the influence of crosswind is generated, and the yaw parameter is added to the braking system of the vehicle, wherein the second indication is used to indicate that the feedback control function has been turned on for the vehicle, and the yaw parameter is used to control the crosswind stability of the vehicle when it is in the second condition.

2. The method according to claim 1, characterized in that The acquiring, according to the functional state, a first condition corresponding to starting the pre-control function includes: When the functional state is the first functional state, the first condition is set to start the pre-control function.

3. The method according to claim 1, characterized in that The acquiring, according to the functional state, a first condition corresponding to starting the pre-control function includes: When the functional state is the second functional state, the first condition is set to the vehicle recognizing crosswind identification information or the vehicle receiving crosswind prompt information.

4. The method according to any one of claims 1 to 3, characterized in that The second condition corresponding to starting the feedback control function is obtained, including: Get the current wind speed; The second condition is set as follows: the wind force is greater than a first wind force level, the vehicle body dynamics is greater than a dynamic threshold, and the vehicle is not traveling on a target road.

5. The method according to claim 4, characterized in that The yaw parameter includes a yaw moment, and generating the yaw parameter of the vehicle under the influence of a crosswind includes: Obtaining the vehicle's total mass, the vehicle's longitudinal speed, the distance from the vehicle's center of mass to the front axle, the distance from the vehicle's center of mass to the rear axle, the vehicle's wheelbase, the vehicle's front axle lateral stiffness, the vehicle's rear axle lateral stiffness, the vehicle's yaw angular velocity, and the vehicle's front wheel turning angle; The vehicle mass, the longitudinal speed, the distance from the center of mass of the vehicle to the front axle, the distance from the center of mass of the vehicle to the rear axle, the wheelbase, the front axle cornering stiffness, the rear axle cornering stiffness, the yaw angular velocity, and the front wheel turning angle of the vehicle are integrated to obtain a yaw moment of the vehicle; According to the yaw moment of the vehicle and the moment balance equation, the yaw moment of the vehicle generated by the crosswind under the influence of the crosswind is obtained.

6. The method according to claim 5, characterized in that The obtaining of the current wind force includes: The current wind force is obtained according to the yaw moment generated by the crosswind and the distance from the wind pressure center to the center of mass of the vehicle.

7. The method according to claim 3, characterized in that After starting the pre-control function, the method further includes: After the vehicle has traveled a preset distance or a preset time, exiting the pre-control function; When the vehicle is in the first condition corresponding to starting the pre-control function or receives the second indication, the accumulation of the driving distance and the driving time is restarted, and after driving the preset distance or the preset time, the pre-control function is exited again.

8. A crosswind stability control device, characterized in that: The device comprises: A first acquisition module is used to obtain the functional state of the vehicle's crosswind function; a second acquisition module, configured to acquire, based on the functional state, a first condition corresponding to when a pre-control function is activated and a second condition corresponding to when a feedback control function is activated, wherein both the pre-control function and the feedback control function are configured to compensate for crosswind interference of the vehicle; an adjustment module, configured to adjust a driving performance parameter of the vehicle upon receiving a first indication to obtain a target driving performance parameter, wherein the first indication is used to indicate that the pre-control function has been activated for the vehicle, and the target driving performance parameter is used to control crosswind stability of the vehicle when the vehicle is in the first condition; An additional module is used to generate a yaw parameter of the vehicle under the influence of crosswind upon receiving a second indication, and to add the yaw parameter to the braking system of the vehicle, wherein the second indication is used to indicate that the feedback control function has been turned on for the vehicle, and the yaw parameter is used to control the crosswind stability of the vehicle when it is in the second condition.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the crosswind stability control method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the crosswind stability control method according to any one of claims 1 to 7.

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