83results about How to "Improve riding performance" patented technology

The invention discloses a longitudinal driving method and device for automatic parking of a traditional fuel vehicle, the vehicle and a medium, a transmission control unit (TCU) is actively introduced into a control loop of a parking working condition, two interfaces of a longitudinal control signal and a target creeping speed are introduced to be respectively sent to an IPB and the TCU, and a staged arbitration mechanism is introduced into an engine controller (EMS), so that the automatic parking of the traditional fuel vehicle is realized. Smooth starting of the vehicle is ensured, backward sliding and accurate following of the target crawling speed are effectively prevented, and the common problems of unsmooth vehicle speed, rushing and the like in the automatic parking process of a traditional fuel vehicle are solved from the source.

The application discloses a vehicle control method and device on a transverse slope road, equipment and medium, relates to the field of advanced driving assistance, and comprises the following steps: acquiring the vehicle speed, yaw angular velocity and first lateral acceleration of a vehicle, determining the second lateral acceleration based on the vehicle speed and yaw angular velocity; high-order filtering the first lateral acceleration and the second lateral acceleration respectively; determining the target acceleration based on the filtered first lateral acceleration and the filtered second lateral acceleration, and high-order filtering the target acceleration; determining the transverse slope compensation torque through the filtered target acceleration and a torque compensation coefficient, so as to control the vehicle. The vehicle speed, yaw angular velocity and first lateral acceleration and other information in the application are information that can be acquired in a low-cost manner, therefore, the application reduces the calculation cost of the transverse slope compensation torque, and through high-order filtering of the lateral acceleration and the target acceleration, the application improves the smoothness of the vehicle in a curve and reduces oscillation.

This invention discloses a driver state monitoring and safety early warning method based on millimeter-wave radar, comprising: acquiring driver physiological micro-motion signals and driver macro-behavioral signals respectively through millimeter-wave radar to obtain driving environment information in real time; denoising the driver physiological micro-motion signals and extracting features to obtain driver physiological feature signals; constructing a time-frequency spectrum using driver macro-behavioral signals; determining the driver physiological arousal index and driver emotional state risk value based on the physiological feature signals; obtaining the driver dynamic behavior risk value based on the time-frequency spectrum; calculating an environmental complexity index based on driving environment information; constructing a driver state risk field model based on the driver physiological arousal index, driver emotional state risk value, and driver dynamic behavior risk value; calculating the driver state risk value using the driver state risk field model and environmental complexity index; and providing graded early warning based on the driver state risk value.

The invention discloses a gear shifting control method and system of an electric commercial vehicle, a medium and the electric commercial vehicle. The method comprises the steps that if it is detected that the electric commercial vehicle is in an emergency braking working condition, a target drive axle to be controlled is determined, the torque of the target drive axle is controlled to be reduced by referring to the vehicle speed of the electric commercial vehicle, and a corresponding gear shifting hub is arranged in a neutral gear; wherein the target drive axle is any drive axle in double drive axles of the electric commercial vehicle; when the gear shifting hub corresponding to the target drive axle is in the neutral gear, the drive motor of the target drive axle is switched from the torque control mode to the rotating speed control mode; in the rotating speed control mode, whether the target drive axle executes dynamic gear shifting or static gear shifting is judged according to the rotating speed of the output shaft, and the corresponding target rotating speed is determined; the driving motor of the target driving axle is controlled to adjust the speed according to the target rotating speed, and whether the driving motor of the target driving axle meets the corresponding gear shifting synchronization condition or not is judged; and if yes, the gear shifting hub corresponding to the target drive axle is changed from the neutral gear to the target gear.

This invention discloses a creep control method and device for a new energy heavy-duty truck, belonging to the field of new energy vehicle control technology. The method includes the following steps: in response to vehicle power-on, determining whether the vehicle is currently in a creep basic state, and if the doors are closed and the driver is in position, entering a creep waiting-to-recognize state; in the creep waiting-to-recognize state, if it is detected that the accelerator pedal is depressed beyond a preset opening degree and then released and returned to zero opening degree, then a creep power latch flag is set to an active state; when the creep power latch flag is active, the corresponding creep mode is activated according to the current vehicle gear information, the creep mode including a forward creep mode and a reverse creep mode; during creeping, creep torque is feedforward compensated according to the real-time slope value; when any one of the preset exit conditions is met, the creep mode is exited; wherein, if the met exit condition includes a creep basic state failure, the creep power latch flag is set to an inactive state. This invention improves the safety and driving smoothness of creep control under complex working conditions.

This utility model discloses a door hinge assembly, including a top hinge group and a bottom hinge group. The top hinge group includes an upper bearing mounting seat and an upper shaft core mounting seat. An upper bearing is disposed in the upper bearing mounting seat, and an upper shaft core and an upper locking bushing are disposed in the upper shaft core mounting seat. A first tightening screw passes through the door leaf profile and the upper shaft core mounting seat and abuts against the upper locking bushing. The bottom hinge group includes a lower shaft sleeve mounting seat and a lower shaft core mounting seat. A lower shaft sleeve and a lower locking bushing are disposed in the lower shaft sleeve mounting seat, and a lower shaft core is disposed on the lower shaft core mounting seat. This door hinge assembly has the advantages of simple structure, convenient and quick installation and disassembly, high maintenance efficiency, and low replacement cost.

The invention relates to the technical field of vehicle control, and discloses a vehicle starting control method and device, a vehicle and a medium, and the method comprises the following steps: in response to starting operation of the vehicle in an automatic parking state, adjusting parking release control parameters according to current road surface information and vehicle parameters; and releasing the automatic parking state according to the adjusted parking release control parameter. The parking release control parameters are dynamically adjusted according to real-time road surface information and vehicle parameters through a dynamic and self-adaptive parameter adjusting mechanism, the limitation of traditional fixed calibration is eliminated, different road conditions and vehicle states can be adapted, the vehicle starting quality in the automatic parking state is remarkably improved, and the vehicle starting speed is increased. And fixed parameters under the automatic parking function can be continuously optimized, so that the method adapts to individual manufacturing differences of different vehicles, starting abnormities such as slope sliding, dragging and vehicle channeling of the vehicles can be effectively avoided, the safety and smoothness of vehicle starting are improved, and meanwhile the user driving experience and the vehicle intelligent control level are greatly improved.

The invention discloses a mobile robot control method and system based on multi-source fusion dynamic trajectory re-planning. The method comprises the steps that vehicle kinematics data and environment characteristic observation data are acquired in real time; state prediction is carried out based on a kinematic model; performing multi-dimensional feature extraction and confidence evaluation on the environment features; carrying out measurement updating by utilizing extended Kalman filtering; performing time domain differential analysis on the posterior state; when the state jump is detected, generating a smooth dynamic transition track by taking the current posterior state as a starting point; acquiring predicted curvature information of the front path from the global map; inputting the confidence score and the predictive curvature into a fuzzy logic controller, and calculating the adjustment amount of PID control gain; and calculating a motor control instruction based on the dynamic transition trajectory by using an adaptive PID algorithm, and outputting a final control signal. According to the method, high-precision positioning and stable control can be realized only by depending on a low-cost vehicle-mounted sensor, the cost is low, the universality is high, and the method is suitable for various complex indoor scenes.

The application discloses a control method of a transmission intermediate shaft brake, a vehicle and a storage medium. The method comprises the following steps: starting the intermediate shaft brake; acquiring a target rotating speed difference estimation value at a brake starting moment, and a first brake basic characteristic parameter array; acquiring a stable brake demand rotating speed difference array, a theoretical stable brake demand time array and a theoretical total demand brake time; determining a total demand brake target time under different upshift types; acquiring a difference value between the total demand brake target time and the theoretical total demand brake time, selecting a theoretical total demand brake time corresponding to a minimum difference value, and determining an actual opening valve time of an intake valve of the intermediate shaft brake according to the theoretical total demand brake time. The actual opening valve time of the intake valve of the intermediate shaft brake is confirmed, so that accurate control of the intermediate shaft brake is ensured, and the smoothness and speed of a gear shifting process are improved.

The present application relates to the technical field of vehicles, and discloses a motor torque zero-crossing control method and device, a vehicle, electronic equipment and a medium. The method controls the motor to sequentially output a first direction torque and a second direction torque when the vehicle is in a continuous high-speed sliding state, so that the gear moves on different sides of the teeth. The motor rotor angular velocity and the vehicle tire rotation angular velocity in this process are collected, the transmission system gap is determined, and the target torque gradient correction value is matched to determine the current torque zero-crossing gradient of the vehicle, thereby performing torque zero-crossing control on the motor of the vehicle. The current torque zero-crossing gradient is corrected during vehicle driving, and the determination and correction of the current torque zero-crossing gradient are personalized for each vehicle, thereby improving the adaptability of the current torque zero-crossing gradient, the smoothness of the power system output torque, and the user experience.

The utility model relates to building construction structure technical field especially is a kind of protective fence linear precision positioning tool, including support formwork main body, the support formwork main body includes several side plate assemblies, the side plate assembly between adjacent is assembled through connecting piece cooperation, the upper end of the support formwork main body is provided with positioning assembly, positioning assembly is limitedly provided with stand, and the side of the stand is provided with several supporting members;The side plate assembly includes several stainless steel side plates, each The stainless steel side plate is provided with butt joint structure, and the stainless steel side plate between upper and lower adjacent is matched butt joint through butt joint structure, the utility model is positioned by the cooperation of positioning assembly and supporting member, and the four side edges of stand are positioned and supported, avoid the influence that traditional manual pulling line positioning is affected by topography undulation, construction disturbance, significantly improve the perpendicularity of stand and the smoothness of overall linear, effectively satisfy the acceptance requirement that high-speed railway protective fence is smooth and straight and beautiful.

The invention relates to an unmanned logistics vehicle steering control method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring state information and environment information of a vehicle; respective steering cost of various preset steering modes is calculated according to the state information and the environment information, wherein the various preset steering modes comprise Ackerman steering, front and back double-steering and bidirectional driving; the steering mode of the current vehicle is obtained, if the steering mode with the minimum steering cost is different from the current steering mode and the cost difference between the steering mode with the minimum steering cost and the current steering mode is larger than a preset switching threshold value, the steering mode is determined as a target steering mode, and otherwise, the current steering mode is maintained; and controlling the vehicle to run in the target steering mode. By the adoption of the method, the unmanned logistics vehicle can autonomously select the optimal steering mode, frequent mode switching is avoided, and the driving efficiency and smoothness in different scenes are improved.

This invention discloses a hydraulic motor mount device for electric vehicles, relating to the field of hydraulic mount technology. It aims to solve the technical problem that traditional hydraulic mounts cannot adaptively match the complex vibration conditions of electric vehicles. The device includes a mount housing, a vibration isolation assembly, a damping assembly, a base diaphragm, and a vertical shaft assembly. The damping assembly includes an outer ring fixed to the middle of the mount housing. A ring body is movably disposed within the outer ring. A threaded half-groove A is formed on the inner surface of the outer ring, and a threaded half-groove B is formed on the outer surface of the ring body. Threaded half-groove A and threaded half-groove B form a damping flow channel. This invention, by designing a structure comprising a relatively movable outer ring and a ring body, with mating threaded half-groove A and threaded half-groove B on their opposing surfaces to form a damping flow channel, allows the geometry of the damping flow channel to adaptively change simply by moving the ring body along the threaded path. This solves the technical problem that traditional hydraulic mounts, due to their fixed damping channels, cannot adaptively optimize broadband vibration isolation performance.

The application relates to the technical field of vehicle suspension, and relates to a linear double-spring electromagnetic shock absorber for vehicles, which comprises an end cover, a damping rod, an upper shock absorber assembly and a linear electromagnetic actuator. The linear electromagnetic actuator comprises a shell, permanent magnet rings, a coil framework and a soft iron ring. The shell is a hollow tubular structure, and the inside of the shell is provided with a plurality of permanent magnet rings arranged in an axial direction. The permanent magnet rings are annular sheet structures. The adjacent two permanent magnet rings are separated by the soft iron ring, and the adjacent two permanent magnet rings are arranged in a same-pole opposite arrangement mode. The damping rod is connected to the top of the end cover. The upper shock absorber assembly is installed between the end cover and the linear electromagnetic actuator. The damping rod penetrates through the linear electromagnetic actuator along the shaft center of the shell. The coil framework is installed on the section of the damping rod located in the inside of the shell. The coil framework is wound with a coil. The electromagnetic shock absorber has wide adaptability, low cost, fast response speed, improved service life of the shock absorber, and further improved smoothness and stability of vehicle driving.

This invention discloses a radar-coordinated braking control method for electric-assist bicycles in complex road conditions, relating to the field of electric-assist bicycle control technology. The method includes acquiring radar-detected rear target signals, determining the presence of collision risk based on the changing trend of the rear target signals, and identifying the movement pattern of the rear targets; acquiring the rider's pedaling torque signal; when a collision risk is determined, predicting the moment when the rider's pedaling torque will begin to decrease based on the changing trend of the rear target signals; at the predicted moment, initiating mechanical braking pre-pressure and simultaneously reducing the motor's assist output. This invention utilizes residual assist to provide soft support for the rider's body posture, compensating for the instability caused by the forward shift of the center of gravity, and solving the timing conflict problem between braking intervention and rider posture changes in existing technologies. This improves braking efficiency in dangerous rear-end scenarios while enhancing the stability and smoothness of the riding process.

The utility model discloses a slider feeding mechanism, including base, the one side of base is provided with the collecting box, and the base is fixed with collecting box through the defective product box, and the fixed mounting of drive motor is installed on the base, and the inner wall rotation of base is installed with the driving shaft, and the outer wall of driving shaft is equipped with first swing arm, and the second swing arm is provided on first swing arm, and the upper side of base corresponds defective product box and is fixed with two detection shafts, and is provided with detection assembly between two detection shafts, in the utility model, through two detection shafts and the partial groove of gradually widening between them, can automatically distinguish the defective product of length shorter than standard value in slider conveying process, and the defective slider falls from the partial groove to the defective product box because of unable to be supported on two detection shafts simultaneously, and the qualified slider enters the collecting box successfully, solved the problem that traditional feeding device can not screen short size defective product, avoided the gear shifting failure risk caused by defective product mixing into assembly process, and the stability of synchronizer assembly quality was greatly improved.

The invention provides a vibrating diaphragm, a sound production unit and audio equipment. The vibrating diaphragm comprises a first mounting wing, a second mounting wing and a folding unit formed by continuous bending, the folding units form a plurality of folding spaces, and folding plates are formed on the two sides of the folding spaces. The tops of the two ends of the folding unit are arranged on a first plane, the top of the center of the folding unit is arranged on a second plane, and a first distance is formed between the first plane and the second plane; the distance between the folding plates on the two sides of the folding space changes along with the length of the folding units. The sound production unit comprises a first support, a magnet, a second support, a damping net and a damping plate. The loudspeaker also comprises the vibrating diaphragm of the above implementation mode. The first mounting wing and the second mounting wing are arranged on the first bracket and between the first bracket and the magnet; the audio equipment comprises a sound production unit. The vibrating diaphragm, the sound production unit and the audio equipment provided by the invention make up the defect of weak low-frequency performance in the prior art, and realize full-band balanced sound production.

The invention relates to an exhaust brake electromagnetic valve. According to the electromagnetic valve, a main gas circuit unit, a proportional electromagnetic driving structure, a gas circuit switching structure and a gas pressure detection structure are integrated. Continuous and linear accurate adjustment of output air pressure is realized through a proportional electromagnetic driving structure; the gas path switching structure can intelligently switch gas flow between the first gas outlet and the second gas outlet according to an instruction; the pressure sensor integrated in the valve body monitors the actual output air pressure in real time, closed-loop feedback control is formed, and accurate matching of braking force is ensured. The system is compact in structure, remarkably reduces external pipelines and leakage points, has the advantages of being rapid in response, accurate in control, high in reliability and high in adaptability, and remarkably improves the smoothness and safety of vehicle braking.

The invention relates to the technical field of image processing and vehicle safety protection, and discloses a complex industrial scene-oriented vehicle intelligent auxiliary safety protection system and method. The method comprises the steps of collecting video stream data, carrying out obstacle identification and generating space distribution information, dynamically constructing a three-dimensional warning space, analyzing an intrusive obstacle, tracking a motion track, generating a graded brake control signal and sending the graded brake control signal to a brake execution mechanism. The system comprises a video acquisition unit, an obstacle identification unit, a space mapping unit, a warning space construction unit, a space analysis unit, a target tracking unit, a decision unit and an instruction output unit. According to the method, obstacles are accurately recognized through image recognition and space mapping, a self-adaptive three-dimensional warning space is dynamically constructed according to vehicle driving parameters, graded braking signals are generated in combination with obstacle categories and movement tracks, and the accuracy and reliability of vehicle intelligent auxiliary safety protection in a complex industrial scene are achieved.

The utility model belongs to the technical field of bridge engineering, and particularly relates to an integral anchoring guide rail type bridge seamless expansion device, which comprises a fixed end component, a fixed end component and a fixed end component, the sliding end assembly is fixedly arranged at the other end in the bridge parting, and the sliding end assembly is in sliding connection with the fixed end assembly; the liquid waterstop is arranged between the top end of the fixed end assembly and the top end of the sliding end assembly; and the rubber water stop assembly is arranged in the bridge parting seam and located between the bottom end of the fixed end assembly and the bottom end of the sliding end assembly. A guide rail type telescopic structure is adopted, the requirement for telescopic deformation of the bridge is met, meanwhile, a continuous seamless road surface is formed, and the bridge water stop structure has the advantages of being smooth in vehicle running, low in noise, good in water stop effect, good in durability and the like and is particularly suitable for urban bridges and bridges high in noise control requirement.

This application relates to a unit and method for controlling the rear wheels to assist vehicle drifting. The unit includes: a first determination module configured to determine whether the vehicle is performing a pre-drift maneuver; a second determination module configured to determine whether the vehicle is performing a first drift maneuver; a third determination module configured to determine whether the vehicle is performing a second drift maneuver; and a rear wheel control module configured to, when the first determination module determines that the vehicle is performing a pre-drift maneuver, control the steering angle of the rear wheels to deflect from zero degrees to a desired angle and lock the steering angle of the rear wheels at the desired angle; when the second determination module determines that the vehicle is performing a first drift maneuver, control the steering angle of the rear wheels to return to zero degrees; and when the third determination module determines that the vehicle is performing a second drift maneuver, continue to control the steering angle of the rear wheels to return to zero degrees and lock the steering angle of the rear wheels at zero degrees. The unit and method can efficiently identify the driver's drifting intention and assist the vehicle in performing a drift.

The invention relates to the technical field of vehicle intelligent control, and provides a new energy vehicle ice and snow pavement intelligent cooperative anti-skid control method and system. The method comprises the steps of predicting a risk level of a vehicle about to slip based on vehicle state information and road surface information; according to the risk levels, control instruction combinations used for controlling a steering system, a driving system and a braking system to cooperatively act are generated, and different risk levels correspond to different control instruction combinations; and based on the control instruction combination, cooperative intervention is conducted on the vehicle through the steering system, the driving system and the braking system. According to the method, through predictive risk judgment and multi-system cooperative execution, the transformation from remedy after slipping to prevention before slipping is realized, and the safety, smoothness and energy efficiency of driving on the ice and snow covered pavement are effectively improved.

This application provides a motor torque control method, device, equipment, and vehicle, belonging to the field of vehicle technology. The method includes determining whether torque zero-crossing control needs to be performed based on the actual torque value and the required torque value of the motor; in response to determining to perform torque zero-crossing control, obtaining a self-learned gear engagement torque value, and calculating a preset torque value based on the gear engagement torque value; controlling the motor to transition from the actual torque value to the preset torque value, and controlling the motor to transition from the preset torque value to the gear engagement torque value, wherein the average torque acceleration during the transition from the actual torque value to the preset torque value is greater than the average torque acceleration during the transition from the preset torque value to the gear engagement torque value. The motor torque control method provided by this application can accurately calibrate the gear engagement process during the torque zero-crossing stage, buffer the impact degree during the gear meshing process, thereby improving or eliminating vehicle impact and vibration phenomena, and improving the overall vehicle smoothness and comfort.

The invention provides a hybrid electric vehicle mode switching dynamic compensation system and a control method, and relates to the field of automobile dynamic control. Comprising a mode switching classification module, a clutch torque estimation module, a torque compensation module and a torque slope limiting module. The mode switching classification module is used for switching working modes into clutch participation and clutch-free participation; the clutch torque estimation module is used for estimating the torque transmitted by the clutch in the mode switching process; the torque compensation module is used for taking the estimated clutch torque as a feedforward quantity compensation target motor torque; the torque slope limiting module is used for limiting the change gradient of the motor torque and reducing the impact degree. According to the method, the motor torque is compensated in real time by estimating the clutch torque, the upper limit and the lower limit of each step length change of the motor torque are limited according to the relation between the impact degree and the motor torque slope, and therefore the dynamic property and the smoothness of the hybrid electric vehicle during working mode switching are improved.

The utility model discloses a non - woven fabric feeding tension stabilizing device belongs to non - woven fabric processing technical field. It mainly includes frame, and the horizontal groove is fixed on the inner wall on the middle part of frame, is equipped with tension stabilizing subassembly on the horizontal groove, and the fixed frame no.

The utility model relates to the field of shock absorbers, in particular to a long-service-life motorcycle shock absorber which has the advantages of being simple and reasonable in structure and accurate in damping adjustment and comprises an installation base, a hydraulic cylinder, a sealing cover, a piston rod, a piston, a first spring, a first supporting base, a second supporting base, an air bag assembly and a damping adjustment assembly. The mounting seat comprises a first mounting part, a second mounting part and a connecting part for connecting the first mounting part and the second mounting part, a first mounting groove is formed in the first mounting part, and a second mounting groove and a third mounting groove communicated with the second mounting groove are formed in the second mounting part; the included angle between the central axis of the second mounting groove and the central axis of the third mounting groove ranges from 160 degrees to 178 degrees, a first notch is formed in the position, located on the peripheral side of the second mounting groove, of the second mounting part, the central axis of the first mounting groove is parallel to the central axis of the second mounting groove, and the first mounting groove is located on the upper side of the second mounting groove.

The application discloses a driving control method and system for a hybrid vehicle, wherein the method comprises the following steps: collecting operation parameters of the vehicle; calculating theoretical change values of motor torque and engine torque; obtaining an execution difference ratio of motor target torque and engine target torque; calculating a change coordination value of the engine torque; calculating a change coordination value of the motor torque; calculating a current task period executed target torque of the motor or the engine, which is used for judging an execution state of the control method; if the torque coordination state is judged, regulating the current motor torque or the engine torque based on the change coordination value of the motor torque or the engine torque; otherwise, updating the last task period executed target torque of the motor or the engine as the current task period executed target torque of the motor or the engine, and re-executing the control method after a preset task period. The application can solve the torque jitter problem of the hybrid vehicle when the engine and the driving motor are simultaneously controlled.

The utility model discloses a buffer block with variable rigidity, and belongs to the technical field of automobiles. The problem that in the prior art, the rigidity of a buffer block is fixed is solved. The buffer block mainly comprises a buffer block body, an oil cavity is formed in the buffer block body, a top plate is installed at the top of the buffer block body, an oil hole is formed in the top of the oil cavity, the oil hole is connected with the lower end of a middle oil pipe, the upper end of the middle oil pipe penetrates through the top plate and is connected with the bottom of an oil tank, and a top oil pipe is installed at the top of the oil tank. The top oil pipe extends downwards into the lower side in the oil tank, a first electric valve is mounted on the top oil pipe on the upper side of the oil tank, a liquid level pipe is further mounted at the top of the oil tank, a second electric valve is mounted at the bottom of the liquid level pipe, and a breather valve and a liquid level meter are mounted on the liquid level pipe on the upper side of the second electric valve respectively.

This invention discloses a method for centering and flash welding rails, belonging to the field of rail welding technology, to solve at least one of the problems in existing technologies: poor centering accuracy of rail samples and residual misalignment after rail centering and welding. The centering method of this invention includes: placing multiple linear laser sensors on the side and top surfaces of the rail head of two rail samples respectively; measuring the deviation of the side surfaces of the rail head of two rail samples, determining if the deviation is below a threshold; measuring the deviation of the top surfaces of the rail head of two rail samples, determining if the deviation is below a threshold; if not, controlling the movement of electrodes on the welding rig to adjust the relative position of the two rail samples in the vertical direction, so that the deviation of the top surfaces of the rail head of the two rail samples is below the threshold. This invention can be used for rail centering and flash welding.

This invention relates to the field of vehicle technology and discloses a steering control method, device, and vehicle. The steering control method includes: acquiring the vehicle speed and, based on the correlation between the vehicle speed and the steering assist style, acquiring a target steering assist style adapted to the vehicle speed; acquiring a target assist torque corresponding to the target steering assist style based on the vehicle speed and the correlation between the steering assist style and a preset assist torque; and adjusting the vehicle's steering torque based on the target assist torque. This invention can enhance the user's active control over the vehicle's steering and make the steering control more in line with the user's driving intentions and personalized needs.