A vehicle steering control method, device and computer readable storage medium

Abstract

The application discloses a vehicle steering control method and device and a computer readable storage medium. The method comprises the following steps: obtaining a vehicle identifier of a vehicle; determining vehicle model information of the vehicle according to the vehicle identifier; obtaining a deviation index of the vehicle according to the vehicle model information; obtaining current state information of the vehicle; the current state information comprises a current vehicle speed and a current expected turning radius of the vehicle; calculating a real control steering wheel turning angle of the vehicle according to the current state information and the deviation index; and controlling the vehicle to steer according to the real control steering wheel turning angle of the vehicle. In this way, the steering wheel turning angle is calculated through the deviation index of the vehicle, so that the intelligent driving assistance system can more accurately control the turning radius of the vehicle, and the working efficiency of the intelligent driving assistance system debugging work is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent driving of vehicles, and in particular to a vehicle steering control method and device and a computer readable storage medium. BACKGROUND

[0002] With the development of science and technology, intelligent driving assistance systems (Adas) are increasingly applied to vehicles, which can help drivers to realize longitudinal and lateral auxiliary driving of vehicles, thereby reducing the burden of drivers and relieving driving fatigue. The lateral control is the main way to realize lane keeping, curve keeping and automatic lane changing.

[0003] However, it is not easy to propose more reasonable and accurate requirements for vehicle steering in sending control instructions. If the requirements proposed by the Adas are too low, the Adas function cannot meet the requirements, such as insufficient curve passing ability at a certain speed, which may cause the vehicle to rush out of the curve, and if the requirements proposed by the Adas are too high, it may cause some safety problems. SUMMARY

[0004] The purpose of the present application is to provide a vehicle steering control method, device and computer readable storage medium, which can more accurately control the turning radius of the vehicle by calculating the steering wheel angle based on the deviation index of the vehicle, thereby improving the work efficiency of the intelligent driving assistance system debugging work.

[0005] To achieve the above purpose:

[0006] In a first aspect, the embodiments of the present application provide a vehicle steering control method, comprising the following steps:

[0007] Obtaining a vehicle identifier of a vehicle, determining vehicle model information of the vehicle according to the vehicle identifier, and obtaining a deviation index of the vehicle according to the vehicle model information;

[0008] Obtaining current state information of the vehicle; the current state information includes a current vehicle speed and a current expected turning radius of the vehicle;

[0009] Calculating a real control steering wheel angle of the vehicle according to the current state information and the deviation index;

[0010] Controlling the vehicle to steer according to the real control steering wheel angle of the vehicle.

[0011] Optionally, the deviation index corresponding to the vehicle model information is obtained according to the vehicle model information, comprising:

[0012] Pre-establishing a vehicle model information model, and setting a deviation index corresponding to the vehicle model information model;

[0013] matching the vehicle model information with the vehicle model information model;

[0014] If the matching is successful, an offset index corresponding to the vehicle model information model is obtained as the offset index of the vehicle.

[0015] Optionally, the obtaining of the corresponding offset index according to the vehicle model information further includes:

[0016] If the matching is unsuccessful, a test speed and a test turning radius of the vehicle are set, and a first theoretical steering wheel angle of the vehicle is calculated according to a dynamics simulation algorithm of a vehicle chassis according to the test speed and the test turning radius.

[0017] The vehicle is actually controlled according to the set test speed and test turning radius, and an actual steering wheel angle of the vehicle is measured during the actual control.

[0018] The first theoretical steering wheel angle and the actual steering wheel angle are compared, and the offset index of the vehicle is determined according to an offset between the first theoretical steering wheel angle and the actual steering wheel angle.

[0019] Optionally, the method further includes:

[0020] If the offset between the theoretical steering wheel angle and the actual steering wheel angle exceeds a preset threshold, the offset index of the vehicle is determined according to a proportional relationship between the theoretical steering wheel angle and the actual steering wheel angle.

[0021] If the offset between the theoretical steering wheel angle and the actual steering wheel angle does not exceed the preset threshold, the offset index of the vehicle is determined as a preset constant.

[0022] Optionally, the calculation of the actual steering wheel angle of the vehicle according to the current state information and the offset index includes:

[0023] A second theoretical steering wheel angle is calculated according to a preset dynamics simulation algorithm for a vehicle chassis according to a current speed and a current expected turning radius of the vehicle.

[0024] The actual steering wheel angle of the vehicle is calculated according to the second theoretical steering wheel angle and the offset index.

[0025] In a second aspect, an embodiment of the present application discloses a vehicle steering control device, and the device includes:

[0026] A recognition matching module is configured to obtain a vehicle identifier of a vehicle, recognize vehicle model information of the vehicle, and obtain a corresponding offset index.

[0027] an acquisition module, configured to acquire current state information of a vehicle, wherein the current state information comprises a current vehicle speed and a current turning radius of the vehicle;

[0028] an operation module, configured to calculate a steering wheel angle of the vehicle according to the current state information and the deviation index;

[0029] a steering control module, configured to control the vehicle to steer according to the steering wheel angle of the vehicle.

[0030] Optionally, the identification matching module is specifically configured to:

[0031] pre-establish a vehicle model information model, and set a deviation index corresponding to the vehicle model information model; and match the vehicle model information with the vehicle model information model;

[0032] if the matching is successful, the deviation index corresponding to the vehicle model information model is acquired as the deviation index of the vehicle;

[0033] if the matching is unsuccessful, a test vehicle speed and a test turning radius are set for the vehicle, a first theoretical steering wheel angle of the vehicle is calculated according to a dynamics simulation algorithm of a vehicle chassis according to the test vehicle speed and the test turning radius, an actual steering wheel angle of the vehicle is measured during actual operation of the vehicle according to the set test vehicle speed and test turning radius, and the first theoretical steering wheel angle and the actual steering wheel angle are compared to determine the deviation index of the vehicle according to a deviation between the first theoretical steering wheel angle and the actual steering wheel angle.

[0034] Optionally, the steering control module comprises an intelligent driving assistance system, a steering assist system and a steering execution system;

[0035] the intelligent driving assistance system generates a steering angle instruction after receiving steering angle information of a vehicle steering wheel, and sends the steering angle instruction to the steering assist system;

[0036] the steering assist system comprises a motor controller and a motor, and is configured to control the motor to rotate according to the steering angle instruction, and output a steering assist torque of a corresponding size and direction;

[0037] the steering execution system comprises a steering engine and a steering wheel, and the steering engine is configured to control the steering wheel to steer under the drive of the motor, so as to control the vehicle to steer.

[0038] In a third aspect, the embodiments of the present application disclose an electronic device, comprising: a memory in which executable program codes are stored; and a processor coupled with the memory; the processor invokes the executable program codes stored in the memory, so as to execute the vehicle steering control method according to the first aspect.

[0039] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, in which a computer program is stored, when instructions in the computer readable storage medium are executed by a processor of an electronic device, the electronic device can implement the vehicle steering control method according to the first aspect.

[0040] The present application discloses a vehicle steering control method, device and computer readable storage medium, the method comprising: obtaining a vehicle identifier of a vehicle, determining vehicle model information of the vehicle according to the vehicle identifier, and obtaining a deviation index of the vehicle according to the vehicle model information; obtaining current state information of the vehicle; the current state information comprises a current vehicle speed and a current expected turning radius of the vehicle; calculating a real control steering wheel angle of the vehicle according to the current state information and the deviation index; and controlling the vehicle to turn according to the real control steering wheel angle of the vehicle. In this way, the deviation index of the vehicle is used to calculate the steering wheel angle, so that the intelligent driving assistance system can more accurately control the turning radius of the vehicle, greatly improving the accuracy of the steering wheel steering control of the turning radius of the vehicle and improving the work efficiency of the intelligent driving assistance system debugging work. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 A flowchart of a vehicle steering control method is provided for a preferred embodiment of the present application;

[0042] Figure 2 A flowchart of a deviation index obtaining method in a vehicle steering control method is provided for a preferred embodiment of the present application;

[0043] Figure 3 A structural diagram of a vehicle steering control device is provided for a preferred embodiment of the present application;

[0044] Figure 4 A structural diagram of a vehicle steering control device is provided for another preferred embodiment of the present application. DETAILED DESCRIPTION

[0045] The exemplary embodiments will be described in detail below with reference to the accompanying drawings. In the following description, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments are not meant to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0046] It should be noted that, in this document, step codes such as S101, S102 are used, the purpose is to more clearly and briefly express the corresponding content, and does not constitute a substantial limitation on the order, and those skilled in the art may perform S102 before S101 in specific implementation, etc., but these should be within the protection scope of the present application.

[0047] It should be understood that the specific embodiments described herein merely serve to explain the present application and do not limit the present application.

[0048] In the following description, the suffixes such as "module", "part", or "unit" used for an element are merely intended for facilitating explanation of the present application, and do not have specific meaning by themselves. Therefore, "module", "part", or "unit" can be mixedly used.

[0049] Referring to Figure 1 A vehicle steering control method is provided by the embodiments of the present application, which can be executed by a vehicle steering control device provided by the embodiments of the present application. The vehicle steering control device can be implemented in the form of software and / or hardware. In the embodiments, the vehicle steering control device is taken as an example applied to a server. The vehicle steering control method provided by the embodiments of the present application includes the following steps.

[0050] Step S101: obtaining a vehicle identifier of a vehicle, determining vehicle model information of the vehicle according to the vehicle identifier, and obtaining a deviation index of the vehicle according to the vehicle model information.

[0051] In an embodiment, a vehicle model information model is established in advance, a deviation index corresponding to the vehicle model information model is set, and the deviation index is stored in a server. When the vehicle is to be steered, the vehicle model information is obtained, and the vehicle model information is matched with the vehicle model information model.

[0052] In an embodiment, if the matching is successful, that is, the vehicle model and the corresponding deviation index information are stored in the server, the deviation index corresponding to the vehicle model information model is obtained as the deviation index of the vehicle.

[0053] In an embodiment, if the matching is unsuccessful, i.e., the vehicle model and the corresponding deviation index information are not stored in the server, a test vehicle speed and a test turning radius are set for the vehicle, the test vehicle speed and the test turning radius are the turning ability of the vehicle at each vehicle speed segment planned by the intelligent driving assistance system, the turning radius of the vehicle is obtained, the first theoretical steering wheel angle of the vehicle is calculated according to the dynamics simulation algorithm of the vehicle chassis according to the test vehicle speed and the test turning radius, and at the same time, the actual turning test of the vehicle is performed on the actual road to obtain the actual steering wheel angle of the vehicle when turning at each actual vehicle speed segment. The first theoretical steering wheel angle and the actual steering wheel angle are compared, and the deviation index of the vehicle is determined according to the deviation between the first theoretical steering wheel angle and the actual steering wheel angle.

[0054] Here, if the deviation between the theoretical steering wheel angle and the actual steering wheel angle exceeds the preset threshold, the deviation index of the vehicle is determined according to the proportional relationship between the theoretical steering wheel angle and the actual steering wheel angle, and here, the deviation index can be the ratio of the theoretical steering wheel angle and the actual steering wheel angle, so that the actual steering wheel angle = the theoretical steering wheel angle * the deviation index; if the deviation between the theoretical steering wheel angle and the actual steering wheel angle does not exceed the preset threshold, the deviation index of the vehicle is determined as a preset constant, such as a constant 1.

[0055] Step S102: Obtain the current state information of the vehicle; the current state information includes the current vehicle speed and the current expected turning radius of the vehicle.

[0056] Step S103: Calculate the actual control steering wheel angle of the vehicle according to the current state information and the deviation index.

[0057] In an embodiment, the second theoretical steering wheel angle is calculated according to the current vehicle speed and the current expected turning radius of the vehicle according to the preset dynamics simulation algorithm for the vehicle chassis, and the actual control steering wheel angle of the vehicle is calculated according to the second theoretical steering wheel angle and the deviation index.

[0058] Step S104: Control the vehicle to turn according to the actual control steering wheel angle of the vehicle.

[0059] In summary, the vehicle turning control method provided by the above embodiment can obtain the corresponding deviation index according to the vehicle model information to calculate the actual steering wheel angle requirement of the vehicle, so that the vehicle can be controlled to turn more accurately, which helps to improve the work efficiency of the intelligent driving assistance system debugging work.

[0060] Reference Figure 2A deviation index is obtained in a vehicle steering control method provided by the embodiment of the application.

[0061] Step S201: Obtain a steering wheel angle requirement matrix table corresponding to each speed stage and each curve radius.

[0062] In an embodiment, a test speed and a test curve radius are set for the vehicle, the test speed and the test curve radius are based on the curve passing capability of the vehicle at each speed stage planned by the intelligent driving assistance system, the curve radius of the vehicle is obtained, the first theoretical steering wheel angle of the vehicle is calculated according to the dynamics simulation algorithm of the vehicle chassis according to the test speed and the test curve radius, and a steering wheel angle requirement matrix table corresponding to each speed stage and each curve radius is obtained.

[0063] Step S202: Actually obtain the actual steering of the steering wheel when the vehicle passes the curve at each actual speed stage.

[0064] Step S203: Compare the difference between the theoretical steering angle and the actual steering angle requirement of the steering wheel at each speed stage.

[0065] Step S204: Determine whether the difference value exceeds a preset threshold.

[0066] Step S205: Correct the steering wheel angle requirement at each speed stage according to the actual steering angle trend, and obtain a corresponding deviation index.

[0067] In an embodiment, the deviation index of the vehicle is determined according to the difference value between the first theoretical steering wheel angle and the actual steering wheel angle, if the difference value between the theoretical steering wheel angle and the actual steering wheel angle exceeds a preset threshold, the deviation index of the vehicle is determined according to the proportional relationship between the theoretical steering wheel angle and the actual steering wheel angle, here, the deviation index can be the ratio of the theoretical steering wheel angle and the actual steering wheel angle, so that the actual steering wheel angle = the theoretical steering wheel angle * the deviation index, if the difference value between the theoretical steering wheel angle and the actual steering wheel angle does not exceed the preset threshold, the deviation index of the vehicle is determined as a preset constant, such as a constant 1.

[0068] Step S206: Adas and EPS are co-commissioned according to the steering requirement of the steering wheel at each speed stage.

[0069] Step S207: Determine whether the EPS steering angle capability meets the requirement.

[0070] Step S208: Debugging is completed, and the EPS develops software according to the debugging parameters.

[0071] Step S209: Adas calibrates the lateral control function on various roads.

[0072] Step S210: Perform lateral control acceptance.

[0073] In summary, the deviation index obtaining method of the vehicle steering control method provided by the above embodiment continuously adjusts the acceptance to obtain the deviation index of the steering wheel turning angle corresponding to the turning radius of the vehicle at each speed stage, so as to obtain the actual steering wheel turning angle demand of the vehicle through calculation, so that the intelligent driving assistance system can more accurately control the turning radius of the vehicle, and the work efficiency of the intelligent driving assistance system debugging work is improved.

[0074] Based on the same inventive concept as the above embodiment, the method provided by the above embodiment is described in detail through a specific example.

[0075] Referring to Figure 3 The vehicle steering control device provided by the embodiment of the present application comprises an identification matching module, an obtaining module, an operation module and a turning angle control module, wherein

[0076] The identification matching module is configured to obtain the vehicle identification of the vehicle, identify the vehicle model information of the vehicle, and obtain the corresponding deviation index.

[0077] The obtaining module is configured to obtain the current state information of the vehicle; the current state information comprises the current speed and the current turning radius of the vehicle.

[0078] The operation module is configured to calculate the steering wheel turning angle of the vehicle according to the current state information and the deviation index.

[0079] The steering control module is configured to control the steering of the vehicle according to the steering wheel turning angle of the vehicle.

[0080] In an embodiment, the identification matching module is specifically configured to pre-establish a vehicle model information model, set the deviation index corresponding to the vehicle model information model, and store the deviation index in the identification matching module; when the vehicle needs to be steered, the vehicle model information is obtained, and the vehicle model information is matched with the vehicle model information model.

[0081] In an embodiment, if the matching is successful, that is, the vehicle model and the corresponding deviation index information are stored in the identification matching module, the deviation index corresponding to the vehicle model information model is obtained as the deviation index of the vehicle.

[0082] In an embodiment, if the matching is unsuccessful, i.e., the vehicle model and the corresponding deviation index information are not stored in the identification matching module, a test vehicle speed and a test turning radius are set for the vehicle, the test vehicle speed and the test turning radius are the turning ability of the vehicle at each vehicle speed segment planned by the intelligent driving assistance system, the turning radius of the vehicle is obtained, the first theoretical steering wheel angle of the vehicle is calculated according to the dynamics simulation algorithm of the vehicle chassis according to the test vehicle speed and the test turning radius, and at the same time, the actual turning test of the vehicle is performed on the actual road to obtain the actual steering wheel angle of the vehicle when turning at each actual vehicle speed segment. The first theoretical steering wheel angle and the actual steering wheel angle are compared, and the deviation index of the vehicle is determined according to the deviation between the first theoretical steering wheel angle and the actual steering wheel angle.

[0083] Here, if the deviation between the theoretical steering wheel angle and the actual steering wheel angle exceeds the preset threshold, the deviation index of the vehicle is determined according to the proportional relationship between the theoretical steering wheel angle and the actual steering wheel angle, and here, the deviation index can be the ratio of the theoretical steering wheel angle and the actual steering wheel angle, so that the actual steering wheel angle = the theoretical steering wheel angle * the deviation index; if the deviation between the theoretical steering wheel angle and the actual steering wheel angle does not exceed the preset threshold, the deviation index of the vehicle is determined as a preset constant, such as a constant 1.

[0084] In an embodiment, the steering control module includes an intelligent driving assistance system, a steering assist system, and a steering execution system.

[0085] The intelligent driving assistance system generates a steering angle instruction after receiving the steering angle information of the vehicle steering wheel and sends the steering angle instruction to the steering assist system; the steering assist system includes a motor controller and a motor, and is used for the motor controller to control the motor to rotate according to the steering angle instruction and output a steering assist torque of a corresponding size and direction; the steering execution system includes a steering machine and a steering wheel in transmission connection with the motor, and the steering machine is used to control the steering wheel to steer under the driving of the motor to control the vehicle to steer.

[0086] In summary, the vehicle steering control device provided by the above embodiment includes an identification matching module and an acquisition module to respectively acquire the deviation index and the current state information of the vehicle, an operation module to calculate the actual steering wheel angle requirement of the vehicle at each speed segment, and a steering control module to control the steering of the vehicle, so that the intelligent driving assistance system can more accurately control the turning radius of the vehicle.

[0087] Based on the same inventive concept as the foregoing embodiments, the embodiment of the present application provides a vehicle steering control device, which includes an identification matching module, an acquisition module, an operation module, and a steering control module. Figure 4As shown, the apparatus includes a processor 310 and a memory 311 storing a computer program; wherein, Figure 4 The processor 310 in the description is not used to refer to the number of processors 310 being one, but is only used to refer to the positional relationship of the processor 310 relative to other devices. In actual application, the number of processors 310 can be one or more; similarly, Figure 4 The memory 311 in the description also has the same meaning, that is, only used to refer to the positional relationship of the memory 311 relative to other devices. In actual application, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the vehicle steering control method applied to the above-mentioned apparatus is realized.

[0088] The apparatus can further include at least one network interface 312. Various components in the apparatus are coupled together by a bus system 313. It can be understood that the bus system 313 is used to realize the connection communication between the components. The bus system 313 includes not only a data bus, but also a power bus, a control bus and a status signal bus. However, in order to clearly illustrate, various buses are marked as the bus system 313 in the Figure 4 description.

[0089] The memory 311 can be a volatile memory or a non-volatile memory, and can include both a volatile and a non-volatile memory. The non-volatile memory can be a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a Compact Disc Read-Only Memory (CD-ROM). The magnetic surface memory can be a magnetic disk memory or a magnetic tape memory. The volatile memory can be a Random Access Memory (RAM) used as an external cache. By way of example, but not limitation, many forms of RAM can be used, such as a Static Random Access Memory (SRAM), a Synchronous Static Random Access Memory (SSRAM), a Dynamic Random Access Memory (DRAM), a Synchronous Dynamic Random Access Memory (SDRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), an Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), a Sync Link Dynamic Random Access Memory (SLDRAM), a Direct Rambus Random Access Memory (DRRAM).The memory 311 described in the embodiments of the present application is intended to include, but not limited to, these and any other suitable type of memory.

[0090] The memory 311 in the embodiments of the present application is configured to store various types of data to support the operation of the device. Examples of the data include: any computer programs for operating on the device, such as operating systems and application programs; contact data; phonebook data; messages; pictures; videos; and the like. The operating system contains various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application programs can contain various application programs, such as a media player (Media Player), a browser (Browser), and the like, for implementing various application services. Here, the program for implementing the method of the embodiments of the present application can be contained in the application programs.

[0091] Based on the same inventive concept as the foregoing embodiments, the present embodiment also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer readable storage medium can be a ferromagnetic random access memory (FRAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, a compact disc read-only memory (CD-ROM), or the like. The computer readable storage medium can also be various devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, and the like. The computer program stored in the computer readable storage medium is run by a processor to implement the vehicle steering control method applied to the above device. The specific step flow implemented by the computer program run by the processor will be described in the description of the embodiments shown in the drawings, which will not be described here again. Figure 1 The description of the embodiments shown in the drawings will not be described here again.

[0092] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0093] In this document, the terms "comprise", "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.

[0094] The above description is only specific embodiments of the application, but the protection scope of the application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the application, which should be covered by the protection scope of the application. Therefore, the protection scope of the application should be subject to the protection scope of the claims.

Claims

1. A vehicle steering control method characterized by, The method comprises: acquiring a vehicle identifier of a vehicle, determining vehicle model information of the vehicle according to the vehicle identifier, and acquiring a deviation index of the vehicle according to the vehicle model information; acquiring current state information of the vehicle; the current state information comprises a current vehicle speed and a current intended turning radius of the vehicle; calculating a real control steering wheel angle of the vehicle according to the current state information and the deviation index; controlling the vehicle to turn according to the real control steering wheel angle of the vehicle; the acquiring of the corresponding deviation index according to the vehicle model information comprises: pre-establishing a vehicle model information model and setting a deviation index corresponding to the vehicle model information model; matching the vehicle model information with the vehicle model information model; if the matching is successful, acquiring the deviation index corresponding to the vehicle model information model as the deviation index of the vehicle; the acquiring of the corresponding deviation index according to the vehicle model information further comprises: if the matching is not successful, setting a test vehicle speed and a test turning radius for the vehicle, calculating a first theoretical steering wheel angle of the vehicle according to a dynamics simulation algorithm of a vehicle chassis according to the test vehicle speed and the test turning radius; controlling the vehicle according to the set test vehicle speed and test turning radius, and measuring an actual steering wheel angle of the vehicle in the actual control process; comparing the first theoretical steering wheel angle with the actual steering wheel angle, and determining the deviation index of the vehicle according to the deviation between the first theoretical steering wheel angle and the actual steering wheel angle; the method further comprises: if the deviation between the theoretical steering wheel angle and the actual steering wheel angle exceeds a preset threshold, determining the deviation index of the vehicle according to a proportional relationship between the theoretical steering wheel angle and the actual steering wheel angle; if the deviation between the theoretical steering wheel angle and the actual steering wheel angle does not exceed the preset threshold, determining the deviation index of the vehicle as a preset constant.

2. The method of claim 1, wherein, the calculating of the real control steering wheel angle of the vehicle according to the current state information and the deviation index comprises: calculating a second theoretical steering wheel angle according to a preset dynamics simulation algorithm for a vehicle chassis according to the current vehicle speed and the current intended turning radius of the vehicle; calculating the real control steering wheel angle of the vehicle according to the second theoretical steering wheel angle and the deviation index.

3. A vehicle steering control device characterized by comprising: The device comprises: an identification matching module, configured to acquire a vehicle identifier of a vehicle, identify vehicle model information of the vehicle, and acquire a corresponding deviation index; an acquisition module, configured to acquire current state information of the vehicle; the current state information comprises a current vehicle speed and a current intended turning radius of the vehicle; an operation module, configured to calculate a steering wheel angle of the vehicle according to the current state information and the deviation index; a turning control module, configured to control the vehicle to turn according to the steering wheel angle of the vehicle; the identification matching module is specifically configured to: pre-establish a vehicle model information model and set a deviation index corresponding to the vehicle model information model; match the vehicle model information with the vehicle model information model. If the matching is successful, a deviation index corresponding to the vehicle model information model is obtained as the deviation index of the vehicle; If the matching is unsuccessful, a test speed and a test turning radius are set for the vehicle, a first theoretical steering wheel angle of the vehicle is calculated according to a dynamics simulation algorithm of a vehicle chassis according to the test speed and the test turning radius, the vehicle is actually controlled according to the set test speed and test turning radius, and an actual steering wheel angle of the vehicle is measured during the actual control, the first theoretical steering wheel angle and the actual steering wheel angle are compared, and the deviation index of the vehicle is determined according to the deviation between the first theoretical steering wheel angle and the actual steering wheel angle.

4. The apparatus of claim 3, wherein, The steering control module comprises an intelligent driving assistance system, a steering assist system and a steering execution system; The intelligent driving assistance system generates a steering angle instruction after receiving the steering angle information of the vehicle steering wheel and sends the steering angle instruction to the steering assist system; The steering assist system comprises a motor controller and a motor, and is used for the motor controller to control the motor to rotate according to the steering angle instruction and output a steering assist torque of a corresponding size and direction; The steering execution system comprises a steering engine and a steering wheel which are in transmission connection with the motor, the steering engine is used for controlling the steering wheel to steer under the driving of the motor, so as to control the vehicle to steer.

5. A vehicle steering control device characterized by comprising: Comprise: A processor and a memory storing a computer program, when the processor runs the computer program, the steps of the vehicle steering control method in any one of claims 1 to 2 are realized.

6. A computer storage medium, characterized in that, A computer program is stored, and the computer program is executed by a processor to realize the steps of the vehicle steering control method in any one of claims 1 to 2.

Images