Method and device for predicting safety of vehicle steering based on steering maneuver characteristics

Abstract

The application discloses a kind of based on steering control characteristic automobile steering travel safety early warning method and device, method includes: S1, the front wheel side slip angle, rear wheel side slip angle, steering wheel steering angle and target azimuth in the process of automobile steering travel are obtained;S2, the steering control characteristic Δ of automobile in the process of steering travel is identified;S3, the steering wheel steering angle deviation Δδ s ;S4, the steering control characteristic is risk identification, specifically: Δα<0, steering control characteristic is excessive steering, and risk level is high;Δα>0, steering control characteristic is insufficient steering, and risk level is high;Δα=0, steering control characteristic is neutral steering, and risk level is low;S5, for the risk level identified, the steering wheel steering angle deviation Δδ s is used to control driving risk.The application avoids that automobile steering control characteristic risk source causes safety accident by monitoring the safe state of automobile steering travel.

Description

Technical Field

[0001] This invention belongs to the technical field of vehicle safety warning, specifically relating to a method and device for vehicle steering and driving safety warning based on steering handling characteristics. Background Technology

[0002] The car steering system ensures that the car can travel in a straight line or turn as intended by the driver. Loss of steering control is one of the leading causes of traffic accidents. Car steering characteristics include neutral steering, understeer, and oversteer. Neutral steering means that the actual steering angle of the vehicle during the steering process is equal to the rotation angle of the front wheels; understeer means that the actual steering angle of the vehicle during the steering process is smaller than the rotation angle of the front wheels, and the front wheels slip outwards (pushing); oversteer means that the actual steering angle of the vehicle during the steering process is larger than the rotation angle of the front wheels, and the rear wheels slip outwards (fishtailing).

[0003] In vehicles with a front-engine, front-wheel-drive transmission system, the center of gravity is on the front axle. The front wheels act as both steering and driving wheels. When turning, the centrifugal force on the front wheels increases their outward slippage, resulting in understeer. In vehicles with a front-engine, rear-wheel-drive or mid-engine, rear-wheel-drive transmission system, the center of gravity is in the center. The front wheels are responsible for steering, and the rear wheels are responsible for driving, resulting in neutral steering. In vehicles with a rear-engine, rear-wheel-drive transmission system, the center of gravity is on the rear axle. The front wheels are responsible for steering, and the rear wheels are responsible for driving, resulting in oversteer.

[0004] The steering characteristics of a vehicle are related to the road surface adhesion coefficient, turning radius, vehicle transmission type, tire slip stiffness, wheel slip angle, steering speed, steering acceleration, front wheel steering angle, and steering wheel angle. When a vehicle is turning at low speeds, it maintains essentially neutral steering. As the steering speed increases, understeer tends to occur, which the driver can mitigate by reducing the throttle and decreasing the vehicle speed. With further increases in steering speed, oversteer tends to occur. Steering is stable below a critical speed, but becomes unstable above the critical speed, and oversteer correction is difficult. Generally, a degree of understeer contributes to good handling, while oversteer leads to steering instability. GB38900-2020 "Safety Technical Inspection Items and Methods for Motor Vehicles" requires that "motor vehicles (excluding three-wheeled vehicles) should have moderate understeer characteristics"; JT / T 1178.2-2019 "Safety Technical Conditions for Operating Freight Vehicles Part 2: Tractor Vehicles and Trailers" requires that "the understeer angle should be greater than or equal to 0° / (m / s2) and less than or equal to 1° / (m / s2)".

[0005] The reasons why loss of steering control is a dangerous factor in vehicle steering are as follows: First, the vehicle is affected by unbalanced braking force, changes in road surface adhesion coefficient, and crosswinds during steering, causing the vehicle to lose steering control. Second, when changing lanes at high speed or making a sharp turn when encountering obstacles, understeering or oversteering can cause lateral instability of the vehicle. Third, when the vehicle is oversteering, the steering wheel is turned too far and the return to center is slow. After the vehicle reaches the target lane, turning the steering wheel back causes the vehicle to sway. Severe oversteering can lead to skidding, rollover, and other violent turning phenomena. Fourth, when the vehicle is understeering, it cannot turn the corner. Forcing the steering wheel can cause the rear wheels to lose traction, leading to rollover. Severe understeering can lead to drifting.

[0006] As a significant safety hazard during vehicle steering, steering characteristics require safety management: first, safety identification, which involves recognizing and defining the risks associated with steering characteristics; and second, safety control, which involves providing drivers with warnings based on the risks posed by steering characteristics, thereby reducing, eliminating, or controlling those risks. This is crucial for preventing traffic accidents caused by risks in vehicle steering characteristics and for ensuring the stability and safety of vehicle steering.

[0007] Currently, the monitoring and alarm of steering characteristics only involves individual parameters such as steering wheel angle. There is no monitoring of vehicle steering characteristics, nor are there safety risk management methods such as safety identification and control of steering characteristics during vehicle steering. Therefore, it is difficult to provide drivers with early warning methods based on steering characteristic risks to reduce, eliminate or control steering characteristic risks and ensure vehicle steering safety. Summary of the Invention

[0008] The main objective of this invention is to overcome the shortcomings and deficiencies of the prior art and provide a method and device for early warning of vehicle steering and driving safety based on steering handling characteristics. By monitoring the safety status of vehicle steering and driving, safety accidents caused by risk sources of vehicle steering handling characteristics can be avoided.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] This invention provides a vehicle steering safety warning method based on steering handling characteristics, comprising the following steps:

[0011] S1. Obtain the front wheel slip angle, rear wheel slip angle, steering wheel angle, and target azimuth angle of the vehicle during the turning process;

[0012] S2. Identify the steering characteristics Δα of the vehicle during the steering process, wherein the steering characteristics Δα are:

[0013] Δα=α f -α r

[0014] In the formula, α f The front wheel slip angle, α r Indicates the rear wheel slip angle;

[0015] S3. Calculate the steering wheel angle deviation Δδ s The steering wheel angle deviation Δδ s The calculation formula is as follows:

[0016] Δδ s =δ sw -δ s

[0017] In the formula, δ sw δ is the theoretical value of the steering wheel angle. s To control the steering wheel angle;

[0018] S3. Perform risk identification on the steering characteristics, specifically:

[0019] Δα<0 indicates oversteering, a high-risk situation.

[0020] Δα>0 indicates understeer, a high-risk situation.

[0021] When Δα = 0, the steering characteristics are neutral, indicating a low risk level.

[0022] S4. Based on the identified risk level, use the calculated steering wheel angle deviation Δδ s Control driving risks.

[0023] As a preferred technical solution, in step S1, the front wheel slip angle and the rear wheel slip angle are sensed by a wheel inertial sensor.

[0024] The steering wheel angle is sensed by a steering angle sensor;

[0025] Millimeter-wave radar is used to sense the azimuth of targets ahead.

[0026] As a preferred technical solution, in step S3, the theoretical value of the steering wheel angle δ sw The calculation is as follows:

[0027] δ sw =i s δ tf =i s (α target ±α f )

[0028] In the formula, δ tf Indicates the theoretical value of the front wheel steering angle, i s α represents the steering system gear ratio.target Indicates the azimuth of the target ahead.

[0029] As a preferred technical solution, in step S2, the theoretical value of the front wheel steering angle δ tf The calculation is as follows:

[0030] δ tf =α target ±α f

[0031] In the formula, α target Indicates the azimuth angle of the target ahead, α f This indicates the front wheel slip angle.

[0032] As a preferred technical solution, in step S5, the calculated steering wheel angle deviation Δδ is used. s Risk levels are controlled, specifically as follows:

[0033] When the steering characteristics are oversteer, reduce speed and acceleration, and adjust the steering wheel angle deviation Δδ. s Less than zero;

[0034] When the steering characteristics are understeer, reduce speed and acceleration, and adjust the steering wheel angle deviation Δδ. s Greater than zero;

[0035] When the steering characteristic is neutral steering, during normal driving, the steering wheel angle should be kept appropriately adjusted for understeering steering, with the steering wheel angle deviation Δδ. s Less than zero.

[0036] Another aspect of the present invention provides a vehicle steering driving safety warning system based on steering handling characteristics, including a parameter acquisition module, a steering handling characteristics module, a steering wheel steering angle deviation calculation module, a risk identification module, and a risk control module;

[0037] The parameter acquisition module is used to acquire the front wheel slip angle, rear wheel slip angle, steering wheel angle and target azimuth angle of the vehicle during the turning process;

[0038] The steering handling characteristic module is used to identify the steering handling characteristic Δα of the vehicle during steering, wherein the steering handling characteristic Δα is:

[0039] Δα=α f -α r

[0040] In the formula, α f The front wheel slip angle, α r Indicates the rear wheel slip angle;

[0041] The steering wheel angle deviation calculation module is used to calculate the steering wheel angle deviation Δδ. s The steering wheel angle deviation Δδ s The calculation formula is as follows:

[0042] Δδ s =δ sw -δ s

[0043] In the formula, δ sw δ is the theoretical value of the steering wheel angle. s To control the steering wheel angle;

[0044] The risk identification module is used to identify risks associated with the steering characteristics, specifically as follows:

[0045] Δα<0 indicates oversteering, a high-risk situation.

[0046] Δα>0 indicates understeer, a high-risk situation.

[0047] When Δα = 0, the steering characteristics are neutral, indicating a low risk level.

[0048] The risk control module is used to determine the steering wheel angle deviation Δδ based on the identified risk level. s Control the risks associated with the trip.

[0049] In another aspect, the present invention provides an electronic device, the electronic device comprising:

[0050] At least one processor; and,

[0051] A memory communicatively connected to the at least one processor; wherein,

[0052] The memory stores computer program instructions that can be executed by the at least one processor, which enables the at least one processor to execute the vehicle steering safety warning method based on steering characteristics.

[0053] In another aspect, the present invention provides a computer-readable storage medium storing a program that, when executed by a processor, implements the aforementioned vehicle steering safety warning method based on steering handling characteristics.

[0054] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0055] 1. This invention, by employing safety risk management based on the steering characteristics during vehicle steering, brings the advantages of avoiding traffic accidents caused by steering characteristics during vehicle steering and ensuring vehicle steering safety.

[0056] 2. The present invention has the advantage of identifying steering control characteristic risk sources during the vehicle's steering process by performing safety identification.

[0057] 3. This invention has the advantage of reducing, eliminating or controlling risks by controlling the steering characteristics during the vehicle's steering process. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a flowchart of a vehicle steering safety warning method based on steering handling characteristics according to an embodiment of the present invention;

[0060] Figure 2 This is a schematic diagram illustrating the steering characteristics during a turning process according to an embodiment of the present invention;

[0061] Figure 3 This is a block diagram of a vehicle steering and driving safety warning system based on steering handling characteristics, according to an embodiment of the present invention.

[0062] Figure 4 This is a structural diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0063] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

[0064] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0065] like Figure 1 , Figure 2 As shown, this embodiment of the vehicle steering safety warning method based on steering handling characteristics includes the following steps:

[0066] S1. Obtain the front wheel slip angle, rear wheel slip angle, steering wheel angle, and target azimuth angle of the vehicle during the turning process;

[0067] Furthermore, the front wheel slip angle and rear wheel slip angle are sensed using wheel inertial sensors;

[0068] The steering wheel angle is sensed using a steering angle sensor;

[0069] Millimeter-wave radar is used to sense the azimuth of targets ahead.

[0070] S2. Identify the steering characteristics Δα of the vehicle during steering maneuvers.

[0071] The steering handling characteristic Δα is:

[0072] Δα=α f -α r

[0073] In the formula, α f The front wheel slip angle, α r Indicates the rear wheel slip angle;

[0074] S3. Calculate the steering wheel angle deviation Δδ s The steering wheel angle deviation Δδ s The calculation formula is as follows:

[0075] Δδ s =δ sw -δ s

[0076] In the formula, δ sw δ is the theoretical value of the steering wheel angle. s To control the steering wheel angle;

[0077] Furthermore, the theoretical value of the steering wheel angle δ sw The calculation is as follows:

[0078] δsw =i s δ tf =i s (α target ±α f )

[0079] In the formula, δ tf Indicates the theoretical value of the front wheel steering angle, i s α represents the steering system gear ratio. target Indicates the azimuth of the target ahead.

[0080] Furthermore, the theoretical value of the front wheel steering angle δ tf The calculation is as follows:

[0081] δ tf =α target ±α f

[0082] In the formula, α target Indicates the azimuth angle of the target ahead, α f Indicates the front wheel slip angle

[0083] S4. Perform risk identification on the steering characteristics, specifically:

[0084] Δα<0 indicates oversteering, a high-risk situation.

[0085] Δα>0 indicates understeer, a high-risk situation.

[0086] When Δα = 0, the steering characteristics are neutral, indicating a low risk level.

[0087] S5. Based on the risks associated with the steering characteristics of a vehicle during steering, the driver shall take corresponding safety control measures to reduce, eliminate, or control the risks, specifically:

[0088] The understeer risk control measures include reducing speed and acceleration, and manipulating the steering wheel angle deviation Δδ. s Greater than zero;

[0089] The oversteer risk control measures include reducing speed and acceleration, and manipulating the steering wheel angle deviation Δδ. s Less than zero;

[0090] The aforementioned normal driving risk control involves maintaining an appropriate understeer characteristic during steering, and controlling the steering angle deviation Δδ. s Less than zero.

[0091] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously.

[0092] Based on the same idea as the vehicle steering safety warning method based on steering handling characteristics in the above embodiments, the present invention also provides a vehicle steering safety warning system based on steering handling characteristics. This system can be used to execute the above-described vehicle steering safety warning method based on steering handling characteristics. For ease of explanation, the structural schematic diagram of the vehicle steering safety warning system embodiment based on steering handling characteristics only shows the parts related to the embodiments of the present invention. Those skilled in the art will understand that the illustrated structure does not constitute a limitation on the device, and may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0093] Please see Figure 3 In another embodiment of this application, a vehicle steering driving safety warning system 100 based on steering handling characteristics is provided. The system includes a parameter acquisition module 101, a steering handling characteristics module 102, a steering wheel steering angle deviation calculation module 103, a risk identification module 104, and a risk control module 105.

[0094] The parameter acquisition module 101 is used to acquire the front wheel slip angle, rear wheel slip angle, steering wheel angle and target azimuth angle of the vehicle during the turning process.

[0095] The steering handling characteristic module 102 is used to identify the steering handling characteristic Δα of the vehicle during steering, wherein the steering handling characteristic Δα is:

[0096] Δα=α f -α r

[0097] In the formula, α f The front wheel slip angle, α r Indicates the rear wheel slip angle;

[0098] The steering wheel angle deviation calculation module 103 is used to calculate the steering wheel angle deviation Δδ. s The steering wheel angle deviation Δδ s The calculation formula is as follows:

[0099] Δδ s =δ sw -δ s

[0100] In the formula, δ swδ is the theoretical value of the steering wheel angle. s To control the steering wheel angle;

[0101] The risk identification module 104 is used to identify risks in the steering characteristics, specifically as follows:

[0102] Δα<0 indicates oversteering, a high-risk situation.

[0103] Δα>0 indicates understeer, a high-risk situation.

[0104] When Δα = 0, the steering characteristics are neutral, indicating a low risk level.

[0105] The risk control module 105 is used to determine the steering wheel angle deviation Δδ based on the identified risk level. s Control the risks associated with the trip.

[0106] It should be noted that the vehicle steering safety warning system based on steering control characteristics of the present invention corresponds one-to-one with the vehicle steering safety warning method based on steering control characteristics of the present invention. The technical features and beneficial effects described in the embodiments of the vehicle steering safety warning method based on steering control characteristics described above are all applicable to the embodiments of the vehicle steering safety warning based on steering control characteristics. For details, please refer to the description in the embodiments of the method of the present invention, which will not be repeated here.

[0107] Furthermore, in the above embodiments of the vehicle steering safety warning system based on steering handling characteristics, the logical division of each program module is only an example. In actual applications, the above functions can be assigned to different program modules as needed, for example, for the sake of corresponding hardware configuration requirements or software implementation convenience. That is, the internal structure of the vehicle steering safety warning system based on steering handling characteristics is divided into different program modules to complete all or part of the functions described above.

[0108] Please see Figure 4 In one embodiment, an electronic device is provided for implementing a vehicle steering safety warning method based on steering handling characteristics. The electronic device 200 may include a first processor 201, a first memory 202 and a bus, and may also include a computer program stored in the first memory 202 and executable on the first processor 201, such as a vehicle steering safety warning program 203 based on steering handling characteristics.

[0109] The first memory 202 includes at least one type of readable storage medium, including flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the first memory 202 can be an internal storage unit of the electronic device 200, such as the portable hard drive of the electronic device 200. In other embodiments, the first memory 202 can also be an external storage device of the electronic device 200, such as a plug-in portable hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device 200. Furthermore, the first memory 202 can include both internal and external storage units of the electronic device 200. The first memory 202 can be used not only to store application software and various types of data installed on the electronic device 200, such as the code of a car steering safety warning program 203 based on steering handling characteristics, but also to temporarily store data that has been output or will be output.

[0110] In some embodiments, the first processor 201 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The first processor 201 is the control unit of the electronic device, connecting various components of the entire electronic device through various interfaces and lines. It executes programs or modules stored in the first memory 202 and calls data stored in the first memory 202 to perform various functions of the electronic device 200 and process data.

[0111] Figure 4 Only electronic devices with components are shown; it will be understood by those skilled in the art that... Figure 4 The structure shown does not constitute a limitation on the electronic device 200, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0112] The vehicle steering safety warning program 203 based on steering handling characteristics, stored in the first memory 202 of the electronic device 200, is a combination of multiple instructions. When run in the first processor 201, it can achieve the following:

[0113] S1. Obtain the front wheel slip angle, rear wheel slip angle, steering wheel angle, and target azimuth angle of the vehicle during the turning process;

[0114] S2. Identify the steering characteristics Δα of the vehicle during the steering process, wherein the steering characteristics Δα are:

[0115] Δα=α f -α r

[0116] In the formula, α f The front wheel slip angle, α r Indicates the rear wheel slip angle;

[0117] S3. Calculate the steering wheel angle deviation Δδ s The steering wheel angle deviation Δδ s The calculation formula is as follows:

[0118] Δδ s =δ sw -δ s

[0119] In the formula, δ sw δ is the theoretical value of the steering wheel angle. s To control the steering wheel angle;

[0120] S4. Perform risk identification on the steering characteristics, specifically:

[0121] Δα<0 indicates oversteering, a high-risk situation.

[0122] Δα>0 indicates understeer, a high-risk situation.

[0123] Δα=0, the steering characteristics are neutral, and the risk level is low;

[0124] S5. Based on the identified risk level, use the calculated steering wheel angle deviation Δδ s Control driving risks.

[0125] Furthermore, if the modules / units integrated in the electronic device 200 are implemented as software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0126] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0127] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A vehicle steering safety warning method based on steering handling characteristics, characterized in that, Includes the following steps: S1. Obtain the front wheel slip angle, rear wheel slip angle, steering wheel angle, and target azimuth angle of the vehicle during the turning process; S2. Identify the steering handling characteristic Δα of the vehicle during the turning process, wherein the steering handling characteristic Δα is: Dα=α f -a r In the formula, α f The front wheel slip angle, α r Indicates the rear wheel slip angle; S3. Calculate the steering wheel angle deviation Δδ s The steering wheel angle deviation Δδ s The calculation formula is as follows: Dd s =d sw -d s In the formula, δ sw δ is the theoretical value of the steering wheel angle. s To control the steering wheel angle; In step S3, the theoretical value of the steering wheel angle δ sw The calculation is as follows: d sw =i s d tf =i s (a target ±a f ) In the formula, δ tf Indicates the theoretical value of the front wheel steering angle, i s α represents the steering system gear ratio. target Indicates the azimuth of the target ahead; The theoretical value of the front wheel steering angle δ tf The calculation is as follows: d tf =a target ±a f In the formula, α target Indicates the azimuth angle of the target ahead, α f Indicates the front wheel slip angle; S4. Perform risk identification on the steering characteristics, specifically: Δα<0 indicates oversteering, a high-risk situation. Δα>0 indicates understeer, a high-risk situation. Δα=0, the steering characteristics are neutral, and the risk level is low; S5. Based on the identified risk level, use the calculated steering wheel angle deviation Δδ s Controlling driving risks; specifically: When the steering characteristics are oversteer, reduce speed and acceleration, and adjust the steering wheel angle deviation Δδ. s Less than zero; When the steering characteristics are understeer, reduce speed and acceleration, and adjust the steering wheel angle deviation Δδ. s Greater than zero; When the steering characteristic is neutral steering, during normal driving, the steering wheel angle should be kept appropriately adjusted for understeering steering, with the steering wheel angle deviation Δδ. s Less than zero.

2. The vehicle steering safety warning method based on steering handling characteristics according to claim 1, characterized in that, In step S1, the front wheel slip angle and the rear wheel slip angle are sensed by wheel inertial sensors; The steering wheel angle is sensed by a steering angle sensor; Millimeter-wave radar is used to sense the azimuth of targets ahead.

3. A vehicle steering safety warning system based on steering handling characteristics, applied to the vehicle steering safety warning method based on steering handling characteristics as described in any one of claims 1-2, characterized in that, It includes a parameter acquisition module, a steering handling characteristics module, a steering wheel steering angle deviation calculation module, a risk identification module, and a risk control module; The parameter acquisition module is used to acquire the front wheel slip angle, rear wheel slip angle, steering wheel angle and target azimuth angle of the vehicle during the turning process; The steering handling characteristic module is used to identify the steering handling characteristic Δα of the vehicle during steering, wherein the steering handling characteristic Δα is: Dα=α f -a r In the formula, α f The front wheel slip angle, α r Indicates the rear wheel slip angle; The steering wheel angle deviation calculation module is used to calculate the steering wheel angle deviation Δδ. s The steering wheel angle deviation Δδ s The calculation formula is as follows: Dd s =d sw -d s In the formula, δ sw The theoretical value of the steering wheel angle, δ s To control the steering wheel angle; The risk identification module is used to identify risks associated with the steering characteristics, specifically as follows: Δα<0 indicates oversteering, a high-risk situation. Δα>0 indicates understeer, a high-risk situation. Δα=0, the steering characteristics are neutral, and the risk level is low; The risk control module is used to determine the steering wheel angle deviation Δδ based on the identified risk level. s Control the risks associated with the trip.

4. An electronic device, characterized in that, The electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores computer program instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the vehicle steering safety warning method based on steering characteristics as described in any one of claims 1-2.

5. A computer-readable storage medium storing a program, characterized in that, When the program is executed by the processor, it implements the vehicle steering and driving safety warning method based on steering control characteristics as described in any one of claims 1-2.

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