A vehicle turning control device and a vehicle

Abstract

The embodiment of the present application provides a vehicle turning control device and a vehicle, which comprise: a steering control device for providing a steering auxiliary force; a vehicle brake control device comprising a brake unit for braking each wheel respectively and a running state detection unit for detecting a running state of the vehicle, the vehicle brake control device is used for braking control of each wheel according to the detection value of the running state detection unit; an ECU control unit for acquiring a road surface friction coefficient and controlling the steering auxiliary force provided by the steering control device and / or the braking force provided by the vehicle brake control device according to the road surface friction coefficient, so that the influence of the road surface friction coefficient is considered in the process of vehicle turning control, thereby reducing the abnormal wear of the tire and the brake pad in the turning process.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a vehicle turning control device and a vehicle. Background Technology

[0002] In existing technologies, to improve a vehicle's cornering characteristics, various sensors mounted on the vehicle determine its cornering state. Based on the sensor readings, the magnitude of the braking force applied to the inner wheel's rear rotation and the driving force applied to each front wheel are calculated. By controlling the brakes corresponding to the inner wheel's rear rotation, the corresponding braking force is applied to the inner wheel's rear rotation to control the vehicle's cornering. However, because the road surface's coefficient of friction is not considered, abnormal tire wear and brake pad wear cannot be reduced. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a vehicle turning control device and a vehicle that overcome or at least partially solve the above problems.

[0004] To address the aforementioned problems, embodiments of the present invention disclose a vehicle turning control device, comprising:

[0005] Steering control unit, used to provide steering assistance force;

[0006] A vehicle braking control device includes a braking unit that brakes each wheel separately and a driving state detection unit that detects the driving state of the vehicle. The vehicle braking control device is used to brake each wheel according to the detection value of the driving state detection unit.

[0007] The ECU control unit is used to acquire the road surface friction coefficient and, based on the road surface friction coefficient, control the steering assist force provided by the steering control device and / or the braking force provided by the vehicle braking control device.

[0008] Optionally, the ECU control unit is specifically used to calculate the road surface friction coefficient based on the braking force of the braking unit and the slip ratio calculated by the driving state detection unit; and to control the steering assist force of the steering control device and / or the braking force of the vehicle braking control device based on the road surface friction coefficient.

[0009] Optionally, it also includes:

[0010] A torque detection device is used to detect the steering torque applied to the steering shaft;

[0011] Steering wheel angle detection device, used to detect the angular velocity of the steering wheel;

[0012] The ECU control unit is specifically configured to determine the road surface friction coefficient according to a torque detection value of the torque detection device and a steering wheel angle speed detection value of the steering wheel angle detection device.

[0013] Optionally, the ECU control unit is specifically configured to increase a steering assistance force of the steering control device and / or reduce a braking force of the vehicle braking control device when the road surface friction coefficient is greater than a preset threshold value.

[0014] Optionally, the ECU control unit is specifically configured to increase the braking force of the vehicle braking control device on the inner circle of the rear wheel of the vehicle when the road surface friction coefficient is less than or equal to the preset threshold value.

[0015] Optionally, the ECU control unit is further configured to determine whether to perform vehicle turning control according to a vehicle body speed detection signal and a steering wheel angle; if the vehicle body speed is less than a preset speed threshold value and the steering wheel angle is greater than a preset steering wheel angle threshold value, the steering control device is controlled to perform vehicle turning control; if the vehicle body speed is less than the preset speed threshold value and the steering wheel angle is less than the preset steering wheel angle threshold value, the control is stopped.

[0016] Optionally, the ECU control unit is further configured to calculate a tire slip angle according to a detection value of the driving state detection unit; if the road surface friction coefficient calculated by the ECU control unit is greater than a preset friction coefficient threshold value, the tire slip angle is controlled to be smaller; if the road surface friction coefficient calculated by the ECU control unit is less than or equal to the preset friction coefficient threshold value, the tire slip angle is controlled to be larger.

[0017] The embodiment of the application further discloses a vehicle, comprising the vehicle turning control device.

[0018] The embodiment of the application has the following advantages: the steering control device is used to provide a steering assistance force; the vehicle braking control device comprises a braking unit for braking each wheel and a driving state detection unit for detecting a driving state of the vehicle, and the vehicle braking control device is used to brake control each wheel according to the detection value of the driving state detection unit; the ECU control unit is used to calculate a road surface friction coefficient, and control the steering assistance force provided by the steering control device and / or the braking force provided by the vehicle braking control device according to the road surface friction coefficient, so that the influence of the road surface friction coefficient is considered in the process of vehicle turning control, thereby reducing abnormal wear of the tire and the brake pad during turning. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural diagram of a vehicle turning control device provided by the embodiment of the application;

[0020] Figure 2 is a structural diagram of a vehicle provided by an embodiment of the present application;

[0021] Figure 3 is a step flow chart of a vehicle turning control method provided by an embodiment of the present application;

[0022] Figure 4 is a diagram provided by an embodiment of the present application for illustrating the relationship between the side slip angle of a vehicle and the slip angle of a tire. DETAILED DESCRIPTION

[0023] In order to make the above-mentioned objectives, features and advantages of the present application more apparent and comprehensible, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] In the system for improving the turning characteristics of a vehicle by using the prior brake force, abnormal wear of a tire and abnormal wear of a brake pad occur due to the fact that the friction coefficient of a road surface is not considered, and there is a lack of a device that takes the friction coefficient of a road surface into consideration to avoid abnormal wear of a tire and abnormal wear of a brake pad.

[0025] One of the core ideas of the embodiment of the present application is that the ECU control unit calculates the friction coefficient of a road surface, controls the steering assist force provided by the steering control device and / or the brake force provided by the vehicle brake control device according to the friction coefficient of a road surface, and further takes the friction coefficient of a road surface as a control factor to control the turning of a vehicle, thereby reducing the abnormal wear of a tire and the abnormal wear of a brake pad.

[0026] Reference Figure 1 is a structural diagram of a vehicle turning control device provided by an embodiment of the present application, which comprises a steering control device 101 for providing steering assist force, a vehicle brake control device 102 comprising brake units for braking each wheel and a running state detection unit for detecting the running state of a vehicle, the vehicle brake control device being used for brake control of each wheel according to the detection value of the running state detection unit, and an ECU control unit 103 for obtaining the friction coefficient of a road surface and controlling the steering assist force provided by the steering control device and / or the brake force provided by the vehicle brake control device according to the friction coefficient of a road surface.

[0027] In the embodiment of the present application, the vehicle turning control device can further be provided with an anti-sideslip device (ESC), which can make the vehicle brake control device 102 prevent the wheels from slipping when the vehicle is running or braking during the process of vehicle brake control, maintain the stability of the vehicle when turning, and improve the steering stability of the vehicle; and can make the steering control device 101 further prevent the vehicle from shaking and maintain the stability of the vehicle during the process of vehicle steering control.

[0028] When the vehicle is running, the control unit ECU in the vehicle turning control device can change the vehicle yaw moment by adjusting the braking force of each wheel and the driving force of the engine / motor, so as to ensure the vehicle to keep a stable state.

[0029] As an example, in the process of vehicle turning control, the ECU control unit 103 can calculate the road surface friction coefficient, and control the steering control device to adjust the steering assist force and / or the vehicle braking control device to adjust the braking force according to the road surface friction coefficient.

[0030] In an embodiment of the present application, the ECU control unit is specifically configured to determine the road surface friction coefficient according to the braking force of the braking unit and the slip ratio calculated by the running state detection unit; and control the steering assist force of the steering control device and / or the braking force of the vehicle braking control device according to the road surface friction coefficient.

[0031] As an example, the ECU control unit 103 can obtain the vehicle body speed V and the wheel speed V1 from the vehicle body speed sensor 104 and the wheel speed sensor 105 in the running state detection unit, calculate the slip ratio λ according to the vehicle body speed V and the wheel speed V1, and determine the road surface friction coefficient according to the characteristic curve formed by the braking force and the slip ratio.

[0032] As an example, the ECU control unit 103 can infer the road surface friction coefficient μ corresponding to the slip ratio λ of the wheel according to the λ-μ characteristic curve of the relationship between the road surface friction coefficient μ and the slip ratio of the wheel. The λ-μ characteristic curve has a variable characteristic, that is, as the slip ratio λ of the wheel increases, the road surface friction coefficient μ increases, and if the slip ratio λ of the wheel reaches a preset slip ratio or more, as the slip ratio λ of the wheel increases, the road surface friction coefficient μ gradually decreases.

[0033] The corresponding relationship between the slip ratio λ and the road surface friction coefficient μ can be preset, the λ-μ characteristic curve formed by different vehicle models is different, and those skilled in the art can set it according to the actual situation, which is not limited in the embodiment of the present application.

[0034] In an embodiment of the present application, the vehicle turning control device further comprises: a torque detection device configured to detect the steering torque applied to the steering shaft; and a steering wheel angle detection device configured to detect the steering wheel angle speed; and the ECU control unit is specifically configured to determine the road surface friction coefficient according to the torque detection value of the torque detection device and the steering wheel angle speed detection value of the steering wheel angle detection device.

[0035] As an example, the ECU control unit 103 can acquire the steering torque detection value and the steering wheel angular velocity detection value in real time, and form a characteristic curve of the steering torque and the vehicle steering wheel angular velocity according to the steering torque detection value and the vehicle steering wheel angular velocity detection value detected by the driving state detection unit, and determine the road surface friction coefficient according to the characteristic curve.

[0036] In an embodiment of the present application, the ECU control unit is specifically configured to increase the steering assistance force of the steering control device and / or reduce the braking force of the vehicle braking control device when the road surface friction coefficient is greater than a preset threshold value.

[0037] As an example, if the acquired road surface friction coefficient is greater than the preset threshold value, it indicates that the current road surface friction coefficient is large, and the steering assistance force of the steering control device can be increased and / or the braking force of the vehicle braking control device can be reduced to reduce the abnormal wear of the tire and the brake pad.

[0038] As an example, the road surface friction coefficient can be pre-calibrated, for example, the dry asphalt, wet asphalt, etc. in summer can be pre-calibrated as different sizes of road surface friction coefficients.

[0039] In an embodiment of the present application, the ECU control unit is specifically configured to increase the braking force of the vehicle braking control device on the inner circle of the rear wheel of the vehicle when the road surface friction coefficient is less than or equal to a preset threshold value.

[0040] As an example, if the acquired road surface friction coefficient is less than or equal to the preset threshold value, it indicates that the current road surface friction coefficient is small, and the braking force of the vehicle braking control device on the inner circle of the rear wheel of the vehicle can be increased to prevent the vehicle from driving out of the curve.

[0041] As an example, if the acquired road surface friction coefficient is less than or equal to the preset threshold value, it indicates that the current road surface friction coefficient is small, and the braking force of the vehicle braking control device on the inner circle of the rear wheel of the vehicle can be increased to prevent the vehicle from driving out of the curve.

[0042] As an example, the road surface friction coefficient can be pre-calibrated, for example, the ice road, snow road, etc. in winter can be pre-calibrated as different sizes of road surface friction coefficients.

[0043] In an embodiment of the present application, the ECU control unit is further configured to determine whether to perform vehicle turning control according to the vehicle body speed detection signal and the steering wheel angle; if the vehicle body speed is less than a preset speed threshold and the steering wheel angle is greater than a preset steering wheel angle threshold, the steering control device is controlled to perform vehicle turning control; if the vehicle body speed is less than the preset speed threshold and the steering wheel angle is less than or equal to the preset steering wheel angle threshold, the control is stopped.

[0044] As an example, in the process of vehicle turning control, the vehicle body speed can be obtained by the vehicle body speed sensor 104, and when the vehicle body speed is lower than a preset speed threshold and the steering wheel angle is greater than a preset steering wheel angle threshold, the ECU control unit 103 can control the steering control device to perform vehicle turning control. For example, the steering wheel rotation generates a torque, the torque sensor sends a torque sensing signal to the ECU control unit 103, the ECU control unit 103 generates a control signal and sends it to the motor, the motor operates according to the control signal, and the warm gear is transmitted to the rack and pinion mechanism, and then the rack and pinion mechanism controls the steering wheel. In the process of auxiliary force steering control, the calculated control value of the steering control device control amount is used to maintain or reduce the auxiliary force, or to return the steering wheel angle for control; and / or according to the control amount of the vehicle brake control device, the rear inner wheel is braked, the wheel cylinder pressure (braking force) is calculated and applied to the rear inner wheel for braking.

[0045] For example, if the vehicle body speed is less than a preset speed and the steering wheel angle is greater than a preset steering wheel angle threshold, the brake hydraulic pressure is controlled to be smaller, thereby reducing the braking force; if the vehicle body speed is less than a preset speed and the steering wheel angle is less than or equal to a preset steering wheel angle threshold, the control is stopped, and the control amount of the turning control is reset to "0".

[0046] In an embodiment of the present application, the ECU control unit is further configured to calculate the tire slip angle of the vehicle according to the detection value of the driving state detection unit; if the road surface friction coefficient calculated by the ECU control unit is greater than a preset friction coefficient threshold, the tire slip angle is controlled to be smaller; if the road surface friction coefficient calculated by the ECU control unit is less than or equal to a preset friction coefficient threshold, the tire slip angle is controlled to be larger.

[0047] As an example, the vehicle side slip angle β can be calculated according to the vehicle body speed V, the wheel speed V1, the yaw rate ψ, the lateral acceleration Yg and other detection values detected by the driving state detection unit, and the tire slip angle of each tire can be calculated according to the vehicle side slip angle β. If the road surface friction coefficient calculated by the ECU control unit 103 is greater than a preset friction coefficient threshold, the tire slip angle is controlled to be smaller; if the road surface friction coefficient calculated by the ECU control unit 103 is less than or equal to a preset friction coefficient threshold, the tire slip angle is controlled to be larger.

[0048] Further, as an example, the vehicle turning control can also be further determined according to the tire slip angle of the vehicle wheel, wherein the vehicle turning control device can independently control each wheel of the vehicle. For example, the vehicle turning control can be prohibited when the tire slip angle of the vehicle wheel is greater than a limit threshold, such as controlling the brake control device to maintain the brake force, controlling the steering control device to maintain or reduce the steering assist force, or turning the steering wheel back. When the tire slip angle of the vehicle wheel is less than or equal to the limit threshold, the control amount of the vehicle control device required to adjust the control of the vehicle wheel can be calculated according to the size of the tire slip angle, such as adjusting the brake hydraulic pressure of the vehicle control device, and applying a corresponding brake force to the front rotating outer ring of the vehicle wheel or the rear rotating inner ring of the vehicle wheel.

[0049] As an example, the vehicle control device can control different wheels of the same vehicle respectively, and each wheel is independently controlled. Those skilled in the art can control the wheels according to the actual situation, which is not limited in the embodiments of the present application.

[0050] In the embodiments of the present application, the steering control device is used to provide steering assist force; the vehicle brake control device includes a brake unit for braking each wheel respectively and a running state detection unit for detecting the running state of the vehicle, and the vehicle brake control device is used to brake each wheel according to the detection value of the running state detection unit; and the ECU control unit is used to calculate the road friction coefficient and control the steering assist force provided by the steering control device and / or the brake force provided by the vehicle brake control device according to the road friction coefficient, so that the influence of the road friction coefficient is considered in the process of vehicle turning control, thereby reducing the abnormal wear of the tire and the brake pad during turning.

[0051] Referring to Figure 3 , a step flowchart of a vehicle turning control method provided by the embodiments of the present application is shown, and the method can specifically include the following steps:

[0052] The flow starts:

[0053] S1, obtaining the detection values of each sensor of the vehicle;

[0054] For example, the ECU control unit 103 can obtain the corresponding detection values of the vehicle body speed V, the wheel speed V1, the yaw rate ψ, the lateral acceleration Yg, etc. from the vehicle body speed sensor 104, the wheel speed sensor 105, the yaw sensor 106 and the lateral G sensor 107 respectively.

[0055] S2, the running state detection unit calculates the running state of the vehicle according to the detection values of each sensor;

[0056] It should be noted that the vehicle driving state here can include the braking state in which the braking system of the vehicle control device applies braking force to the wheels, the steering state in which the driver operates the steering wheel and changes the steering wheel angle θ, and the normal state other than any of the above states. That is, the vehicle driving state can be any of the braking state, steering state, or normal state, and the embodiments of the present invention are not limited thereto.

[0057] S3 calculates the vehicle's sideslip angle;

[0058] In specific implementation, the vehicle's slip angle β can be calculated based on the relationship between the detection value Yg of the lateral G sensor 107, the detection value V of the vehicle speed sensor 104, and the detection value ψ of the yaw rate sensor 106.

[0059] For example: dβ / dt=Yg / V-ψ

[0060] It should be noted that the removal of integral error can be set to 0 when the lateral acceleration and yaw rate are both 0.

[0061] S4 calculates the vehicle's tire slip angle;

[0062] For example, the vehicle can be simplified to a 2-wheel model, and the slip angle of the tires is calculated according to the following formula:

[0063]

[0064]

[0065] like Figure 4 The diagram shown in this embodiment of the invention illustrates the relationship between the vehicle sideslip angle and the tire slip angle, wherein α v and α h These are the slip angles of the front and rear wheels of the vehicle, respectively; δ v δ is the front wheel steering angle. h V is the rear wheel toe angle; V is the vehicle speed; β is the vehicle sideslip angle; l v and l h ψ represents the distance from the vehicle's center of gravity to the front and rear axles, respectively; ψ represents the vehicle's yaw rate (also known as the yaw rate).

[0066] Exemplarily, the characteristic value of the vehicle side-slip angle β can also be determined according to a characteristic curve formed by the vehicle side-slip angle β and the vehicle yaw rate ψ. In the control process of the vehicle stability, the vehicle side-slip angle β can be limited within the range of the characteristic value, so as to not only keep the vehicle from side-slip in the emergency working condition, but also ensure that the gain of the vehicle yaw rate ψ is within a reasonable range. The control unit will control the vehicle before the characteristic value is reached, so as to ensure that the wheels can be normally braked or driven, and generate sufficient additional yaw moment to maintain the vehicle stability.

[0067] In addition, the corresponding relationship of the β-ψ characteristic curve can be pre-set. The β-ψ characteristic curves of different vehicle models are different, and the person skilled in the art can set them according to the actual situation, which is not limited in the embodiments of the present application.

[0068] S5, determining whether to allow or prohibit the vehicle turning control;

[0069] Exemplarily, whether to perform the vehicle turning control can be determined according to the vehicle body speed and the steering wheel turning angle. For example, when the vehicle body speed is lower than a preset speed and the steering wheel turning angle is greater than a preset angle, the ECU control unit controls the steering control device to perform the vehicle turning control, or controls the brake control device to perform the brake force control; otherwise, the control is prohibited, and the control amount of the turning control is reset to “0”.

[0070] S6, determining whether to continue the vehicle turning control;

[0071] Exemplarily, when the tire slip angle of the front return outer circle of the wheel or the tire slip angle of the rear return inner circle of the wheel exceeds a preset threshold value, the tire wear and pad wear will become large, so the control is prohibited when the slip angle of any wheel or both wheels exceeds a certain value. If the slip angles of the tires of all wheels are below the threshold value, the brake force is given to the rear inner circle according to the tire slip angle.

[0072] S7, if the vehicle turning control is determined to continue, calculating the brake force to be controlled;

[0073] Exemplarily, the corresponding brake force calculation value can be obtained according to the corresponding relationship between the steering wheel turning angle and the brake force in the vehicle turning control process, and the brake force calculation value is converted into a wheel cylinder pressure value. The wheel cylinder pressure (i.e. the brake force) can be used to brake the wheel.

[0074] S8, calculating the limit threshold value of the vehicle side-slip angle;

[0075] S9, adjusting the steering auxiliary force and the brake force according to the limit threshold value of the vehicle side-slip angle;

[0076] For example, in the process of vehicle cornering control, if the vehicle side slip angle reaches a limit threshold, the steering assist force or the braking force can be maintained or the steering wheel angle can be assisted in the returning direction.

[0077] S10, the calculated braking force is applied to the inner side of the rear wheel tire;

[0078] S11, if the vehicle cornering control is determined to be not continued, the control is prohibited;

[0079] The flow ends.

[0080] It should be noted that for the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited to the action sequence described, because according to the embodiments of the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

[0081] The embodiments of the present application also provide a vehicle, comprising: the vehicle cornering control device in the above embodiments.

[0082] Each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same and similar parts between the embodiments can be referred to each other.

[0083] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, device, or computer program product. Therefore, the embodiments of the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0084] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams according to the method, terminal device (system), and computer program product of the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device produce a machine that implements the flowcharts and / or block diagrams. Figure 1 Each flow or multiple flows and / or blocks Figure 1means for performing the function specified by that block or blocks.

[0085] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 flow or flows and / or blocks Figure 1 means for performing the function specified by that block or blocks.

[0086] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 flow or flows and / or blocks Figure 1 means for performing the function specified by that block or blocks.

[0087] While preferred embodiments of the application have been described, modifications and variations can be apparent to those skilled in the art once aware of the general underlying concepts. Accordingly, the appended claims are intended to embrace all such modifications and variations as fall within the scope of the preferred embodiments of the application.

[0088] Finally, it should be noted that the terms "first", "second", and the like, herein do not denote any order, quantity, combination, or importance, but rather are used to nomenclature different components to distinguish one component from another component and do not necessarily imply or require any such actual relationship or order. 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 apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0089] The above detailed description has set forth various embodiments of the vehicle turning control device and vehicle provided by the present application. The above description is merely intended to help understand the method and core idea of the present application. For those skilled in the art, according to the idea of the present application, the specific implementation and application range can be changed. Therefore, the above description should not be understood as a limitation of the present application.

Claims

1. A vehicle turning control device characterized by comprising: The vehicle turning control device comprises: a steering control device for providing a steering assist force; a vehicle brake control device comprising brake units for braking each wheel respectively and a running state detection unit for detecting a running state of the vehicle, the vehicle brake control device being configured to perform brake control on each wheel according to a detection value of the running state detection unit, wherein the running state detection unit is configured to obtain detection values of each sensor of the vehicle, and calculate a vehicle side slip angle and a tire slip angle according to the detection values of each sensor, the detection values of each sensor at least comprising a vehicle body speed and a steering wheel steering angle; an ECU control unit configured to obtain a road surface friction coefficient when the vehicle body speed is lower than a preset speed and the steering wheel steering angle is greater than a preset angle, and control the steering assist force provided by the steering control device and / or the brake force provided by the vehicle brake control device according to the road surface friction coefficient, comprising: in the case that the road surface friction coefficient is greater than a preset threshold, increasing the steering assist force of the steering control device and / or reducing the brake force of the vehicle brake control device; in the case that the road surface friction coefficient is less than or equal to the preset threshold, increasing the brake force of the vehicle brake control device on the inner circle of the rear wheels of the vehicle; the process of the vehicle brake control device applying the brake force to the inner circle of the rear wheels of the vehicle comprising: in the process of vehicle turning control, when each tire slip angle is below a threshold, obtaining an operation value of the corresponding brake force according to the corresponding relationship between the steering wheel steering angle and the brake force; when the vehicle side slip angle reaches a limit threshold, maintaining the steering assist force or maintaining the brake force or assisting the steering wheel steering angle to go back and forth in the direction; assigning the operation value of the brake force to the inner circle of the rear wheels of the vehicle.

2. The vehicle turning control device according to claim 1, wherein the ECU control unit is specifically configured to determine the road surface friction coefficient according to the brake force of the brake unit and the slip ratio calculated by the running state detection unit, and control the steering assist force of the steering control device and / or the brake force of the vehicle brake control device according to the road surface friction coefficient. Further comprising:

3. The vehicle turn control device according to claim 1, characterized by a torque detection device for detecting a steering torque applied to a steering shaft; a steering wheel steering angle detection device for detecting a steering wheel steering angle speed; the ECU control unit is specifically configured to determine the road surface friction coefficient according to the torque detection value of the torque detection device and the steering wheel steering angle speed detection value of the steering wheel steering angle detection device.

4. The vehicle turning control device according to claim 1, wherein the ECU control unit is further configured to determine whether to perform vehicle turning control according to a vehicle body speed detection signal and a steering wheel steering angle, and control the steering control device to perform vehicle turning control if the vehicle body speed is less than a preset speed threshold and the steering wheel steering angle is greater than a preset steering wheel steering angle threshold, and stop control if the vehicle body speed is less than the preset speed threshold and the steering wheel steering angle is less than the preset steering wheel steering angle threshold.

5. The vehicle turning control device according to claim 1, wherein ​ ​ The ECU control unit is further configured to calculate a tire slip angle of the vehicle according to a detection value of the driving state detection unit; and control the tire slip angle to be smaller if the road friction coefficient calculated by the ECU control unit is greater than a preset friction coefficient threshold. The ECU control unit is further configured to calculate a tire slip angle of the vehicle according to a detection value of the driving state detection unit; and control the tire slip angle to be smaller if the road friction coefficient calculated by the ECU control unit is greater than a preset friction coefficient threshold.

6. A vehicle characterized by comprising: The vehicle turning control device according to any one of claims 1 to 5. The vehicle turning control device according to any one of claims 1 to 5.

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