A method, device and vehicle for adjusting a steering assist mode of a vehicle

Abstract

This application provides a method, apparatus, and vehicle for adjusting a vehicle's steering assist mode. The method includes: when the vehicle's driving mode is steering assist mode, acquiring the vehicle's driving information, environmental information, and the driver's attributes; determining a first type of steering assist mode based on the driving information, environmental information, and driver attributes, wherein the first type is one of multiple types of steering assist modes, and the vehicle's power steering motor outputs different steering assist torques under multiple steering assist modes; and adjusting the steering assist mode to the first type. This method can adjust the vehicle's steering assist mode type in real time according to the vehicle's driving conditions, achieving intelligent and quick switching of steering assist mode types, improving the driver's driving experience, and ensuring the vehicle's stability and safety while driving in steering assist mode.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to a method, apparatus, and vehicle for adjusting a vehicle's steering assist mode. Background Technology

[0002] When a vehicle is driving on the road, if the road conditions ahead suddenly change or an emergency occurs, it may be necessary to turn the steering wheel to adjust the vehicle's driving status. To prevent the vehicle from losing control or experiencing severe vibrations during steering wheel adjustments, it is usually necessary to activate the vehicle's power steering mode to ensure vehicle stability.

[0003] In one possible implementation, the driver can determine and activate different types of steering assist modes (such as common sport and comfort modes) based on current road conditions and driving status, thereby controlling the vehicle to continue driving in the corresponding steering assist mode.

[0004] The process of selecting the steering assist mode is usually determined by the driver, which results in a low degree of matching between the steering assist mode and the vehicle's driving status, and thus an inability to intelligently switch according to the vehicle's driving conditions.

[0005] In summary, how to select the optimal steering assist mode based on the actual driving conditions of the vehicle has become an urgent problem to be solved. Summary of the Invention

[0006] This application provides a method, device, and vehicle for adjusting the steering assist mode of a vehicle. The method can adjust the type of steering assist mode of the vehicle in real time according to the driving conditions of the vehicle when the vehicle is in steering assist mode, so as to achieve the purpose of intelligent and quick switching of steering assist mode type, improve the driver's driving experience, and at the same time ensure the stability and safety of the vehicle driving in steering assist mode.

[0007] In a first aspect, a method for adjusting a vehicle's steering assist mode is provided. The method includes: when the vehicle's driving mode is steering assist mode, acquiring the vehicle's driving information, environmental information, and the attributes of the driver in the vehicle; determining a first type of steering assist mode based on the driving information, environmental information, and the driver's attributes, wherein the first type is one of multiple types of steering assist modes, and the vehicle's power assist motor outputs different steering assist torques under the multiple types of steering assist modes; and adjusting the steering assist mode to the first type.

[0008] In the aforementioned technical solution, the vehicle's steering assist mode enables the vehicle to maintain stability during sharp turns. The type of steering assist mode required varies depending on the vehicle's driving conditions (e.g., driving information, environmental information, and driver attributes). This application provides multiple different types of steering assist modes, capable of matching the most suitable type based on the current driving conditions. This achieves the effect of accurately adjusting the vehicle's steering assist mode, improving the riding experience for passengers, and ensuring the vehicle's stability and safety during sharp turns.

[0009] In conjunction with the first aspect, in some possible implementations, determining the first type of the steering assist mode based on the driving information, the environmental information, and the driver's attributes includes: determining a target mode adjustment parameter for the steering assist mode based on the driving information, the environmental information, and the driver's attributes; and determining the first type corresponding to the target mode adjustment parameter.

[0010] In the above technical solution, the abstracted driving information, environmental information, and driver attributes can be converted into numerical calculations to obtain the target mode adjustment parameters. Based on these target mode adjustment parameters, the first type can be quickly determined. The process of determining the first type of steering assist mode based on the target mode adjustment parameters is simple, efficient, and accurate, improving the efficiency of determining the steering assist mode type.

[0011] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, determining the target mode adjustment parameter of the steering assist mode based on the driving information, the environmental information, and the driver's attributes includes: determining road surface parameters and vehicle speed based on the driving information and the environmental information; determining the driver's force parameter based on the driver's attributes, the force parameter representing the steering force required for the driver to turn the vehicle's steering wheel; determining the weights of the road surface parameters, the vehicle speed, and the force parameter based on the road surface parameters, the vehicle speed, and the force parameter; and determining the target mode adjustment parameter based on the road surface parameters, the weights of the road surface parameters, the vehicle speed, the weights of the vehicle speed, the force parameter, and the weights of the force parameter.

[0012] In the above technical solution, driving information and environmental information, road surface parameters and vehicle speed are mainly related to driving information and environmental information, while the driver's force parameters are mainly related to the driver's attributes. The importance of road surface parameters, vehicle speed, and driver's force parameters varies depending on the vehicle's driving conditions and the type of steering assist mode. For example, if the vehicle is traveling on a flat and wide road, the road surface and vehicle speed are basically constant. Conversely, if the vehicle is traveling on an uneven road, the road surface and vehicle speed fluctuate.

[0013] Therefore, when calculating the target mode adjustment parameters for the power steering mode, in addition to determining the road surface parameters, vehicle speed, and force parameters, it is also necessary to determine the weights of the current road surface parameters, vehicle speed, and force parameters in order to accurately determine the target mode adjustment parameters for the power steering mode.

[0014] In conjunction with the first aspect and the above-described implementation methods, in some possible implementation methods, the driving information includes driving direction, driving position, vehicle speed, vibration frequency, and vibration intensity; the environmental information includes weather type, road surface image between the driving position and the target position, the distance between the target position and the driving position being greater than or equal to a preset distance; and the driver's attributes include facial image and weight. The acquisition of the vehicle's driving information, environmental information, and the driver's attributes includes: acquiring the vibration frequency and vibration intensity via a vibration sensor; acquiring the road surface image via an external camera; acquiring the facial image via an internal camera; acquiring the vehicle speed via a speed sensor; acquiring the driving direction, driving position, and weather type via a positioning system; and acquiring the weight via a weight sensor.

[0015] In conjunction with the first aspect and the above-described implementations, in some possible implementations, the road surface parameters include a first road surface parameter, a second road surface parameter, and a third road surface parameter; determining the road surface parameters and vehicle speed based on the driving information and the environmental information includes: determining the first road surface parameter based on the vibration frequency and the vibration intensity; determining the second road surface parameter based on the driving position, the driving direction, and preset map data; determining the third road surface parameter based on the road surface image and a preset road surface image database; determining the vehicle speed collected by the speed sensor; and determining the driver's force parameter based on the driver's attributes includes: determining the force parameter based on the facial image, the weight, and a preset facial image database.

[0016] In the above technical solution, based on the type of data acquisition equipment corresponding to the driving information, the road surface parameters can be further classified to obtain first road surface parameters, second road surface parameters, and third road surface parameters. Further, based on vehicle speed and the specific determination of force parameters, all parameters required to calculate the target mode adjustment parameters can be obtained.

[0017] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, determining the weights of the road surface parameters, the vehicle speed, and the force parameter based on the road surface parameters, the vehicle speed, and the force parameter includes: determining the prediction type of the steering assist mode based on the first road surface parameters, the second road surface parameters, the third road surface parameters, the vehicle speed, and the force parameter; obtaining the weights of the first road surface parameters, the second road surface parameters, the third road surface parameters, the force parameter, and the vehicle speed corresponding to the prediction type; and, based on the road surface parameters, the second road surface parameters, the third road surface parameters, the vehicle speed, and the force parameter, determining the prediction type of the steering assist mode based on the first road surface parameters, the second road surface parameters, the third road surface parameters, the vehicle speed, and the force parameter; and .... The weights of the vehicle speed, the weight of the vehicle speed, the force parameter, and the weight of the force parameter are used to determine the target mode adjustment parameter. This includes: determining the first product of the first road surface parameter and the weight of the first road surface parameter, the second product of the second road surface parameter and the weight of the second road surface parameter, the third product of the third road surface parameter and the weight of the third road surface parameter, the fourth product of the vehicle speed and the weight of the vehicle speed, and the fifth product of the force parameter and the weight of the force parameter; and determining the sum of the first product, the second product, the third product, the fourth product, and the fifth product as the target mode adjustment parameter.

[0018] The above technical solution proposes a detailed process for calculating the target mode adjustment parameters. After obtaining all the parameters required for calculating the target mode adjustment parameters, this application can further obtain the weights of all parameters. Each parameter is multiplied by its own weight, and finally, all products are summed to obtain the final comprehensive judgment result, which is used as the target mode adjustment parameter. The above process for calculating the target mode adjustment parameters is simple and efficient, and can improve the adjustment efficiency of the steering assist mode.

[0019] In combination with the first aspect and the above implementation methods, in some possible implementation methods, adjusting the steering assist mode to the first type includes: determining the target steering assist torque corresponding to the first type; and controlling the assist motor to output the target steering assist torque.

[0020] It should be understood that when a vehicle is in different types of steering assist modes, the power assist motor primarily outputs different steering assist torques to assist the driver in turning the steering wheel. Therefore, after determining the target output torque for the first type of steering assist mode, this application can control the power assist motor to output the target steering assist torque to accurately assist the driver in completing sharp turns.

[0021] In combination with the first aspect and the above implementation, in some possible implementations, after adjusting the steering assist mode to the first type, the method further includes: in response to the adjustment command of the steering assist mode, adjusting the steering assist mode from the first type to the second type.

[0022] In the above technical solution, after adjusting the steering assist mode according to the first type, if it is necessary to adjust the type of steering assist mode, the driver can manually switch the steering assist mode from the first type to the second type, which ensures the flexibility of steering assist mode adjustment, while ensuring the actual needs of the driver during the driving process and improving the driver's driving experience.

[0023] Secondly, an apparatus for adjusting a vehicle's steering assist mode is provided. The apparatus includes: an acquisition module for acquiring driving information, environmental information, and the attributes of the driver in the vehicle when the vehicle's driving mode is steering assist mode; a determination module for determining a first type of steering assist mode based on the driving information, environmental information, and the driver's attributes, wherein the first type is one of multiple types of steering assist modes, and the vehicle's power assist motor outputs different steering assist torques under the multiple types of steering assist modes; and a first adjustment module for adjusting the steering assist mode to the first type.

[0024] In conjunction with the second aspect, in some possible implementations, the determining module is specifically used to: determine the target mode adjustment parameter of the steering assist mode based on the driving information, the environmental information, and the driver's attributes; and determine the first type corresponding to the target mode adjustment parameter.

[0025] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is further configured to: determine road surface parameters and vehicle speed based on the driving information and the environmental information; determine the driver's force parameter based on the driver's attributes, the force parameter representing the steering force required for the driver to turn the vehicle's steering wheel; determine the weights of the road surface parameters, the vehicle speed, and the force parameter based on the road surface parameters, the vehicle speed, and the force parameter; and determine the target mode adjustment parameter based on the road surface parameters, the weights of the road surface parameters, the vehicle speed, the weights of the vehicle speed, the force parameter, and the weights of the force parameter.

[0026] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the driving information includes driving direction, driving position, vehicle speed, vibration frequency, and vibration intensity; the environmental information includes weather type, road surface image between the driving position and the target position, the distance between the target position and the driving position being greater than or equal to a preset distance; and the driver's attributes include facial image and weight. The acquisition module is specifically used to: acquire the vibration frequency and vibration intensity via a vibration sensor; acquire the road surface image via an external camera; acquire the facial image via an internal camera; acquire the vehicle speed via a speed sensor; acquire the driving direction, driving position, and weather type via a positioning system; and acquire the weight via a weight sensor.

[0027] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the road surface parameters include a first road surface parameter, a second road surface parameter, and a third road surface parameter; the determining module is further configured to: determine the first road surface parameter based on the vibration frequency and the vibration intensity; determine the second road surface parameter based on the driving position, the driving direction, and preset map data; determine the third road surface parameter based on the road surface image and a preset road surface image database; determine the vehicle speed collected by the speed sensor; and determine the force parameter based on the facial image, the weight, and a preset facial image database.

[0028] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is further configured to: determine the prediction type of the steering assist mode based on the first road surface parameter, the second road surface parameter, the third road surface parameter, the vehicle speed, and the force parameter; obtain the weights of the first road surface parameter, the second road surface parameter, the third road surface parameter, the force parameter, and the vehicle speed corresponding to the prediction type; and determine the first product of the first road surface parameter and the weight of the first road surface parameter, the second product of the second road surface parameter and the weight of the second road surface parameter, the third product of the third road surface parameter and the weight of the third road surface parameter, the fourth product of the vehicle speed and the weight of the vehicle speed, and the fifth product of the force parameter and the weight of the force parameter; and determine the summation result of the first product, the second product, the third product, the fourth product, and the fifth product as the target mode adjustment parameter.

[0029] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the first adjustment module is specifically used to: determine the target steering assist torque corresponding to the first type; and control the assist motor to output the target steering assist torque.

[0030] In combination with the second aspect and the above implementation, in some possible implementations, after the steering assist mode is adjusted to the first type, the device further includes a second adjustment module for adjusting the steering assist mode from the first type to the second type in response to the adjustment command of the steering assist mode.

[0031] Thirdly, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0032] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0033] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0034] Figure 1 This is a schematic diagram illustrating a scenario where the vehicle steering assist mode is activated, as provided in an embodiment of this application.

[0035] Figure 2 This is a schematic diagram illustrating a scenario of vehicle communication in power steering mode, as provided in an embodiment of this application.

[0036] Figure 3 This is a schematic flowchart illustrating a method for adjusting a vehicle steering assist mode according to an embodiment of this application;

[0037] Figure 4 This is a schematic diagram of a device for adjusting the steering assist mode of a vehicle, provided in an embodiment of this application.

[0038] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0039] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0040] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0041] Figure 1 This is a schematic diagram of a scenario where the vehicle steering assist mode is activated, as provided in an embodiment of this application.

[0042] For example, such as Figure 1 As shown, vehicle 101 is equipped with various electronic control units (ECUs). These include, for example, the engine management system (EMS), automatic transmission control unit (TCU), body control module (BCM), electronic stability program (ESP), battery management system (BMS), vehicle control unit (VCU, or vehicle control unit), electronic parking brake (EPB) unit, motor control unit (MCU), and so on.

[0043] Furthermore, vehicle 101 is also equipped with various types of sensors. The ECU can acquire information collected by these sensors during vehicle 101's operation to make further driving decisions. Common sensor types in vehicle 101 include in-vehicle cameras, exterior cameras, speed sensors, acceleration sensors, weight sensors, and distance sensors. The seat controller can acquire the weight of the occupants in vehicle 101 from the weight sensor, the ESP can acquire the vehicle speed from the speed sensor, and the ECM can acquire the fuel level from the fuel level sensor.

[0044] To further ensure the safety and stability of vehicle 101 during driving, a steering assist mode can also be configured in vehicle 101 to minimize the amount of steering wheel rotation required by the driver when vehicle 101 makes an emergency turn.

[0045] For example, if vehicle 101 encounters a sharp turn while traveling along road 102, the driver needs to turn the steering wheel of vehicle 101 significantly. To reduce the amount or effort required for the driver to turn the steering wheel, the power steering mode of vehicle 101 can be activated at this time.

[0046] Figure 2 This is a schematic diagram of a vehicle communicating in steering assist mode, provided in an embodiment of this application.

[0047] For example, such as Figure 2As shown, when the vehicle's current driving mode is power steering mode, vibration sensor 201 can collect the vibration frequency and intensity of the vehicle during driving; external camera 202 can collect road surface images during vehicle driving; speed sensor 203 can collect the vehicle speed during driving; positioning system 205 can obtain the vehicle's driving position and direction in real time or periodically, and obtain the current weather type based on the vehicle's driving position, such as sunny, rainy, or snowy; in-vehicle camera 206 can collect the driver's facial image; and weight sensor 207 corresponds to the weight of the driver or passenger in the seat.

[0048] Furthermore, the vibration sensor 201, the external camera 202, the speed sensor 203, the positioning system 205, the internal camera 206, and the weight sensor 207 can each collect different information about the vehicle during driving and send it to the ECU 204 for analysis and processing.

[0049] The ECU204 can determine the road condition of the vehicle's current driving path, such as the degree of road bumpiness, based on the vibration frequency and intensity sent by the vibration sensor 201.

[0050] For example, ECU204 can determine the degree of road bumpiness by analyzing the fluctuations in the vehicle's vibration frequency and intensity.

[0051] The ECU204 can compare the road surface image sent by the external camera 202 with the stored preset road surface image database to determine the current road surface type, such as whether it is an asphalt road, a dirt road or a cement road.

[0052] ECU204 can also predict the road conditions ahead based on the driving direction, driving position and weather type sent by the positioning system 205, such as whether there is mud, hillside or cliff ahead.

[0053] Optionally, the positioning system 205 may include any one of the following: Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), Global Navigation Satellite System (GNSS), Galileo Satellite Navigation System (GSNS), etc., and this application embodiment does not limit it.

[0054] The ECU 204 can also analyze the driver's facial image sent by the in-vehicle camera 206 to determine the driver's gender and age. Further, by combining this with the driver's weight sent by the weight sensor 207, it can determine the ease with which the driver turns the steering wheel in assisted steering mode.

[0055] Furthermore, ECU204, based on the above judgment results, determines the type of the current steering assist mode and adjusts the steering assist mode to that type.

[0056] After explaining how the vehicle communicates in steering assist mode, the following describes a method for adjusting the vehicle steering assist mode provided by an embodiment of this application.

[0057] Figure 3 This is a schematic flowchart illustrating a method for adjusting the steering assist mode of a vehicle, as provided in an embodiment of this application. It should be understood that this method can be applied to, for example... Figure 1 and Figure 2 In the scenario shown, it is specifically applied to Figure 2 The ECU204 shown can be any ECU in the vehicle. This application uses a VCU as an example to provide a detailed description of a method for adjusting the vehicle steering assist mode.

[0058] For example, such as Figure 3 As shown, the method 300 includes:

[0059] 301. When the vehicle's driving mode is power steering mode, acquire the vehicle's driving information, environmental information, and the driver's attributes in the vehicle.

[0060] It should be understood that when a vehicle is driving on the road, if the road ahead requires a sharp turn, the vehicle's power steering mode can be activated to assist the driver in completing the sharp turn.

[0061] One possible implementation method for activating the power steering mode includes:

[0062] In response to the adjustment command sent by the multimedia controller, the driving mode is adjusted to power steering mode.

[0063] The multimedia controller generates adjustment instructions in the following ways: based on any one of the following methods: click operation, voice information, or gesture adjustment operation.

[0064] For example, the driver can select "Steering Assist Mode" in the driving mode by clicking on the display interface of the vehicle's multimedia host. Furthermore, the multimedia controller generates adjustment commands based on the driver's click.

[0065] Another example is that the driver can output voice information, such as "Change the driving mode to power steering mode." After receiving the voice information, the multimedia controller generates an adjustment command.

[0066] As another example, the driver can also use gestures, such as the "victory sign V," on the multimedia host's display interface. After the in-vehicle camera detects this gesture, it sends it to the multimedia controller. The multimedia controller then processes the gesture and generates an adjustment command based on the processing result.

[0067] Furthermore, the ECUs in the vehicle are interconnected and can exchange data. The multimedia controller sends adjustment commands to the VCU.

[0068] Optionally, the ECU communication connection methods include Controller Area Network (CAN) bus connection, Local Interconnect Network (LIN) bus connection, FlexRay bus connection, Media Oriented Systems Transport (MOST) bus connection, and Ethernet connection. Each connection method corresponds to a communication method, namely CAN bus communication, LIN bus communication, FlexRay bus communication, MOST bus communication, and Ethernet communication. This application embodiment does not limit this.

[0069] For example, taking CAN bus communication as an example of communication between ECUs, the multimedia controller can send adjustment commands to the VCU in the form of CAN signals. The VCU controls the electronic power steering (EPS) system in the vehicle to be activated, so that the vehicle's driving mode is power steering mode.

[0070] Another possible implementation is to trigger the vehicle to activate the power steering mode by judging the rotation angle of the vehicle's steering wheel.

[0071] For example, the steering wheel controller can acquire the steering wheel rotation angle through an angle sensor configured in the steering wheel while the vehicle is in motion, and then send it to the VCU. When the VCU determines that the steering wheel rotation angle is greater than a preset angle (e.g., 120°), it automatically controls the ESP to activate.

[0072] Another possible implementation is to configure ESP to remain on while the vehicle's engine is running (i.e., while the vehicle is in motion), and automatically turn off when the engine is off.

[0073] It should be understood that the above-mentioned methods for activating the power steering mode are merely examples, and any method that enables the activation of the power steering mode falls within the scope of protection of this application.

[0074] Furthermore, when the vehicle's driving mode is in power steering mode, in order to adjust the power steering mode in a timely manner, the VCU needs to acquire various information during the vehicle's operation, including driving information, environmental information, and the driver's attributes, for analysis and judgment.

[0075] Driving information is used to indicate the driving status of a vehicle during operation. Optionally, driving information includes driving direction, driving position, vehicle speed, vibration frequency, and vibration intensity.

[0076] Environmental information is used to represent the road surface and weather conditions during vehicle operation. Optionally, environmental information includes weather type and road surface images between the driving position and the target position. The distance between the target position and the driving position is greater than or equal to a preset distance. Optionally, the preset distance is 50m. For example, taking the driving position as the starting point and the target position 50m away as the ending point, the road surface image would be the road surface image between that starting point and that ending point.

[0077] Optionally, the driver's attributes include facial image and weight.

[0078] One possible implementation involves obtaining vehicle driving information, environmental information, and the driver's attributes within the vehicle, including:

[0079] Vibration frequency and intensity are obtained using vibration sensors;

[0080] Obtain road surface images using external vehicle cameras;

[0081] Facial images are captured using the in-vehicle camera;

[0082] Vehicle speed is obtained through a speed sensor;

[0083] The system obtains driving direction, driving location, and weather type through a positioning system.

[0084] Weight is obtained through a weight sensor.

[0085] For example, such as Figure 2As shown, the vibration sensor 201 can acquire the vibration frequency and intensity of the vehicle within a fixed time period during vehicle operation. Optionally, the fixed time period is 3 seconds. Furthermore, the vibration sensor 201 sends the vibration frequency and intensity of the vehicle within the fixed time period to the VCU.

[0086] The external camera 202 can send the captured images of the road surface to the VCU.

[0087] The speed sensor 203 can send the collected vehicle speed to the VCU.

[0088] The positioning system 205 can obtain the vehicle's driving location (e.g., the geographic coordinates of the current location) and driving direction, such as east, west, north, or south. Furthermore, the positioning system 205 can also obtain the weather type corresponding to the current driving location, such as sunny or rainy. It then sends the driving direction, driving location, and weather type to the VCU.

[0089] The in-vehicle camera 206 can send the captured facial images of the driver to the VCU.

[0090] The weight sensor 207 can send the collected driver's weight to the VCU.

[0091] 302. Based on driving information, environmental information and driver attributes, determine the first type of steering assist mode. The first type is one of several types of steering assist modes. Under the various steering assist modes, the vehicle's power assist motor outputs different steering assist torques.

[0092] It should be understood that vehicles in power steering mode can be categorized into the following types: muddy road type, mountain road type, gravel road type, highway type, and urban road type. Furthermore, due to the influence of physical attributes between men and women, there are differences in the amount and degree of steering wheel turning force required during driving. Each of the above types can be further subdivided according to gender, resulting in: muddy road type (male), mountain road type (male), gravel road type (male), highway type (male), urban road type (male) and muddy road type (female), mountain road type (female), gravel road type (female), highway type (female), and urban road type (female). In addition, in this embodiment, the types of power steering modes can be further increased according to actual conditions and driver needs; this embodiment does not limit this.

[0093] During the pre-calibration process, driving information, environmental information, and driver attributes can be divided into different intervals based on the aforementioned different types. Taking vibration frequency and intensity as an example, during calibration, vibration frequency and intensity can be pre-divided into different intervals according to the type of steering assist mode. For example, the vibration frequency interval for the muddy road type (male) is [A, B], and the vibration intensity interval is [C, D]; the vibration frequency interval for the highway type (male) is [E, F], and the vibration intensity interval is [G, H]. The process for dividing vibration frequency and intensity intervals for other types is similar. Similarly, vehicle speed can be divided into different intervals according to different types during calibration. For example, the vehicle speed interval for the urban road condition type (female) is [P, Q], and the vehicle speed interval for the urban road condition type (male) is [U, V]. The process for dividing vehicle speed intervals for other types is similar.

[0094] Furthermore, after acquiring driving information, environmental information, and driver attributes, the VCU can analyze and process the aforementioned driving information, environmental information, and driver attributes to further determine the first type of steering assist mode.

[0095] In one possible implementation, determining the first type of steering assist mode based on driving information, environmental information, and driver attributes specifically includes:

[0096] Based on driving information, environmental information, and driver attributes, determine the target mode adjustment parameters for the steering assist mode;

[0097] Determine the first type corresponding to the target mode adjustment parameters.

[0098] In the above technical solution, the abstracted driving information, environmental information, and driver attributes can be converted into numerical calculations to obtain the target mode adjustment parameters. Based on these target mode adjustment parameters, the first type can be quickly determined. The process of determining the first type of steering assist mode based on the target mode adjustment parameters is simple, efficient, and accurate, improving the efficiency of determining the steering assist mode type.

[0099] Specifically, based on driving information, environmental information, and driver attributes, the target mode adjustment parameters for determining the steering assist mode include:

[0100] Based on driving and environmental information, determine road surface parameters and vehicle speed;

[0101] Based on the driver's attributes, determine the driver's force parameters, which represent the turning force required for the driver to turn the vehicle's steering wheel.

[0102] Based on road surface parameters, vehicle speed, and force parameters, determine the weights of road surface parameters, vehicle speed, and force parameters.

[0103] The target mode adjustment parameters are determined based on road surface parameters, their weights, vehicle speed, its weight, force parameters, and their weights.

[0104] In the above technical solution, driving information and environmental information, road surface parameters and vehicle speed are mainly related to driving information and environmental information, while the driver's force parameters are mainly related to the driver's attributes. The importance of road surface parameters, vehicle speed, and driver's force parameters varies depending on the vehicle's driving conditions and the type of steering assist mode. For example, if the vehicle is traveling on a flat and wide road, the road surface and vehicle speed are basically constant. Conversely, if the vehicle is traveling on an uneven road, the road surface and vehicle speed fluctuate.

[0105] Therefore, when calculating the target mode adjustment parameters for the power steering mode, in addition to determining the road surface parameters, vehicle speed, and force parameters, it is also necessary to determine the weights of the current road surface parameters, vehicle speed, and force parameters in order to accurately determine the target mode adjustment parameters for the power steering mode.

[0106] Based on the differences in the data acquisition equipment, road surface parameters can be further subdivided. Road surface parameters include first road surface parameters, second road surface parameters, and third road surface parameters. Based on driving information, environmental information, and driver attributes, the road surface parameters, vehicle speed, and driver force parameters are determined as follows:

[0107] The first road surface parameters are determined based on the vibration frequency and vibration intensity;

[0108] The second road surface parameters are determined based on the driving location, driving direction, and preset map data;

[0109] The third road surface parameters are determined based on the road surface images and a preset road surface image database;

[0110] Determine the vehicle speed collected by the speed sensor;

[0111] Furthermore, based on the driver's attributes, the driver's force parameters are determined as follows:

[0112] Force parameters are determined based on facial images, body weight, and a pre-defined facial image database.

[0113] For example, the VCU can determine the road surface condition of the current driving road, such as the smoothness (bumpiness) of the road surface, based on the pre-calibrated vibration frequency and vibration intensity of different types.

[0114] VCU can compare a road surface image with multiple road surface images in a preset road surface image database to determine the current road surface type, such as asphalt road or cement road.

[0115] The VCU can determine the specific conditions of the road ahead based on the driving location, driving direction, and preset map data collected by the positioning system. For example, based on the current driving location and preset map data, it can determine that there are dangerous road sections such as mountain roads, landslides, and cliffs ahead. Furthermore, when the weather type is one that may cause traffic accidents, such as snow or heavy rain, the VCU can further remind the driver to drive safely.

[0116] The VCU can compare the driver's facial image captured by the in-vehicle camera with a pre-set facial image database, extract facial feature information based on a convolutional neural network, and determine the driver's gender and age. Furthermore, by combining reference points in the captured facial images, it can estimate the driver's height; for example, by using the distance between the driver's head and the top of the seat, it can roughly estimate the driver's height. Then, by combining this with the driver's weight collected by a weight sensor, it can obtain the ratio of height to weight.

[0117] It should be understood that during the calculation of target mode adjustment parameters, road surface parameters, vehicle speed, and force parameters are all represented in numerical form. Specifically, the processing results of each type of information can be pre-calibrated in numerical form within the VCU. For example, taking vibration frequency and vibration intensity as an example, the VCU can obtain the road surface smoothness through processing and analysis. The personnel can pre-classify different numerical levels of road surface smoothness according to the different ranges of vibration frequency and vibration intensity. For example, the road surface smoothness level corresponding to the vibration frequency range [A, B] and vibration intensity range [C, D] is 1, with a lower level indicating a smoother road surface. Furthermore, when the collected vibration frequency belongs to the range [A, B] and the vibration intensity belongs to the range [C, D], the corresponding first road surface parameter is 1.

[0118] Following the above method, the second road surface parameters and the third road surface parameters in the embodiments of this application can be obtained.

[0119] For the force parameter, the VCU can obtain the driver's height from the driver's facial image and combine it with the driver's weight collected by the weight sensor to determine the quotient of the driver's height and weight, and use the quotient as the force parameter. For example, if the driver's height is 160cm and weight is 40kg, then the force parameter can be 4.

[0120] Vehicle speed is usually represented by a numerical value, so the VCU can directly obtain it for subsequent calculations.

[0121] In the above technical solution, based on the type of data acquisition equipment corresponding to the driving information, the road surface parameters can be further classified to obtain first road surface parameters, second road surface parameters, and third road surface parameters. Further, based on vehicle speed and the specific determination of force parameters, all parameters required to calculate the target mode adjustment parameters can be obtained.

[0122] In one possible implementation, before determining the first type of steering assist mode based on the driving information, the VCU can obtain a predicted type of steering assist mode based on the aforementioned different parameters, and then determine the weight of each parameter based on the predicted type. Specifically, this includes:

[0123] Based on the first road surface parameters, the second road surface parameters, the third road surface parameters, vehicle speed, and force parameters, the predicted type of steering assist mode is determined;

[0124] Obtain the weights of the first road surface parameter, the second road surface parameter, the third road surface parameter, the force parameter, and the vehicle speed corresponding to the prediction type.

[0125] For example, the VCU can further store the correspondence between the preset range of each parameter and the type of steering assist mode. Furthermore, the VCU can initially obtain a predicted type of steering assist mode.

[0126] Taking vibration intensity and vibration frequency as examples, in addition to storing different steering assist mode types and corresponding vibration frequency and intensity ranges, the VCU can further store the correspondence between different steering assist mode types and multiple preset ranges of the first road surface parameter. For example, when the first road surface parameter is 1, it can be determined that the predicted steering assist mode type corresponding to the interval A to which the first road surface parameter belongs is highway type (female); when the first road surface parameter is 4, the predicted steering assist mode type corresponding to the interval B to which the first road surface parameter belongs is muddy road type (male), etc.

[0127] Taking force parameters as an example, the VCU can store the correspondence between force parameter ranges and steering assist mode types. For instance, a force parameter range of [4, 6] corresponds to a steering assist mode of highway type (female). Therefore, if the driver's force parameter is 4, the predicted steering assist mode type can be determined to be highway type (female).

[0128] It should be understood that if the predicted steering assist mode type is consistent based on all parameters, then any parameter result can be chosen as the predicted steering assist mode type. If the predicted steering assist mode types obtained from all parameters are inconsistent, then the predicted type corresponding to the parameter from the more accurate acquisition device will be used as the final predicted type.

[0129] It should also be understood that, in addition to predicting all parameters to obtain the prediction type, this application may also use only one parameter for prediction. For example, prediction may be performed based solely on the first road surface parameter to obtain the prediction type. Alternatively, the VCU may obtain the prediction type based on the vehicle speed.

[0130] Once the predicted steering assist mode type is obtained, the VCU can acquire the weights of the first road surface parameter, the second road surface parameter, the third road surface parameter, the force parameter, and the vehicle speed under the predicted type.

[0131] It should be understood that prediction type is just one type among many, and the importance of driving information, environmental information, and driver attributes varies depending on the type of steering assist mode. That is, the weights of the first road surface parameter, the second road surface parameter, the third road surface parameter, vehicle speed, and force parameter also differ across different steering assist modes. For example, in relatively flat urban road conditions and highway conditions, the vehicle travels more smoothly. In these two types of steering assist modes, the vibration frequency and intensity collected by the vibration sensor do not fluctuate significantly. Therefore, in these two types of steering assist modes, the weight of the first road surface parameter can be set relatively low.

[0132] Conversely, if the vibration frequency and intensity collected by the vibration sensor fluctuate significantly in muddy or mountainous road conditions, the weight of the first road surface parameter can be set higher in these two types of steering assist modes.

[0133] Furthermore, based on road surface parameters, their weights, vehicle speed, its weight, force parameters, and their weights, the target mode adjustment parameters are determined, including:

[0134] The first product of the first road surface parameter and its weight, the second product of the second road surface parameter and its weight, the third product of the third road surface parameter and its weight, the fourth product of the vehicle speed and its weight, and the fifth product of the force parameter and its weight.

[0135] The summation of the first, second, third, fourth, and fifth products is determined as the target mode adjustment parameter.

[0136] For example, the target mode adjustment parameters can be calculated using the following formulas (1)-(2):

[0137] Ф=Iδ+Jα+Kγ+Lβ+Mθ Formula (1)

[0138] Ф=iδ+jα+kγ+lβ+mθ Formula (2)

[0139] In formulas (1)-(2):

[0140] Φ: Target mode adjustment parameter;

[0141] δ: First road surface parameter;

[0142] α: Second road surface parameter;

[0143] γ: Third road surface parameter;

[0144] β: Vehicle speed;

[0145] θ: Force parameter;

[0146] I: Weights of the first road surface parameters (male);

[0147] i: Weight of the first road surface parameter (female);

[0148] J: Weights of the second road surface parameters (male);

[0149] j: Weight of the second road surface parameter (female);

[0150] K: Weight of the third road surface parameter (male);

[0151] k: Weight of the third road surface parameter (female);

[0152] L: Weight of vehicle speed (male);

[0153] l: Weight of vehicle speed (female);

[0154] M: Weight of strength parameter (male);

[0155] m: Weight of the strength parameter (female).

[0156] For example, if the VCU processes driving information, environmental information, and driver attributes to obtain a first road surface parameter, a second road surface parameter, a third road surface parameter, a force parameter, and a vehicle speed, and determines that the predicted steering assist mode type is a mountain road segment type (female), then the VCU can obtain the weights of the first road surface parameter, the second road surface parameter, the third road surface parameter, the vehicle speed, and the force parameter under the mountain road segment type. It further multiplies the first road surface parameter with its weight to obtain a first product iδ, multiplies the second road surface parameter with its weight to obtain a second product jα, multiplies the third road surface parameter with its weight to obtain a third product kγ, multiplies the vehicle speed with its weight to obtain a fourth product lβ, and multiplies the force parameter with its weight to obtain a fifth product mθ.

[0157] Adding the above five products together gives the target mode adjustment parameter Φ.

[0158] Furthermore, after calculating the target mode adjustment parameters, the first type corresponding to the target mode adjustment parameters can be determined.

[0159] It should be understood that the target mode adjustment parameters are used to determine the type of steering assist mode. In the embodiments of this application, multiple mode adjustment parameter ranges can be pre-defined for each gender. That is, when the driver is male, each type of steering assist mode corresponds to one mode adjustment parameter range. When the driver is female, each type of steering assist mode corresponds to one mode adjustment parameter range.

[0160] For example, if the driver's gender is female, the mode adjustment parameter range for muddy road type (female) is (a1, b1], for mountain road type (female) it is (b1, c1], for gravel road type (female) it is (c1, d1], for highway type (female) it is (d1, e1], and for urban road type (female) it is (e1, f1).

[0161] If the driver is male, the mode adjustment parameter range is (a2, b2] for muddy road type (male), (b2, c2] for mountain road type (male), (c2, d2] for gravel road type (male), (d2, e2] for highway type (male), and (e2, f2) for urban road type (male).

[0162] Specifically, the first type corresponding to the target mode adjustment parameters includes:

[0163] Determine the target mode adjustment parameter range corresponding to the target mode adjustment parameters;

[0164] Based on the correspondence between the target mode adjustment parameter range and the steering assist mode type, determine the first type corresponding to the target mode adjustment parameter range.

[0165] For example, if the calculated target mode adjustment parameter range is (e1, f1], then through the above correspondence between the target mode adjustment parameters for different genders and different types, it can be seen that the first type corresponding to this target mode adjustment parameter is the urban road condition type (female).

[0166] The above technical solution proposes a detailed process for calculating the target mode adjustment parameters. After obtaining all the parameters required for calculating the target mode adjustment parameters, this application can further obtain the weights of all parameters. Each parameter is multiplied by its own weight, and finally, all products are summed to obtain the final comprehensive judgment result, which is used as the target mode adjustment parameter. The above process for calculating the target mode adjustment parameters is simple and efficient, and can improve the adjustment efficiency of the steering assist mode.

[0167] 303, adjust the steering assist mode to type 1.

[0168] One possible implementation, when adjusting the steering assist mode to the first type, specifically includes:

[0169] Determine the target steering assist torque corresponding to the first type;

[0170] Control the output of the power steering motor to achieve the target steering assist torque.

[0171] Power steering systems can be categorized by the type of assistance provided: mechanical hydraulic power steering systems, electro-hydraulic power steering systems, and electric power steering systems. The power steering motor can be any of these three types; this application does not limit its application to any particular type.

[0172] It should be understood that when a vehicle is in different types of steering assist modes, the power assist motor primarily outputs different steering assist torques to assist the driver in turning the steering wheel. Therefore, after determining the target output torque for the first type of steering assist mode, this application can control the power assist motor to output the target steering assist torque to accurately assist the driver in completing sharp turns.

[0173] For example, the VCU can send the target steering assist torque to the EPS in the vehicle in the form of a CAN signal, so that the EPS can control the output of the power assist motor according to the target steering assist torque, thereby assisting the driver in steering.

[0174] Furthermore, after adjustment, if the driver is not satisfied with the current steering assist mode, they can further adjust the type of steering assist mode, including:

[0175] In response to the steering assist mode adjustment command, the steering assist mode is changed from type one to type two.

[0176] For example, if the VCU determines that the first type of steering assist mode is urban driving mode (female), and controls the steering assist motor to output the target steering assist torque corresponding to the first type, and the driver wants to readjust the steering assist mode to highway mode (female).

[0177] In one configuration, the driver can select the highway type (female) by clicking on the display interface of the in-vehicle multimedia host. The multimedia controller generates a corresponding adjustment command based on this click and sends it to the VCU. The VCU determines the steering assist torque for the highway type (female) and controls the EPS power assist motor to output that steering assist torque.

[0178] Alternatively, the driver can use voice commands, such as "Change the steering assist mode to Highway type (female)," to generate a corresponding adjustment command from the multimedia controller and send it to the VCU. The VCU determines the steering assist torque for Highway type (female) and controls the EPS's power assist motor to output that steering assist torque.

[0179] Alternatively, the driver can adjust the steering by making a gesture corresponding to the highway type (female) on the display interface of the in-vehicle multimedia host. The multimedia controller generates a corresponding adjustment command based on the gesture and sends it to the VCU. The VCU determines the steering assist torque for the highway type (female) and controls the EPS power steering motor to output that steering assist torque.

[0180] In the above technical solution, after adjusting the steering assist mode according to the first type, if it is necessary to adjust the type of steering assist mode, the driver can manually switch the steering assist mode from the first type to the second type, which ensures the flexibility of steering assist mode adjustment, while ensuring the actual needs of the driver during the driving process and improving the driver's driving experience.

[0181] In addition to adjusting the type of steering assist mode, the driver can also adjust the status of other vehicle components, such as the seat tilt angle and the air conditioning temperature, which are not limited in this application embodiment.

[0182] After the driver completes the adjustment, the VCU can store the status and parameters of various components in the vehicle based on the driver's settings, and save the driver's facial image. This allows the VCU to control the power steering motor to output the corresponding target steering assist torque when the driver encounters the same driving conditions again, achieving a faster and more efficient result.

[0183] Figure 4 This is a schematic diagram of a device for adjusting the steering assist mode of a vehicle, provided in an embodiment of this application.

[0184] For example, such as Figure 4 As shown, the device 400 includes:

[0185] The acquisition module 401 is used to acquire the vehicle's driving information, environmental information, and the driver's attributes in the vehicle when the vehicle's driving mode is power steering mode.

[0186] The determining module 402 is used to determine a first type of steering assist mode based on the driving information, the environmental information and the driver's attributes. The first type is one of a variety of steering assist modes. Under the various types of steering assist modes, the vehicle's power assist motor outputs different steering assist torques.

[0187] The first adjustment module 403 is used to adjust the steering assist mode to the first type.

[0188] In one possible implementation, the determining module 402 is specifically used to: determine the target mode adjustment parameter of the steering assist mode based on the driving information, the environmental information and the driver's attributes; and determine the first type corresponding to the target mode adjustment parameter.

[0189] In one possible implementation, the determining module 402 is further configured to: determine road surface parameters and vehicle speed based on the driving information and the environmental information; determine the driver's force parameter based on the driver's attributes, the force parameter representing the steering force required for the driver to turn the steering wheel of the vehicle; determine the weights of the road surface parameters, the vehicle speed, and the force parameter based on the road surface parameters, the vehicle speed, and the force parameter; and determine the target mode adjustment parameter based on the road surface parameters, the weights of the road surface parameters, the vehicle speed, the weights of the vehicle speed, the force parameter, and the weights of the force parameter.

[0190] In one possible implementation, the driving information includes driving direction, driving position, vehicle speed, vibration frequency, and vibration intensity; the environmental information includes weather type, road surface image between the driving position and the target position, the distance between the target position and the driving position being greater than or equal to a preset distance; and the driver's attributes include facial image and weight. The acquisition module 401 is specifically used to: acquire the vibration frequency and vibration intensity via a vibration sensor; acquire the road surface image via an external camera; acquire the facial image via an internal camera; acquire the vehicle speed via a speed sensor; acquire the driving direction, driving position, and weather type via a positioning system; and acquire the weight via a weight sensor.

[0191] In one possible implementation, the road surface parameters include a first road surface parameter, a second road surface parameter, and a third road surface parameter; the determining module 402 is further configured to: determine the first road surface parameter based on the vibration frequency and the vibration intensity; determine the second road surface parameter based on the driving position, the driving direction, and preset map data; determine the third road surface parameter based on the road surface image and a preset road surface image database; determine the vehicle speed collected by the speed sensor; and determine the force parameter based on the facial image, the weight, and a preset facial image database.

[0192] In one possible implementation, the determining module 402 is further configured to: determine the prediction type of the steering assist mode based on the first road surface parameter, the second road surface parameter, the third road surface parameter, the vehicle speed, and the force parameter; obtain the weights of the first road surface parameter, the second road surface parameter, the third road surface parameter, the force parameter, and the vehicle speed corresponding to the prediction type; and determine the first product of the first road surface parameter and the weight of the first road surface parameter, the second product of the second road surface parameter and the weight of the second road surface parameter, the third product of the third road surface parameter and the weight of the third road surface parameter, the fourth product of the vehicle speed and the weight of the vehicle speed, and the fifth product of the force parameter and the weight of the force parameter; and determine the summation result of the first product, the second product, the third product, the fourth product, and the fifth product as the target mode adjustment parameter.

[0193] In one possible implementation, the first adjustment module 403 is specifically used to: determine the target steering assist torque corresponding to the first type; and control the assist motor to output the target steering assist torque.

[0194] Optionally, after the steering assist mode is adjusted to the first type, the device further includes a second adjustment module for adjusting the steering assist mode from the first type to the second type in response to the adjustment command of the steering assist mode.

[0195] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0196] For example, such as Figure 5 As shown, the vehicle 101 includes a memory 501 and a processor 502. The memory 501 stores executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a method for adjusting the vehicle's steering assist mode.

[0197] This embodiment can divide the vehicle into functional modules according to the above method example. For example, each function can be assigned to a separate module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0198] When each functional module is divided according to its corresponding function, the vehicle may include: an acquisition module, a determination module, a first adjustment module, etc. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0199] The vehicle provided in this embodiment is used to execute the above-described method for adjusting the vehicle steering assist mode, and thus can achieve the same effect as the above-described implementation method.

[0200] When using integrated units, the vehicle may include a processing module and a storage module. The processing module is used to control and manage the vehicle's actions. The storage module supports the vehicle in executing program code and data.

[0201] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and microprocessors, etc., and the storage module may be a memory.

[0202] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement a method for adjusting the vehicle steering assist mode in the above embodiment.

[0203] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement a method for adjusting the vehicle steering assist mode as described in the above embodiment.

[0204] Additionally, the vehicle provided in the embodiments of this application may include a connected processor and a memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute the instructions to cause the vehicle to perform a method for adjusting the vehicle steering assist mode in the above embodiments.

[0205] In this embodiment, the vehicle, computer-readable storage medium, and computer program product are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0206] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0207] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0208] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for adjusting the steering assist mode of a vehicle, characterized in that, The method includes: When the vehicle's driving mode is power steering mode, acquire the vehicle's driving information, environmental information, and the attributes of the driver in the vehicle. Based on the driving information, the environmental information, and the driver's attributes, a first type of steering assist mode is determined. The first type is one of multiple types of steering assist modes. Under the multiple types of steering assist modes, the vehicle's power assist motor outputs different steering assist torques. Adjust the steering assist mode to the first type; The step of determining the first type of steering assist mode based on the driving information, the environmental information, and the driver's attributes includes: Based on the driving information and the environmental information, determine the road surface parameters and vehicle speed; Based on the driver's attributes, determine the driver's force parameters, which represent the turning force required for the driver to turn the steering wheel of the vehicle; Based on the road surface parameters, the vehicle speed, and the force parameters, determine the weights of the road surface parameters, the vehicle speed, and the force parameters; The target mode adjustment parameters are determined based on the road surface parameters, the weights of the road surface parameters, the vehicle speed, the weights of the vehicle speed, the force parameters, and the weights of the force parameters. Determine the target mode adjustment parameter range corresponding to the target mode adjustment parameter; Based on the correspondence between the target mode adjustment parameter range and the type of steering assist mode, the first type corresponding to the target mode adjustment parameter range is determined.

2. The method according to claim 1, characterized in that, The driving information includes driving direction, driving position, vehicle speed, vibration frequency and vibration intensity; the environmental information includes weather type, road surface image between the driving position and the target position, the distance between the target position and the driving position being greater than or equal to a preset distance; and the driver's attributes include facial image and weight. The acquisition of the vehicle's driving information, environmental information, and the driver's attributes in the vehicle includes: The vibration frequency and vibration intensity are obtained using a vibration sensor. The road surface image is obtained using an external camera; The facial image is obtained through the in-vehicle camera; The vehicle speed is obtained using a speed sensor; The driving direction, driving location, and weather type are obtained through the positioning system; The weight is obtained using a weight sensor.

3. The method according to claim 2, characterized in that, The road surface parameters include a first road surface parameter, a second road surface parameter, and a third road surface parameter; determining the road surface parameters and vehicle speed based on the driving information and the environmental information includes: The first road surface parameters are determined based on the vibration frequency and the vibration intensity. The second road surface parameters are determined based on the driving position, the driving direction, and the preset map data; The third road surface parameter is determined based on the road surface image and a preset road surface image database; Determine the vehicle speed collected by the speed sensor; And, determining the driver's force parameters based on the driver's attributes includes: The strength parameters are determined based on the facial image, the body weight, and a preset facial image database.

4. The method according to claim 3, characterized in that, The step of determining the weights of the road surface parameters, the vehicle speed, and the force parameters based on the road surface parameters, the vehicle speed, and the force parameters includes: The prediction type of the steering assist mode is determined based on the first road surface parameter, the second road surface parameter, the third road surface parameter, the vehicle speed, and the force parameter. Obtain the weights of the first road surface parameter, the second road surface parameter, the third road surface parameter, the force parameter, and the vehicle speed corresponding to the prediction type; And, determining the target mode adjustment parameters based on the road surface parameters, the weights of the road surface parameters, the vehicle speed, the weights of the vehicle speed, the force parameters, and the weights of the force parameters includes: The first product of the first road surface parameter and its weight, the second product of the second road surface parameter and its weight, the third product of the third road surface parameter and its weight, the fourth product of the vehicle speed and its weight, and the fifth product of the force parameter and its weight are determined. The summation of the first product, the second product, the third product, the fourth product, and the fifth product is determined as the target mode adjustment parameter.

5. The method according to claim 1, characterized in that, The step of adjusting the steering assist mode to the first type includes: Determine the target steering assist torque corresponding to the first type; Control the power steering motor to output the target steering assist torque.

6. The method according to claim 1, characterized in that, After adjusting the steering assist mode to the first type, the method further includes: In response to the steering assist mode adjustment command, the steering assist mode is adjusted from the first type to the second type.

7. A device for adjusting the steering assist mode of a vehicle, characterized in that, The device includes: The acquisition module is used to acquire the vehicle's driving information, environmental information, and the attributes of the driver in the vehicle when the vehicle's driving mode is power steering mode. The determining module is used to determine a first type of steering assist mode based on the driving information, the environmental information and the driver's attributes. The first type is one of a variety of steering assist modes. Under the various types of steering assist modes, the vehicle's power assist motor outputs different steering assist torques. The first adjustment module is used to adjust the steering assist mode to the first type; Specifically, the determining module is used for: Based on the driving information and the environmental information, determine the road surface parameters and vehicle speed; Based on the driver's attributes, determine the driver's force parameters, which represent the turning force required for the driver to turn the steering wheel of the vehicle; Based on the road surface parameters, the vehicle speed, and the force parameters, determine the weights of the road surface parameters, the vehicle speed, and the force parameters; The target mode adjustment parameters are determined based on the road surface parameters, the weights of the road surface parameters, the vehicle speed, the weights of the vehicle speed, the force parameters, and the weights of the force parameters. Determine the target mode adjustment parameter range corresponding to the target mode adjustment parameter; Based on the correspondence between the target mode adjustment parameter range and the type of steering assist mode, the first type corresponding to the target mode adjustment parameter range is determined.

8. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 6.

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