Vehicle steering assistance method, device and storage medium

Abstract

The application discloses a vehicle steering assistance method and device and a storage medium. The method comprises the following steps: acquiring steering information of a vehicle, driving environment information of the vehicle and corresponding electromyographic information of a driver when the driver controls the steering of the vehicle; and obtaining steering assistance information according to the electromyographic information, the steering information and the driving environment information; and controlling a steering assistance motor to output a steering assistance torque according to the steering assistance information. According to the technical scheme, the steering assistance information can be adjusted according to different driving habits of the driver, so as to meet the sensitivity requirements of different drivers on the steering assistance information, and the corresponding steering assistance torque is output, so that the steering stability of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle auxiliary control technology, and in particular to a vehicle steering assist method, device and storage medium. Background Technology

[0002] Electric power steering (EPS) systems primarily utilize the power generated by an electric motor to assist the driver in steering. An EPS system includes a torque control loop and a current control loop. The torque control loop outputs an assist current, while the current control loop, using this assist current as a control target, controls the electric motor to output assist torque. Based on the assist torque and the torque input by the driver, the vehicle outputs vehicle speed and steering wheel speed to enhance driver comfort during steering.

[0003] In existing technologies, torque control loops often plot the power assist characteristic curve based on the relationship between torque on the steering column and vehicle speed, and output power assist current based on the power assist characteristic curve. Among them, the power assist characteristic curve mainly includes three types: linear, broken line, and curved curve. Although the above three types of power assist curves each have their own advantages and disadvantages and applicable occasions, different drivers have different sensitivity requirements for the power assist curve due to their different driving habits. However, if the power assist curve is fixed, the output control parameters cannot be adaptively adjusted according to the sensitivity requirements of different drivers' driving habits, which will have a significant impact on the driver's feel and bring an uncomfortable driving experience.

[0004] Therefore, an improved vehicle steering assist technology is needed to address the problems existing in the current technology. Summary of the Invention

[0005] To address the problems of the prior art, this application provides a technical solution for a vehicle steering assist method, device, and storage medium, the technical solution of which is described below:

[0006] On the one hand, a vehicle steering assist method is provided, including:

[0007] Acquire vehicle steering information, vehicle driving environment information, and electromyographic information corresponding to the driver's steering when controlling the vehicle;

[0008] Based on the electromyographic information, the steering information, and the driving environment information, steering assist information is obtained;

[0009] The steering assist motor is controlled to output steering assist torque based on the steering assist information.

[0010] Further, obtaining steering assist information based on the electromyographic information, the steering information, and the driving environment information includes:

[0011] If the electromyographic information meets the first preset condition, the steering assistance information is determined based on the electromyographic information, the steering information, and the driving environment information.

[0012] Furthermore, prior to the steps of acquiring the vehicle's steering information, the vehicle's driving environment information, and the electromyographic information corresponding to the driver's steering control, the method further includes:

[0013] Acquire reference steering information of the vehicle, reference driving environment information of the vehicle, and reference electromyography information of the driver when controlling the vehicle steering within a preset time period.

[0014] Based on the reference steering information, the reference driving environment information, and the reference electromyography information, steering assist configuration information is obtained, wherein the steering assist configuration information indicates the correspondence between the vehicle steering assist current and the reference steering information, the reference driving environment information, and the reference electromyography information.

[0015] Further, obtaining steering assist information based on the electromyographic information, the steering information, and the driving environment information includes:

[0016] Based on the electromyographic information and the driving environment information, steering assist optimization information is obtained, which indicates the preset optimization degree of vehicle steering assist.

[0017] The steering assist information is obtained based on the steering assist optimization information, the electromyographic information, the steering information, and the steering assist configuration information.

[0018] Further, the steering information includes steering wheel angular velocity information, vehicle speed information, and vehicle direction information. The step of obtaining the steering assist information based on the steering assist optimization information, the electromyographic information, the steering information, and the steering assist configuration information includes:

[0019] Based on the electromyographic information and the steering wheel angular velocity information, determine the electromyographic vector information;

[0020] Based on the steering wheel angular velocity information and the driving direction information, the vehicle's steering direction information is determined, wherein the steering direction information indicates whether the direction information corresponding to the steering wheel angular velocity information is the same as or opposite to the driving direction information;

[0021] The steering assist information is obtained based on the steering assist optimization information, the electromyographic vector information, the driving speed information, the steering direction information, and the steering assist configuration information.

[0022] Further, obtaining steering assist information based on the electromyographic information, the steering information, and the driving environment information includes:

[0023] If the electromyographic information meets the second preset condition, the steering assist information is determined to be the first preset steering assist value.

[0024] Further, obtaining steering assist information based on the electromyographic information, the steering information, and the driving environment information includes:

[0025] If the electromyographic information meets the third preset condition, the steering assistance information is determined based on the steering information and the second preset steering assistance value.

[0026] Furthermore, acquiring the electromyographic information corresponding to the driver's steering of the vehicle includes:

[0027] Acquire at least two first electromyographic (EMG) data points and at least two second EMG data points;

[0028] The at least two first electromyographic (EMG) data and the at least two second EMG data are accumulated to obtain the EMG data.

[0029] On the other hand, a vehicle steering assist device is provided, the device comprising:

[0030] Information acquisition module: used to acquire vehicle steering information, vehicle driving environment information, and electromyographic information corresponding to the driver's steering when controlling the vehicle.

[0031] Steering assist information determination module: used to obtain steering assist information based on the electromyographic information, the steering information and the driving environment information;

[0032] Steering assist torque output module: used to control the power assist motor to output steering assist torque according to the steering assist information.

[0033] On the other hand, a vehicle steering assist device is provided, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the vehicle steering assist method as described above.

[0034] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, code set, or instruction set is stored therein, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the vehicle steering assistance method as described above.

[0035] The vehicle steering assist method, device, equipment, and storage medium provided in this application have the following technical effects:

[0036] This application embodiment acquires vehicle steering information, vehicle driving environment information, and electromyography (EMG) information corresponding to the driver's steering when controlling the vehicle. Based on the EMG information, steering information, and driving environment information, steering assist information is obtained. Then, the steering assist motor is controlled to output steering assist torque according to the steering assist information. The technical solution provided by this application can adjust the steering assist information according to drivers with different driving habits to meet the sensitivity requirements of different drivers for steering assist information, and output steering assist torque corresponding to the steering assist information to improve the steering stability of the vehicle. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of a vehicle steering assist system provided in an embodiment of this application;

[0039] Figure 2 A schematic flowchart of a vehicle steering assist method provided in an embodiment of this application;

[0040] Figure 3 This is a schematic diagram of the structure corresponding to the electromyography information acquisition method provided in the embodiments of this application;

[0041] Figure 4 A flowchart illustrating the method for determining steering assist configuration information provided in an embodiment of this application;

[0042] Figure 5 This is a schematic diagram of the structure of a BP neural network provided in an embodiment of this application;

[0043] Figure 6 A trend graph of reference electromyographic assist information versus reference average electromyographic information provided in the embodiments of this application;

[0044] Figure 7 The steering assist characteristic curve provided in the embodiments of this application;

[0045] Figure 8 A flowchart illustrating the steering assist information determination method provided in this application embodiment;

[0046] Figure 9 A flowchart illustrating another method for determining steering assist information provided in an embodiment of this application;

[0047] Figure 10A schematic diagram of the steering assist current when the vehicle's driving speed is 10 km / h, provided as an embodiment of this application;

[0048] Figure 11 A schematic diagram of the steering assist current when the vehicle speed is 80 km / h, provided for an embodiment of this application;

[0049] Figure 12 This is a schematic diagram of the structure of a vehicle steering assist device provided in an embodiment of this application;

[0050] Figure 13 This is a schematic diagram of the structure of the steering assist configuration information determination module provided in an embodiment of this application;

[0051] Figure 14 This is a schematic diagram of the structure of the steering assist information determination subunit provided in the embodiments of this application;

[0052] Figure 15 This application provides a schematic diagram of the structure of a server according to an embodiment of the present application.

[0053] The corresponding reference numerals in the attached figures are: 01-torque control module; 03-steering assist optimization module; 02-current control module; 04-controlled object; 05-driver. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0055] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0056] Please see Figure 1 The diagram shown is a structural schematic of a vehicle steering assist system provided in an embodiment of this application. Figure 1As shown, the system includes a torque control module 01, a steering assist optimization module 03, and a current control module 02. In practical applications, the output terminal of the steering assist optimization module 03 can be connected to the torque control module 01 via wired communication, so that the steering assist optimization module 03 can output steering assist optimization information to the torque control module 01. Secondly, the output terminal of the torque control module 01 can be connected to the input terminal of the current control module 02 via wired communication, so that the torque control module 01 can output steering assist current to the current control module 02, and then the current control module 02 controls the power assist motor to output steering assist torque corresponding to the steering assist current.

[0057] Specifically, the input terminals of the steering assist optimization module 03 are communicatively connected to the driver's arm 05 and the controlled object 04, respectively. The controlled object 04 includes at least a function for collecting electromyographic information of the driver's arm when driving the steering wheel and information about the vehicle's driving environment. The controlled object 04 receives the electromyographic information of the driver's arm when driving the steering wheel and the driving environment information collected by the controlled object 04. Based on the received electromyographic information and driving environment information, the controlled object 04 generates steering assist optimization information and sends the steering assist optimization information to the torque control module 01, so that the torque control module 01 outputs steering assist current to the current control module 02.

[0058] In one embodiment, the input terminal of the torque control module 01 is communicatively connected to the driver's arm 05, the controlled object 04, and the steering assist optimization module 03, respectively, so as to receive electromyographic information of the driver's arm when driving the steering wheel, steering wheel angular velocity information collected by the controlled object 04, vehicle speed information collected by the controlled object 04, and steering assist optimization information sent by the steering assist optimization module 03. The controlled object 04 includes at least a module for collecting information related to steering wheel information and steering information, and a module capable of receiving steering assist torque. When the torque control module 01 receives the electromyographic information of the driver's arm when driving the steering wheel, the steering wheel angular velocity information collected by the controlled object 04, the vehicle speed information collected by the controlled object 04, and the steering assist optimization information sent by the steering assist optimization module 03, the torque control module 01 outputs the corresponding target steering assist current.

[0059] It should be noted that before outputting the steering assist current, the torque control module 01 generates steering assist configuration information based on the reference electromyography signal, reference driving environment information, reference steering wheel angular velocity information, and reference vehicle speed information received within a preset time. The steering assist configuration information can be a steering assist characteristic curve, so that the torque control module 01 can output the target steering assist current based on the steering assist configuration information, electromyography information, driving environment information, steering wheel angular velocity information, and vehicle speed information.

[0060] Furthermore, the current control module 02 is used to control the power steering motor to output power steering torque upon receiving the target power steering current from the torque control module 01, so as to achieve precise power steering and thus significantly improve the vehicle's steering stability.

[0061] In addition, it should be noted that, Figure 1 The system shown is merely one vehicle steering assist system, which may include more or fewer nodes, and this application makes no limitation herein.

[0062] The vehicle steering assistance method based on the above system described in this application is described below. Please refer to [link / reference]. Figure 2 The diagram shown is a flowchart illustrating a vehicle steering assist method provided in an embodiment of this application. The following is a summary of the process. Figure 2 The technical solution of this application is described in detail. It should be noted that this specification provides the method operation steps as shown in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many steps and does not represent the only execution order. The method specifically includes the following steps:

[0063] S101: Acquire vehicle steering information, vehicle driving environment information, and electromyographic information corresponding to the driver's steering when controlling the vehicle.

[0064] In this embodiment, steering information refers to the information output when the vehicle is turning. For example, steering information may include, but is not limited to, steering wheel angular velocity information, vehicle speed information, and vehicle direction information. Driving environment information refers to the road information where the vehicle is located when it is turning. For example, driving environment information may include, but is not limited to, road curvature information, road surface type, road surface humidity, and distance to obstacles ahead. Electromyographic information refers to the electromyographic signals output by the driver's arm when controlling the vehicle's steering. For example, an electromyographic signal analyzer can be used to collect the electromyographic signals on the driver's arm. Specifically, the electromyographic signal analyzer can be an electromyographic signal sensor, which is placed on a sleeve. The driver wears the sleeve while driving the vehicle to collect the electromyographic signals on the driver's arm when controlling the vehicle's steering. Based on the acquired steering information, driving environment information, and electromyographic information, this application can output steering assist information for controlling the power steering motor and adjust the steering assist information according to the different driving habits of drivers to meet the sensitivity requirements of different drivers for steering assist information, thereby improving the steering stability of the vehicle at high speeds.

[0065] In an optional implementation, step S101 may include:

[0066] S1011: Obtain at least two first electromyographic (EMG) data points and at least two second EMG data points.

[0067] S1012: Accumulate at least two first electromyographic information and at least two second electromyographic information to obtain electromyographic information.

[0068] In the embodiments of this application, please refer to Figure 3 This is a structural diagram corresponding to the electromyography information acquisition method provided in the embodiments of this application. Specifically, at least two first electromyography information are the electromyography signals acquired from the driver's left arm. The at least two first electromyography information may include the first electromyography signal of the biceps brachii muscle on the left arm and the second electromyography signal of the forearm on the left arm. At least two second electromyography information are the electromyography signals acquired from the driver's right arm. The at least two second electromyography information may include the third electromyography signal of the biceps brachii muscle on the right arm and the third electromyography signal of the forearm on the right arm.

[0069] In one specific embodiment, preset weight parameters are assigned to the first, second, third, and fourth electromyographic (EMG) signals, respectively. Then, based on the first, second, third, and fourth EMG signals and their respective preset weight parameters, EMG information is determined. Specifically, the products of the first EMG signal and its corresponding first preset weight parameter, the second EMG signal and its corresponding second preset weight parameter, the third EMG signal and its corresponding third preset weight parameter, and the fourth EMG signal and its corresponding fourth preset weight parameter are accumulated to obtain the EMG information corresponding to the driver's arm when controlling the vehicle's steering.

[0070] Preferably, the first and third preset weight parameters can be 0.7, and the second and fourth preset weight parameters can be 0.3.

[0071] It should be noted that before performing step S1012, the first electromyography (EMG) signal, the second EMG signal, the third EMG signal, and the fourth EMG signal need to be filtered. The first EMG signal, the second EMG signal, the third EMG signal, and the fourth EMG signal can be filtered by a filter. For example, the filter includes, but is not limited to, a low-pass filter.

[0072] In one alternative implementation, such as Figure 4 As shown, this is a flowchart illustrating the method for determining steering assist configuration information provided in an embodiment of this application. Before step S101, the method may further include:

[0073] S1001: Acquire reference steering information of the vehicle, reference driving environment information of the vehicle, and reference electromyography information corresponding to the driver's steering control of the vehicle within a preset time period.

[0074] S1002: Based on the reference steering information, reference driving environment information and reference electromyography information, the steering assist configuration information is obtained. The steering assist configuration information indicates the correspondence between the vehicle steering assist current and the reference steering information, reference driving environment information and reference electromyography information.

[0075] In this embodiment, the preset time period can be the duration from when the driver starts driving the vehicle to a preset time point. The reference steering information is the steering information obtained within the preset time period, the reference driving environment information is the driving environment information obtained within the preset time period, and the reference electromyography (EMG) information is the EMG information obtained within the preset time period. The steering assist configuration information represents the correspondence between the vehicle's steering assist current and the reference steering information, the reference driving environment information, and the reference EMG information. Furthermore, based on the reference steering information, the reference driving environment information, and the reference EMG information, steering assist configuration information is constructed to represent the correspondence between the vehicle's steering assist current and the reference steering information, the reference driving environment information, and the reference EMG information. This allows for adaptive construction of steering assist configuration information corresponding to drivers with different driving habits, thereby adjusting the steering assist information to meet the sensitivity requirements of different drivers for steering assist information and improving the vehicle's steering stability.

[0076] It should be noted that when the reference electromyography (EMG) information meets the first reference preset condition, wherein the first reference preset condition is that the reference EMG information is greater than the first reference preset EMG threshold and less than the second reference preset EMG threshold, step S1002 is executed. If the reference EMG information meets the second reference preset condition, wherein the second reference preset condition is that the reference EMG information is less than or equal to the first reference preset EMG threshold, then a first preset steering assist value is output. For example, the first preset steering assist value can be zero. If the reference EMG information meets the third reference preset condition, wherein the third reference preset condition is that the reference EMG information is greater than or equal to the second reference preset EMG threshold, then the vector value corresponding to the second preset steering assist value is output. For example, the second preset steering assist value can be the maximum preset steering assist value, wherein the maximum steering assist value can be calibrated according to the actual problem.

[0077] In one embodiment, the reference steering information includes reference steering wheel angular velocity information, reference vehicle speed information, and reference vehicle direction information. Therefore, step S1002 may include:

[0078] S10021: Determine reference steering assist optimization information based on reference electromyography information and reference driving environment information.

[0079] S10022: Obtain reference electromyography vector information based on reference electromyography information and reference steering wheel angular velocity information.

[0080] S10023: Determine the vehicle's reference steering direction information based on the reference steering wheel angular velocity information and the reference driving direction information.

[0081] S10024: Determine the reference average electromyography information within a preset time period based on the reference electromyography information.

[0082] S10025: Determine reference electromyographic assist information based on reference average electromyographic information.

[0083] S10026: Based on the reference steering assist optimization information, reference electromyography vector information, reference driving speed information, reference steering direction information, and reference electromyography assist information, the steering assist configuration information is obtained.

[0084] Specifically, the reference steering assist optimization information represents the preset optimization degree of vehicle steering assist within a preset time period. This can be determined based on reference electromyography (EMG) information and reference driving environment information. In one embodiment, the reference EMG information and reference driving environment information are input into a trained neural network to derive the reference steering assist optimization information based on the neural network. For example, the neural network includes, but is not limited to, a backpropagation (BP) neural network. The reference EMG information is the reference EMG signal output by the driver's arm when controlling the vehicle's steering within a preset time period. The reference driving environment information includes, but is not limited to, reference road curvature information, reference road surface type, reference road surface humidity, and reference distance to obstacles ahead during vehicle steering within a preset time period. Furthermore, the reference EMG signal, reference road curvature information, reference road surface type, reference road surface humidity, and reference distance to obstacles ahead can be input into the BP neural network. A schematic diagram of the BP neural network structure is shown below. Figure 5 As shown, this allows for the output of reference steering assist optimization information based on the BP neural network. Preferably, the reference steering assist optimization information can be 0, 0.2, 0.4, 0.6, 0.8, and 1.0, etc.

[0085] Furthermore, the reference electromyographic vector information is the vector information of electromyographic information within a preset time period, wherein the reference electromyographic vector information is consistent with the direction information corresponding to the reference steering wheel angular velocity information. For example, let the reference electromyographic vector information be p. smst ,but:

[0086] p smst =sign(ω) steer )*p mst

[0087] In the formula, ω steer To reference the steering wheel angular velocity information, sign(ω) steer (p) refers to the direction information corresponding to the steering wheel angular velocity information. mst For reference electromyography information.

[0088] Furthermore, the average electromyographic information is used to characterize the average electromyographic signal intensity over a preset time period. For example, let the preset time be t0 and the average electromyographic information be p. amst ,but

[0089]

[0090] In the formula, To accumulate and calculate the electromyographic information, and then determine the reference electromyographic assist information based on the obtained reference average electromyographic information.

[0091] Furthermore, the reference electromyographic assist information represents the electromyographic steering assist parameters within a preset time period. This preset time period represents the driver's break-in period using the vehicle. During this break-in period, drivers with different driving habits will have different steering assist parameters. Based on these steering assist parameters, adaptive steering assist configuration information can be constructed according to the different driving habits of each driver. For example, let the reference electromyographic assist information be β, then...

[0092] β=k β *exp(-p amst n )+δ

[0093] In the formula, k β δ is the direct influencing factor of steering assist, which can be calibrated based on the steering wheel diameter; n is the indirect influencing factor of steering assist, which can be calibrated based on vehicle speed information; δ is the steering assist offset value, which can be calibrated based on vehicle mass and road conditions, etc. amst This is for reference to average electromyography (EMG) information. For reference EMG assistance information, please refer to [link to relevant documentation]. Figure 6 It is a trend graph of the reference electromyographic assistance information provided in the embodiments of this application as a function of the reference average electromyographic information, from Figure 6 As can be seen, the reference electromyographic assistance information decreases as the reference average electromyographic information increases. Therefore, the higher the reference average electromyographic information, the lower the reference electromyographic assistance information, which can improve the steering stability of the vehicle.

[0094] Furthermore, the vehicle's reference steering direction information indicates whether the direction information corresponding to the reference steering wheel angular velocity information within a preset time period is the same as or opposite to the reference driving direction information. That is, if the direction information corresponding to the reference steering wheel angular velocity information is the same as the reference driving direction information, the reference steering direction information is positive; if the direction information corresponding to the reference steering wheel angular velocity information is opposite to the reference driving direction information, the reference steering direction information is negative.

[0095] It should be noted that there is a delay in the reference driving direction information during vehicle turning. That is, when the driver turns the steering wheel, the direction information corresponding to the output reference steering wheel angular velocity information is not synchronized with the reference driving direction information. Therefore, there are cases where the direction information corresponding to the reference steering wheel angular velocity information is opposite to the reference driving direction information.

[0096] Preferably, the steering assist configuration information can be a steering assist characteristic curve; furthermore, the steering assist configuration information can be...

[0097]

[0098] In the formula, I ast For reference steering assist current, ω steer_veh To reference the steering wheel angular velocity information and the reference driving direction information, sign(ω) steer_veh ) represents the reference steering direction information, β represents the reference electromyographic assist information, and f represents the reference steering direction information. idv For reference to steering assist optimization information, k(v) is the vehicle speed influence function, f(p) smst ) is the electromyographic effect function, I max p is a scalar value representing the second preset steering assist value. mst0 As the first reference preset electromyography threshold, p mstmax The second reference preset electromyographic threshold is provided, where k(v) includes, but is not limited to, an inverse proportional function, and f(p) smst This includes, but is not limited to, quadratic functions, and thus, we obtain, for example... Figure 7 The steering assist characteristic curve shown is shown.

[0099] S102: Based on electromyographic information, steering information, and driving environment information, steering assistance information is obtained.

[0100] In an optional implementation, step S102 may include:

[0101] S1021: When the electromyographic information meets the first preset condition, determine the steering assist information based on the electromyographic information, steering information and driving environment information.

[0102] In this embodiment of the application, the first preset condition is that the electromyographic information is greater than the first preset electromyographic threshold and less than the second preset electromyographic threshold. Then, when the electromyographic information is greater than the first preset electromyographic threshold and less than the second preset electromyographic threshold, steering assistance information is obtained based on the electromyographic information, steering information and driving environment information, wherein the steering assistance information is the steering assistance current.

[0103] In one alternative implementation, such as Figure 8 As shown, this is a flowchart illustrating the steering assist information determination method provided in this application embodiment. Step S1021 may include:

[0104] S10211: Based on electromyographic information and driving environment information, steering assist optimization information is obtained, which indicates the preset optimization level of vehicle steering assist.

[0105] S10212: Based on the steering assist optimization information, electromyographic information, steering information, and steering assist configuration information, the steering assist information is obtained.

[0106] In this embodiment, the steering assist optimization information characterizes the preset optimization degree of the vehicle's steering assist. Specifically, it can be determined based on electromyographic (EMG) information and driving environment information. In one embodiment, the EMG information and driving environment information are input into a trained neural network. For example, the EMG information is the EMG signal output by the driver's arm when controlling the vehicle's steering. The driving environment information includes, but is not limited to, road curvature information, road surface type, road surface humidity, and distance to obstacles ahead when the vehicle is steering. Therefore, the EMG signal, road curvature information, road surface type, road surface humidity, and distance to obstacles ahead can be input into a neural network such as... Figure 5 The neural network shown is used to output corresponding steering assist optimization information.

[0107] Furthermore, the steering assist optimization information, electromyographic information, and steering information are matched with the steering assist configuration information so as to output the corresponding steering assist information based on the mapping relationship between the steering assist optimization information, electromyographic information, and steering information and the steering assist configuration information.

[0108] It should be noted that the purpose of determining the steering assist optimization information, electromyography (EMG) information, and steering information is to output steering assist information corresponding to the steering assist optimization information, EMG information, and steering information based on the steering assist configuration information. The reference steering assist optimization information, reference EMG information, and reference steering information are information obtained when constructing the steering assist configuration information. Therefore, in the process of matching the steering assist optimization information, EMG information, and steering information with the steering assist configuration information, the steering assist optimization information corresponds to the reference steering assist optimization information, the EMG information corresponds to the reference EMG information, and the steering information corresponds to the reference steering information. Then, based on the mapping relationship between the steering assist optimization information, EMG information, and steering information and the steering assist configuration information, the corresponding steering assist information is output.

[0109] In one alternative implementation, such as Figure 9 As shown, this is a flowchart illustrating another method for determining steering assist information provided in this application embodiment. The steering information includes steering wheel angular velocity information, vehicle speed information, and vehicle direction information. Step S10212 may include:

[0110] S102121: Determine the electromyographic vector information based on the electromyographic information and the steering wheel angular velocity information.

[0111] S102122: Based on the steering wheel angular velocity information and the driving direction information, determine the vehicle's steering direction information. The steering direction information indicates whether the direction information corresponding to the steering wheel angular velocity information is the same as or opposite to the driving direction information.

[0112] S102123: Based on steering assist optimization information, electromyographic vector information, driving speed information, steering direction information, and steering assist configuration information, steering assist information is obtained.

[0113] In this embodiment of the application, the electromyographic vector information is the vector information of electromyographic information, wherein the direction information corresponding to the steering wheel angular velocity information is consistent. For example, the determination method of the electromyographic vector information can refer to the above-mentioned determination method of the reference electromyographic vector information, which will not be repeated here.

[0114] Furthermore, the vehicle's steering direction information indicates whether the steering wheel angular velocity information corresponds to the same or opposite direction of travel. That is, if the steering wheel angular velocity information corresponds to the same direction of travel as the driving direction information, the steering direction information is positive; if the steering wheel angular velocity information corresponds to the opposite direction of travel as the driving direction information, the steering direction information is negative.

[0115] Furthermore, the steering assist optimization information, electromyographic vector information, driving speed information, and steering direction information are matched with the steering assist configuration information so as to determine the steering assist information based on the mapping relationship between the steering assist optimization information, electromyographic vector information, driving speed information, and steering direction information and the steering assist configuration information.

[0116] It should be noted that the purpose of determining the steering assist optimization information, electromyography (EMG) vector information, driving speed information, and steering direction information is to output steering assist information corresponding to the steering assist optimization information, EMG vector information, driving speed information, and steering direction information based on the steering assist configuration information. The reference steering assist optimization information, reference EMG vector information, reference driving speed information, and reference steering direction information are information obtained when constructing the steering assist configuration information. Therefore, in the process of matching the steering assist optimization information, EMG vector information, driving speed information, and steering direction information with the steering assist configuration information, the steering assist optimization information corresponds to the reference steering assist optimization information, the EMG vector information corresponds to the reference EMG vector information, the driving speed information corresponds to the reference driving speed information, and the steering direction information corresponds to the reference steering direction information. Furthermore, based on the mapping relationship between the steering assist optimization information, EMG vector information, driving speed information, and steering direction information and the steering assist configuration information, the steering assist information is determined.

[0117] In another alternative implementation, step S102 may further include:

[0118] S1022: When the electromyographic information meets the second preset condition, the steering assist information is determined to be the first preset steering assist value.

[0119] Specifically, the steering assist information is the steering assist current, and the second preset condition is that the electromyography information is less than or equal to the first preset electromyography threshold. That is, when the electromyography information is less than or equal to the first preset electromyography threshold, the steering assist current is determined to be the first preset steering assist value. For example, the first preset steering assist value is zero.

[0120] In another alternative implementation, step S102 may further include:

[0121] S1023: When the electromyographic information meets the third preset condition, determine the steering assistance information based on the steering information and the second preset steering assistance value.

[0122] In this embodiment, the steering information includes steering wheel angular velocity information and vehicle driving direction information. The third preset condition is that the electromyography (EMG) information is greater than or equal to the second preset EMG threshold. That is, when the EMG information is greater than or equal to the second preset EMG threshold, the vehicle's steering direction information is determined based on the steering wheel angular velocity information and the vehicle's driving direction information. The vehicle's steering direction information indicates whether the direction information corresponding to the steering wheel angular velocity information is the same as or opposite to the driving direction information. If the direction information corresponding to the steering wheel angular velocity information is the same as the driving direction information, the steering direction information is positive; if the direction information corresponding to the steering wheel angular velocity information is opposite to the driving direction information, the steering direction information is negative. Then, the steering assist current is determined based on the steering direction information and the second preset steering assist value. That is, the steering direction information and the second preset steering assist value are multiplied to obtain the steering assist current, which is the second preset steering assist value. For example, the second preset steering assist value is the maximum preset steering assist value.

[0123] In a specific embodiment, please refer to Figure 10 and Figure 11 ,in, Figure 10 This is a schematic diagram showing the steering assist current when the vehicle speed is 10 km / h, as provided in an embodiment of this application. Figure 11 This is a schematic diagram of the steering assist current when the vehicle speed is 80 km / h, provided in an embodiment of this application. Wherein, p mst0 As the first reference preset electromyography threshold, p mstmax As a second reference preset electromyographic threshold, from Figure 10 and Figure 11 As can be seen, even at the same speed, the output steering assist current varies depending on the steering direction information.

[0124] S103: Controls the power steering motor to output power steering torque based on power steering information.

[0125] In this embodiment, the power steering motor is controlled to output power steering torque based on the output power steering current to achieve power steering and improve the stability of power steering.

[0126] As can be seen from the above technical solutions of the embodiments of this application, the following technical effects are achieved:

[0127] This application embodiment acquires vehicle steering information, vehicle driving environment information, and electromyography (EMG) information corresponding to the driver's steering when controlling the vehicle. Based on the EMG information, steering information, and driving environment information, steering assist information is obtained. Then, the steering assist motor is controlled to output steering assist torque according to the steering assist information. The technical solution provided by this application can adjust the steering assist information according to drivers with different driving habits to meet the sensitivity requirements of different drivers for steering assist information, and output steering assist torque corresponding to the steering assist information to improve the steering stability of the vehicle.

[0128] This application also provides a vehicle steering assist device, such as... Figure 12 As shown, this is a structural schematic diagram of a vehicle steering assist device provided in an embodiment of this application. The device specifically includes:

[0129] Information acquisition module 10: used to acquire vehicle steering information, vehicle driving environment information, and electromyographic information corresponding to the driver's control of vehicle steering.

[0130] Steering assist information determination module 20: used to obtain steering assist information based on electromyographic information, steering information and driving environment information.

[0131] Steering assist torque output module 30: used to control the power assist motor to output steering assist torque based on steering assist information.

[0132] Preferably, the steering assist information determination module 20 may include:

[0133] First steering assist information determination submodule 201: used to determine steering assist information based on electromyographic information, steering information and driving environment information when the electromyographic information meets the first preset condition.

[0134] Preferred, such as Figure 13 As shown, this is a structural schematic diagram of the steering assist configuration information determination module provided in an embodiment of this application. The device may further include:

[0135] Reference information acquisition module 40: used to acquire the vehicle's reference steering information, the vehicle's reference driving environment information, and the driver's reference electromyography information when controlling the vehicle's steering within a preset time period.

[0136] Steering assist configuration information determination module 50: used to obtain steering assist configuration information based on reference steering information, reference driving environment information and reference electromyography information. The steering assist configuration information indicates the correspondence between the vehicle steering assist current and the reference steering information, reference driving environment information and reference electromyography information.

[0137] Preferably, the first steering assist information determination submodule 201 may include:

[0138] Steering assist optimization information determination unit 2011: used to obtain steering assist optimization information based on electromyographic information and driving environment information. The steering assist optimization information indicates the preset optimization degree of vehicle steering assist.

[0139] Steering assist information determination unit 2012: used to obtain steering assist information based on steering assist optimization information, electromyographic information, steering information and steering assist configuration information.

[0140] Preferred, such as Figure 14 As shown, this is a structural schematic diagram of the steering assist information determination subunit provided in an embodiment of this application. The steering information includes steering wheel angular velocity information, vehicle speed information, and vehicle direction information. Therefore, the steering assist information determination unit 2012 may include:

[0141] Electromyography vector information determination subunit 20121: used to determine electromyography vector information based on electromyography information and steering wheel angular velocity information.

[0142] Steering direction information determination subunit 20122: used to determine the vehicle's steering direction information based on the steering wheel angular velocity information and the driving direction information. The steering direction information indicates whether the direction information corresponding to the steering wheel angular velocity information is the same as or opposite to the driving direction information.

[0143] Steering assist information determination subunit 20123: used to obtain steering assist information based on steering assist optimization information, electromyographic vector information, driving speed information, steering direction information and steering assist configuration information.

[0144] Preferably, the steering assist information determination module 20 may further include:

[0145] Second steering assist information determination submodule 202: used to determine the steering assist information as the first preset steering assist value when the electromyographic information meets the second preset condition.

[0146] Preferably, the steering assist information determination module 20 may further include:

[0147] The third steering assist information determination submodule 203 is used to determine steering assist information based on steering information and the second preset steering assist value when the electromyographic information meets the third preset condition.

[0148] Preferably, the information acquisition module 10 may further include:

[0149] Electromyography information acquisition submodule 101: used to acquire at least two first electromyography information and at least two second electromyography information.

[0150] Electromyographic information determination submodule 102: used to accumulate at least two first electromyographic information and at least two second electromyographic information to obtain electromyographic information.

[0151] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0152] This application provides a vehicle steering assist device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the vehicle steering assist method provided in the above method embodiments.

[0153] Memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for the functions, etc.; the data storage area can store data created based on the use of the device, etc. Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, memory can also include a memory controller to provide the processor with access to the memory.

[0154] The vehicle steering assist device can be a server. This application embodiment also provides a schematic diagram of the server structure. Please refer to [link / reference]. Figure 15The server 1500 is used to implement the data processing method provided in the above embodiments. The server 1500 can vary significantly due to different configurations or performance, and may include one or more processors 1510 (e.g., one or more processors) and storage 1530, and one or more storage media 1520 (e.g., one or more mass storage devices) for storing application programs 1523 or data 1522. The memory 1530 and storage media 1520 can be temporary or persistent storage. The program stored in the storage media 1520 may include one or more modules, each module including a series of instruction operations on the server. Furthermore, the processor 1510 may be configured to communicate with the storage media 1520 and execute the series of instruction operations in the storage media 1520 on the server 1500. Server 1500 may also include one or more power supplies 1560, one or more wired or wireless network interfaces 1550, one or more input / output interfaces 1540, and / or one or more operating systems 1521, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0155] The embodiments of this application also provide a storage medium, which can be located in a server to store at least one instruction, at least one program, code set, or instruction set related to implementing a vehicle steering assist method in the method embodiments. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the vehicle steering assist method provided in the above method embodiments.

[0156] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0157] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system and server embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0158] 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 vehicle steering assist method, characterized in that, include: The vehicle's steering information, driving environment information, and electromyographic information corresponding to the driver's steering control are acquired. The steering information includes steering wheel angular velocity information, vehicle speed information, and vehicle direction information. Based on the electromyographic information, the steering information, and the driving environment information, steering assist information is obtained; The power steering motor is controlled to output power steering torque based on the power steering information. The process of obtaining steering assist information based on the electromyographic information, the steering information, and the driving environment information includes the following steps: Based on the electromyographic information and the driving environment information, steering assist optimization information is obtained, which indicates the preset optimization degree of vehicle steering assist. The steering assist information is obtained based on the steering assist optimization information, the electromyography information, the steering information, and the steering assist configuration information. The steering assist configuration information indicates the correspondence between the vehicle steering assist current and the reference steering information, the reference driving environment information, and the reference electromyography information. The process of obtaining the steering assist information based on the steering assist optimization information, the electromyographic information, the steering information, and the steering assist configuration information includes the following steps: Based on the electromyographic information and the steering wheel angular velocity information, the electromyographic vector information is determined; Based on the steering wheel angular velocity information and the driving direction information, the vehicle's steering direction information is determined, wherein the steering direction information indicates whether the direction information corresponding to the steering wheel angular velocity information is the same as or opposite to the driving direction information; The steering assist information is obtained based on the steering assist optimization information, the electromyographic vector information, the driving speed information, the steering direction information, and the steering assist configuration information.

2. The vehicle steering assist method according to claim 1, characterized in that, The step of obtaining steering assist information based on the electromyographic information, the steering information, and the driving environment information includes: If the electromyographic information meets the first preset condition, the steering assistance information is determined based on the electromyographic information, the steering information, and the driving environment information.

3. The vehicle steering assist method according to claim 2, characterized in that, Before the steps of acquiring the vehicle's steering information, the vehicle's driving environment information, and the electromyographic information corresponding to the driver's steering control, the method further includes: Acquire reference steering information of the vehicle, reference driving environment information of the vehicle, and reference electromyography information of the driver when controlling the vehicle steering within a preset time period; Steering assist configuration information is obtained based on the reference steering information, the reference driving environment information, and the reference electromyography information.

4. The vehicle steering assist method according to claim 1, characterized in that, The step of obtaining steering assist information based on the electromyographic information, the steering information, and the driving environment information includes: If the electromyographic information meets the second preset condition, the steering assist information is determined to be the first preset steering assist value.

5. The vehicle steering assist method according to claim 1, characterized in that, The step of obtaining steering assist information based on the electromyographic information, the steering information, and the driving environment information includes: If the electromyographic information meets the third preset condition, the steering assistance information is determined based on the steering information and the second preset steering assistance value.

6. The vehicle steering assist method according to claim 1, characterized in that, The acquisition of electromyographic information corresponding to the driver's steering of the vehicle includes: Acquire at least two first electromyographic (EMG) data points and at least two second EMG data points; The at least two first electromyographic (EMG) data and the at least two second EMG data are accumulated to obtain the EMG data.

7. A vehicle steering assist device, characterized in that, The device includes: Information acquisition module: used to acquire vehicle steering information, vehicle driving environment information and electromyographic information corresponding to the driver controlling the vehicle steering, wherein the steering information includes steering wheel angular velocity information, vehicle driving speed information and vehicle driving direction information. Steering assist information determination module: used to obtain steering assist information based on the electromyographic information, the steering information and the driving environment information; Steering assist torque output module: used to control the power assist motor to output steering assist torque according to the steering assist information; The steering assist information determination module includes the following units: Steering assist optimization information determination unit: used to obtain steering assist optimization information based on the electromyographic information and the driving environment information, wherein the steering assist optimization information indicates the preset optimization degree of vehicle steering assist; Steering assist information determination unit: used to obtain steering assist information based on the steering assist optimization information, the electromyographic information, the steering information and the steering assist configuration information, wherein the steering assist configuration information indicates the correspondence between the vehicle steering assist current and the reference steering information, the reference driving environment information and the reference electromyographic information; The steering assist information determination unit includes the following sub-units: An electromyography vector information determination subunit is used to determine electromyography vector information based on the electromyography information and the steering wheel angular velocity information; The steering direction information determination subunit is used to determine the vehicle's steering direction information based on the steering wheel angular velocity information and the driving direction information, wherein the steering direction information indicates whether the direction information corresponding to the steering wheel angular velocity information is the same as or opposite to the driving direction information; The steering assist information determination subunit is used to obtain steering assist information based on the steering assist optimization information, the electromyographic vector information, the driving speed information, the steering direction information, and the steering assist configuration information.

8. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction or at least one program segment, which is loaded and executed by a processor to implement the vehicle steering assist method as described in any one of claims 1 to 6.

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