CN112572412A - Crosswind vehicle control method and device, vehicle and readable storage medium - Google Patents
Crosswind vehicle control method and device, vehicle and readable storage medium Download PDFInfo
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- CN112572412A CN112572412A CN202011631742.6A CN202011631742A CN112572412A CN 112572412 A CN112572412 A CN 112572412A CN 202011631742 A CN202011631742 A CN 202011631742A CN 112572412 A CN112572412 A CN 112572412A
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- 230000001960 triggered effect Effects 0.000 description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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Abstract
The embodiment of the invention provides a method and a device for controlling a vehicle under crosswind, the vehicle and a readable storage medium, wherein the method comprises the following steps: identifying road section information of a road section where the vehicle is located currently; if the road section information meets the preset crosswind early warning condition, starting an automatic control mode of the vehicle; and under the automatic control mode, controlling the vehicle to pass through the road section according to a preset automatic driving strategy. According to the embodiment of the invention, when the vehicle is in the crosswind section, the automatic control mode of the vehicle is started, and the vehicle is automatically controlled transversely and longitudinally, so that the vehicle can safely pass through the crosswind section, and accidents such as sideslip and rollover of the vehicle caused by human misoperation are avoided.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a crosswind vehicle control method, a crosswind vehicle control device, a vehicle, and a computer-readable storage medium.
Background
Crosswind can occur at some wind ports or wide areas, and when vehicles running at high speed are affected by the crosswind, traffic accidents are often induced. The cross wind has the characteristics of abruptness, short time, strong wind power and the like, and generally occurs in bridges, wide sections around expressways, valleys, seasides, tunnel portals, dam roads and the like. The crosswind occurs in a short time, but the strength is high, and the influence on a vehicle that is traveling, particularly a vehicle that is light and bulky, and a vehicle that travels at a high speed is large.
When crosswind blows, the grip of the vehicle is reduced, the driving direction is deviated, the vehicle is manually controlled to pass through a crosswind road section at present, and accidents such as sideslip and side turning of the vehicle are easily caused if the operation is improper.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed in order to provide a crosswind vehicle control method and a corresponding crosswind vehicle control apparatus, a vehicle, and a computer-readable storage medium that overcome or at least partially solve the above-mentioned problems.
The embodiment of the invention discloses a vehicle control method under crosswind, which comprises the following steps:
identifying road section information of a road section where the vehicle is located currently;
if the road section information meets the preset crosswind early warning condition, starting an automatic control mode of the vehicle;
and under the automatic control mode, controlling the vehicle to pass through the road section according to a preset automatic driving strategy.
Optionally, the road section information includes road section type information, and if the road section information meets a preset crosswind early warning condition, the automatic control mode of the vehicle is started, including:
if the road section type corresponding to the road section type information is a preset type, judging whether the vehicle has lateral deviation;
and if the vehicle is judged to have lateral deviation, starting the automatic control mode of the vehicle.
Optionally, the road section information includes road section identification information and road section reminding information, and if the road section information satisfies a preset crosswind early warning condition, the automatic control mode of the vehicle is started, including:
and if the road section identification corresponding to the road section identification information is crosswind identification and/or if the reminding message corresponding to the road section reminding information is crosswind reminding, starting the automatic control mode of the vehicle.
Optionally, the road section information includes road section speed limit information, and in the automatic control mode, controlling the vehicle to pass through the road section according to a preset automatic driving strategy includes:
determining first safe vehicle speed information according to the road section speed limit information;
and controlling the vehicle to decelerate to a first vehicle speed corresponding to the first safe vehicle speed information, and controlling the vehicle to pass through the road section according to the first vehicle speed.
Optionally, the road section information includes lane information, and in the automatic control mode, controlling the vehicle to pass through the road section according to a preset automatic driving strategy includes:
and adjusting the steering wheel torque of the vehicle according to the lane information so as to control the vehicle to keep passing through the road section in the lane corresponding to the lane information.
Optionally, the controlling the vehicle to decelerate to a first vehicle speed corresponding to the first safe vehicle speed information, and controlling the vehicle to pass through the road segment according to the first vehicle speed includes:
judging whether the vehicle has lateral deviation;
if the vehicle is judged to be transversely deviated, determining second safe vehicle speed information according to the road section speed limit information, and controlling the vehicle to decelerate to a second vehicle speed corresponding to the second safe vehicle speed information;
and controlling the vehicle to pass through the road section according to the second speed.
The embodiment of the invention also discloses a vehicle control device under crosswind, which comprises:
the identification module is used for identifying road section information of a road section where the vehicle is located currently;
the starting module is used for starting an automatic control mode of the vehicle if the road section information meets a preset crosswind early warning condition;
and the control module is used for controlling the vehicle to pass through the road section according to a preset automatic driving strategy in the automatic control mode.
Optionally, the link information includes link type information, and the starting module includes:
the judging submodule is used for judging whether the vehicle has transverse deviation or not if the road section type corresponding to the road section type information is a preset type;
and the first starting submodule is used for starting the automatic control mode of the vehicle if the vehicle is judged to generate the transverse deviation.
Optionally, the road segment information includes road segment identification information and road segment reminding information, and the starting module includes:
and the second starting submodule is used for starting the automatic control mode of the vehicle if the road section identification corresponding to the road section identification information is crosswind identification and/or if the reminding message corresponding to the road section reminding information is crosswind reminding.
Optionally, the road section information includes road section speed limit information, and the control module includes:
the determining submodule is used for determining first safe vehicle speed information according to the road section speed limit information;
and the first control submodule is used for controlling the vehicle to decelerate to a first vehicle speed corresponding to the first safe vehicle speed information and controlling the vehicle to pass through the road section according to the first vehicle speed.
Optionally, the road section information includes lane information, and the control module includes:
and the second control submodule is used for adjusting the steering wheel torque of the vehicle according to the lane information so as to control the vehicle to keep passing through the road section in the lane corresponding to the lane information.
Optionally, the first control sub-module includes:
the judging unit is used for judging whether the vehicle has lateral deviation or not;
the first control unit is used for determining second safe vehicle speed information according to the road section speed limit information and controlling the vehicle to decelerate to a second vehicle speed corresponding to the second safe vehicle speed information if the vehicle is judged to have lateral deviation;
and the second control unit is used for controlling the vehicle to pass through the road section according to the second vehicle speed.
The embodiment of the invention also discloses a vehicle, which comprises: a processor, a memory and a computer program stored on and executable on said memory, said computer program, when executed by said processor, implementing the steps of a crosswind vehicle control method as described above.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the crosswind vehicle control method are realized.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the road section information of the road section where the vehicle is located can be identified when the vehicle runs, if the road section information meets the preset crosswind early warning condition, the automatic control mode of the vehicle is started, and the vehicle is controlled to pass through the crosswind road section according to the preset automatic driving strategy in the automatic control mode. By adopting the method, when the vehicle is in the crosswind section, the automatic control mode of the vehicle is started, and the vehicle is automatically controlled transversely and longitudinally, so that the vehicle can safely pass through the crosswind section, and accidents such as vehicle sideslip and side rollover and the like caused by human misoperation are avoided.
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FIG. 1 is a flow chart of steps of a method of controlling a vehicle in crosswind according to an embodiment of the present invention;
FIG. 2 is a flow chart of steps in another crosswind vehicle control method according to an embodiment of the present invention;
fig. 3 is a block diagram showing a configuration of a vehicle control device in crosswind according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of them. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
The crosswind occurs in a short time, but the strength is high, and the influence on a vehicle that is traveling, particularly a vehicle that is light and bulky, and a vehicle that travels at a high speed is large. At present, the vehicle is manually controlled to pass through a crosswind section, and accidents such as sideslip and side turning of the vehicle are easily caused if the operation is improper.
Based on this, the present invention intends to provide a crosswind vehicle control method and a corresponding crosswind vehicle control apparatus, a vehicle, and a computer-readable storage medium that overcome or at least partially solve the above-mentioned problems.
One of the core ideas of the embodiment of the invention is that the road section information of the current road section of the vehicle can be identified when the vehicle runs, if the road section information meets the preset crosswind early warning condition, an automatic control mode of the vehicle is started, and the vehicle is controlled to pass through the crosswind road section according to the preset automatic driving strategy under the automatic control mode. By adopting the method, when the vehicle is in the crosswind section, the automatic control mode of the vehicle is started, and the vehicle is automatically controlled transversely and longitudinally, so that the vehicle can safely pass through the crosswind section, and accidents such as vehicle sideslip and side rollover and the like caused by human misoperation are avoided.
Referring to fig. 1, a flowchart illustrating steps of a method for controlling a vehicle in crosswind according to an embodiment of the present invention is shown, and specifically, the method may include the following steps:
In the embodiment of the invention, the road section information of the road section where the vehicle is located can be identified during the running process of the vehicle. In one example, road segment information may be identified from a navigation system; in another example, road segment information may also be identified from various sensors of the vehicle. For which method is adopted to identify the road section information, the user can obtain the road section information according to actual needs, and therefore the embodiment of the invention is not limited.
And 102, if the road section information meets a preset crosswind early warning condition, starting an automatic control mode of the vehicle.
After the road section information is identified, whether the road section information meets the preset crosswind early warning condition or not can be judged. In the embodiment of the invention, a crosswind early warning condition can be preset, the crosswind early warning condition is used for judging whether the vehicle is about to encounter a crosswind environment or not, when the road section information meets the preset crosswind early warning condition, the vehicle is about to encounter the crosswind environment or is encountering the crosswind environment, and the automatic control mode of the vehicle is started. The automatic control mode is a preset unmanned vehicle driving mode which is triggered when specific conditions are met, and in the automatic control mode, the vehicle automatically controls the vehicle transversely and longitudinally under the condition of no manual operation by means of cooperative cooperation of artificial intelligence, visual calculation, radar, a monitoring device, a global positioning system and the like, so that the vehicle is operated to pass through a crosswind section.
And 103, controlling the vehicle to pass through the road section according to a preset automatic driving strategy in the automatic control mode.
In the automatic control mode, the vehicle passes through the crosswind section according to a preset automatic driving strategy. After passing through the crosswind section, corresponding reminding information can be sent to the driver, and when response information that the driver cancels the automatic control mode is received, the vehicle can be controlled to exit the automatic control mode.
In summary, in the embodiment of the present invention, when the vehicle is running, the road section information of the road section where the vehicle is currently located may be identified, and if the road section information meets the preset crosswind early warning condition, the automatic control mode of the vehicle is started, and in the automatic control mode, the vehicle is controlled to pass through the crosswind road section according to the preset automatic driving strategy. By adopting the method, when the vehicle is in the crosswind section, the automatic control mode of the vehicle is started, and the vehicle is automatically controlled transversely and longitudinally, so that the vehicle can safely pass through the crosswind section, and accidents such as vehicle sideslip and side rollover and the like caused by human misoperation are avoided.
Referring to fig. 2, a flowchart illustrating steps of another crosswind vehicle control method according to an embodiment of the present invention is shown, which may specifically include the following steps:
In one case, the link information includes link type information. In practical applications, the link information, and therefore the link type information, may be determined from an on-board navigation map of the vehicle.
In the embodiment of the invention, the preset road section type is that the road section where the vehicle is located is an expressway, and the front part of the road section is a bridge outlet; or the road section where the vehicle is located is a highway, and the front part is an exit of the viaduct; or the road section of the vehicle is an expressway, and the front part of the road section is a tunnel outlet. When the road section type of the vehicle meets the preset type, the vehicle may encounter crosswind, and at this time, whether the vehicle has lateral deviation in the driving process can be further judged.
And 203, if the vehicle is judged to have lateral deviation, starting the automatic control mode of the vehicle.
If the vehicle is judged to have lateral deviation in the preset road section type, the vehicle can be determined to meet the crosswind environment, and the vehicle is triggered to start the automatic control mode.
In another case, the road section information includes road section identification information and road section reminding information, and when the following conditions are met, an automatic control mode of the vehicle may also be triggered.
And if the road section identification corresponding to the road section identification information is crosswind identification and/or if the reminding message corresponding to the road section reminding information is crosswind reminding, starting the automatic control mode of the vehicle.
In practical application, when a camera of a vehicle recognizes that a road section identifier corresponding to road section identifier information in front of the vehicle is a crosswind identifier, for example, a traffic signboard of 'paying attention to crosswind', an automatic control mode is triggered and started; in addition, when the navigation system of the vehicle sends a reminding message to the user to remind that the front part is a crosswind section, the automatic control mode of the vehicle can be triggered and started.
In the embodiment of the present invention, the road section information further includes road section speed limit information, and in this case, the following steps may be performed:
and 204, determining first safe vehicle speed information according to the road section speed limit information.
The first safe vehicle speed information is determined according to the speed limit information of the road section, and in one case, 85% of the highest speed limit of the road section can be used as the first safe vehicle speed.
And step 205, controlling the vehicle to decelerate to a first vehicle speed corresponding to the first safe vehicle speed information, and controlling the vehicle to pass through the road section according to the first vehicle speed.
And in the automatic control mode, the vehicle is controlled to decelerate to a speed range within which the vehicle is safely driven, and the vehicle is controlled to pass through a crosswind section according to the speed.
For step 205, the following sub-steps may also be performed:
and a substep S11 of determining whether the vehicle is laterally offset.
And a substep S12, if the vehicle is judged to have lateral deviation, determining second safe vehicle speed information according to the road section speed limit information, and controlling the vehicle to decelerate to a second vehicle speed corresponding to the second safe vehicle speed information.
And a substep S13 of controlling the vehicle to traverse the road segment at the second speed.
In the embodiment of the invention, if the vehicle still deviates laterally after the vehicle decelerates to the first vehicle speed, the vehicle is controlled to continue decelerating to the second vehicle speed, and the second vehicle speed can be 70% of the highest speed limit of the road section.
In addition, before step 205 is executed, if the vehicle is currently in the lane change process, the following steps may also be executed:
if the vehicle is in the lane-changing overtaking state, controlling the vehicle to finish the lane-changing overtaking state; and controlling the vehicle to return to the current driving lane.
In practical application, if the vehicle is currently in automatic driving lane changing, the control system quits the automatic lane changing; if the vehicle is currently in the active lane changing process controlled by manual operation, a reminding message "crosswind on the road surface, please keep running on the original lane" is displayed on the instrument panel of the vehicle, and step 205 is executed after the vehicle returns to the original lane.
Further, the link information further includes lane information, in which case the following steps may be performed:
and 206, adjusting the steering wheel torque of the vehicle according to the lane information so as to control the vehicle to keep passing through the road section in the lane corresponding to the lane information.
And in the automatic control mode, automatically controlling the vehicle in the transverse direction and the longitudinal direction, wherein the transverse control is used for adjusting the steering wheel torque of the vehicle according to the lane information so as to enable the vehicle to keep in the range of the original lane and pass through a crosswind section.
In summary, in the embodiment of the present invention, when the vehicle is running, the road section information of the road section where the vehicle is currently located may be identified, and if the road section information meets the preset crosswind early warning condition, the automatic control mode of the vehicle is started, and in the automatic control mode, the vehicle is controlled to pass through the crosswind road section according to the preset automatic driving strategy. By adopting the method, when the vehicle is in the crosswind section, the automatic control mode of the vehicle is started, and the vehicle is automatically controlled transversely and longitudinally, so that the vehicle can safely pass through the crosswind section, and accidents such as vehicle sideslip and side rollover and the like caused by human misoperation are avoided.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 3, a block diagram of a vehicle control device in crosswind according to an embodiment of the present invention is shown, and may specifically include the following modules:
the identification module 301 is configured to identify road segment information of a road segment where the vehicle is currently located;
a starting module 302, configured to start an automatic control mode of the vehicle if the road section information meets a preset crosswind early warning condition;
and the control module 303 is configured to control the vehicle to pass through the road section according to a preset automatic driving strategy in the automatic control mode.
In an embodiment of the present invention, the road segment information includes road segment type information, and the starting module includes:
the judging submodule is used for judging whether the vehicle has transverse deviation or not if the road section type corresponding to the road section type information is a preset type;
and the first starting submodule is used for starting the automatic control mode of the vehicle if the vehicle is judged to generate the transverse deviation.
In an embodiment of the present invention, the road section information includes road section identification information and road section reminding information, and the starting module includes:
and the second starting submodule is used for starting the automatic control mode of the vehicle if the road section identification corresponding to the road section identification information is crosswind identification and/or if the reminding message corresponding to the road section reminding information is crosswind reminding.
In an embodiment of the present invention, the road section information includes road section speed limit information, and the control module includes:
the determining submodule is used for determining first safe vehicle speed information according to the road section speed limit information;
and the first control submodule is used for controlling the vehicle to decelerate to a first vehicle speed corresponding to the first safe vehicle speed information and controlling the vehicle to pass through the road section according to the first vehicle speed.
In an embodiment of the present invention, the road section information includes lane information, and the control module includes:
and the second control submodule is used for adjusting the steering wheel torque of the vehicle according to the lane information so as to control the vehicle to keep passing through the road section in the lane corresponding to the lane information.
In an embodiment of the present invention, the first control sub-module includes:
the judging unit is used for judging whether the vehicle has lateral deviation or not;
the first control unit is used for determining second safe vehicle speed information according to the road section speed limit information and controlling the vehicle to decelerate to a second vehicle speed corresponding to the second safe vehicle speed information if the vehicle is judged to have lateral deviation;
and the second control unit is used for controlling the vehicle to pass through the road section according to the second vehicle speed.
In summary, in the embodiment of the present invention, when the vehicle is running, the road section information of the road section where the vehicle is currently located may be identified, and if the road section information meets the preset crosswind early warning condition, the automatic control mode of the vehicle is started, and in the automatic control mode, the vehicle is controlled to pass through the crosswind road section according to the preset automatic driving strategy. By adopting the method, when the vehicle is in the crosswind section, the automatic control mode of the vehicle is started, and the vehicle is automatically controlled transversely and longitudinally, so that the vehicle can safely pass through the crosswind section, and accidents such as vehicle sideslip and side rollover and the like caused by human misoperation are avoided.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a vehicle, including: the processor, the memory and the computer program stored in the memory and capable of running on the processor, when executed by the processor, implement each process of the above-mentioned crosswind vehicle control method embodiment, and can achieve the same technical effect, and are not described herein again to avoid repetition.
The embodiment of the invention also provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program realizes each process of the embodiment of the method for controlling the vehicle in crosswind, can achieve the same technical effect, and is not repeated here to avoid repetition.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The present invention provides a crosswind vehicle control method and a crosswind vehicle control device, which are described in detail above, and the principle and the implementation of the present invention are explained herein by applying specific examples, and the description of the above examples is only used to help understand the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method of controlling a vehicle in crosswind, the method comprising:
identifying road section information of a road section where the vehicle is located currently;
if the road section information meets the preset crosswind early warning condition, starting an automatic control mode of the vehicle;
and under the automatic control mode, controlling the vehicle to pass through the road section according to a preset automatic driving strategy.
2. The method according to claim 1, wherein the segment information includes segment type information, and the starting of the automatic control mode of the vehicle if the segment information satisfies a preset crosswind warning condition includes:
if the road section type corresponding to the road section type information is a preset type, judging whether the vehicle has lateral deviation;
and if the vehicle is judged to have lateral deviation, starting the automatic control mode of the vehicle.
3. The method according to claim 1, wherein the road section information includes road section identification information and road section reminding information, and if the road section information meets a preset crosswind early warning condition, starting an automatic control mode of the vehicle includes:
and if the road section identification corresponding to the road section identification information is crosswind identification and/or if the reminding message corresponding to the road section reminding information is crosswind reminding, starting the automatic control mode of the vehicle.
4. The method of claim 1, wherein the road segment information includes road segment speed limit information, and wherein in the automatic control mode, controlling the vehicle to pass through the road segment according to a preset automatic driving strategy comprises:
determining first safe vehicle speed information according to the road section speed limit information;
and controlling the vehicle to decelerate to a first vehicle speed corresponding to the first safe vehicle speed information, and controlling the vehicle to pass through the road section according to the first vehicle speed.
5. The method of claim 4, wherein the road segment information includes lane information, and wherein controlling the vehicle to pass through the road segment according to a preset autopilot strategy in the autonomous control mode includes:
and adjusting the steering wheel torque of the vehicle according to the lane information so as to control the vehicle to keep passing through the road section in the lane corresponding to the lane information.
6. The method of claim 4, wherein the controlling the vehicle to decelerate to a first vehicle speed corresponding to the first safe vehicle speed information and controlling the vehicle to travel through the road segment at the first vehicle speed comprises:
judging whether the vehicle has lateral deviation;
if the vehicle is judged to be transversely deviated, determining second safe vehicle speed information according to the road section speed limit information, and controlling the vehicle to decelerate to a second vehicle speed corresponding to the second safe vehicle speed information;
and controlling the vehicle to pass through the road section according to the second speed.
7. A crosswind vehicle control apparatus, characterized in that the apparatus comprises:
the identification module is used for identifying road section information of a road section where the vehicle is located currently;
the starting module is used for starting an automatic control mode of the vehicle if the road section information meets a preset crosswind early warning condition;
and the control module is used for controlling the vehicle to pass through the road section according to a preset automatic driving strategy in the automatic control mode.
8. The apparatus of claim 7, wherein the segment information comprises segment type information, and wherein the means for initiating comprises:
the judging submodule is used for judging whether the vehicle has transverse deviation or not if the road section type corresponding to the road section type information is a preset type;
and the first starting submodule is used for starting the automatic control mode of the vehicle if the vehicle is judged to generate the transverse deviation.
9. A vehicle, characterized by comprising: a processor, a memory and a computer program stored on and executable on the processor, the computer program, when executed by the processor, implementing the steps of a crosswind vehicle control method as claimed in any one of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of a method for controlling a vehicle in crosswind according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Application publication date: 20210330 |