A power-assisted steering method, device and electronic equipment

Abstract

The application provides a power-assisted steering method and device and electronic equipment, and relates to the technical field of vehicles, and the method comprises the following steps: in the case of vehicle steering, detecting a target environment in which the vehicle is located; determining a power-assisted parameter value of a steering device of the vehicle as a first power-assisted parameter value according to the target environment; and power-assisting the vehicle based on the power-assisted parameter of the first power-assisted parameter value; wherein, in the case that the power-assisted parameter of the steering device is adjusted from a second power-assisted parameter value as a reference to the first power-assisted parameter value, the change rate of a manual parameter of the steering device is within a preset range. According to the embodiment of the application, when the road environment is relatively complex, the steering parameter of the steering device of the vehicle changes greatly, and the power-assisted parameter of the steering device of the vehicle is adjusted from the second power-assisted parameter corresponding to the conventional road to the first power-assisted parameter, so that the manual power-assisted size of the driver is relatively small compared with the fluctuation when driving on the conventional road, the manual power-assisted operation is stable, and the safety of driving can be improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a power steering method, device, and electronic device. Background Technology

[0002] With the continuous improvement of off-road performance, the electrification and intelligentization of off-road vehicles have become a new development trend. As the degree of chassis electrification deepens, electric power steering (EPS) is gradually becoming more widespread. As a steering assistance system for automobiles, the electric power steering system can precisely provide steering assistance through the electronic control unit (ECU) to improve the driving experience and enhance vehicle handling.

[0003] In related technologies, the power steering parameters of a vehicle are determined based on calibration on conventional road surfaces. When a car is driving and turning on a road surface with complex conditions (such as ice or sand), the use of the above power steering parameters will affect the driver's feel, resulting in poor vehicle safety. Summary of the Invention

[0004] This application provides a power steering method, device, and electronic device to address the problem that using conventional power steering parameters can affect the driver's feel, thereby leading to poor vehicle safety.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows:

[0006] In a first aspect, embodiments of this application provide a power steering method, the method comprising:

[0007] When the vehicle is turning, detect the target environment in which the vehicle is located;

[0008] Based on the target environment, the power assist parameter of the vehicle's steering system is determined as the first power assist parameter value;

[0009] Based on the first assist parameter value, the vehicle is assisted in steering.

[0010] Wherein, when the power assist parameter of the steering gear is adjusted from the reference second power assist parameter value to the first power assist parameter value, the rate of change of the manual parameter of the steering gear is within a preset range.

[0011] Optionally, determining the steering assist parameter of the vehicle as a first assist parameter value based on the target environment includes:

[0012] With the vehicle in motion, obtain the assist coefficient associated with the target environment;

[0013] determining, based on a product of the boost coefficient and the second boost parameter value, a boost parameter size of a steering gear of the vehicle as the first boost parameter value.

[0014] Optionally, the boost coefficient comprises at least one of a tire pressure coefficient, a temperature coefficient, a road surface friction coefficient, and a vehicle speed coefficient.

[0015] Optionally, the assisting the vehicle to steer based on the boost parameter of the first boost parameter value comprises:

[0016] adjusting the boost parameter of the steering gear from the second boost parameter value to the first boost parameter value;

[0017] assisting the vehicle to steer based on the boost parameter of the first boost parameter value.

[0018] Optionally, the detecting the target environment in which the vehicle is located comprises:

[0019] detecting a body state of the vehicle, the body state comprising at least one of a wading state, a vibration state, and a temperature state;

[0020] determining the target environment in which the vehicle is located according to the body state.

[0021] Optionally, in a case where the vehicle is in a stationary state, the determining the boost parameter size of the steering gear of the vehicle as the first boost parameter value according to the target environment comprises:

[0022] determining a corresponding sliding friction coefficient according to the target environment;

[0023] calculating the boost parameter size of the steering gear of the vehicle as the first boost parameter value according to the sliding friction coefficient and a parameter of the vehicle.

[0024] In a second aspect, an embodiment of the present application provides a boost steering device, and the device comprises:

[0025] a detection module configured to detect a target environment in which a vehicle is located in a case where the vehicle is steering;

[0026] a determination module configured to determine a boost parameter size of a steering gear of the vehicle as a first boost parameter value according to the target environment;

[0027] a steering module configured to assist the vehicle to steer based on the boost parameter of the first boost parameter value;

[0028] Wherein, in a case that the assist parameter of the steering gear is adjusted from a second assist parameter value of a reference to the first assist parameter value, a rate of change of the manual parameter of the steering gear is within a preset range.

[0029] Optionally, the determining module comprises:

[0030] An obtaining sub-module, configured to obtain an assist coefficient associated with the target environment in a case that the vehicle is in a driving state.

[0031] A first determining sub-module, configured to determine that the assist parameter of the steering gear of the vehicle is the first assist parameter value based on a product of the assist coefficient and the second assist parameter value.

[0032] Optionally, the assist coefficient comprises at least one of a tire pressure coefficient, a temperature coefficient, a road surface friction coefficient, and a vehicle speed coefficient.

[0033] Optionally, the steering module comprises:

[0034] An adjusting sub-module, configured to adjust the assist parameter of the steering gear from the second assist parameter value to the first assist parameter value.

[0035] A steering sub-module, configured to perform assist steering on the vehicle based on the assist parameter of the first assist parameter value.

[0036] Optionally, the detecting module comprises:

[0037] A detecting sub-module, configured to detect a vehicle body state of the vehicle, the vehicle body state comprising at least one of a wading state, a vibration state, and a temperature state.

[0038] A second determining sub-module, configured to determine a target environment in which the vehicle is located according to the vehicle body state.

[0039] Optionally, in a case that the vehicle is in a stationary state, the determining module comprises:

[0040] A third determining sub-module, configured to determine a corresponding sliding friction coefficient according to the target environment.

[0041] A calculating sub-module, configured to calculate the assist parameter of the steering gear of the vehicle as the first assist parameter value according to the sliding friction coefficient and a parameter of the vehicle.

[0042] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, and a program stored in the memory and capable of running on the processor, and the program, when executed by the processor, implements the steps of the assist steering method in the first aspect.

[0043] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the power steering method described in the first aspect.

[0044] Fifthly, a computer program product is provided, including computer instructions that, when executed by a processor, implement the steps of the power steering method as described in the first aspect.

[0045] In this embodiment of the application, when the road environment is complex, the steering parameters of the vehicle's steering gear change significantly. Based on the target environment in which the vehicle is located, the power assist parameters of the vehicle's steering gear are adjusted. The power assist parameters of the vehicle's steering gear are adjusted from the second power assist parameter corresponding to the normal road surface to the first power assist parameter. This makes the fluctuation of the driver's manual power assist relatively smaller than that when driving on a normal road surface, and the manual power assist operation is stable, which can improve driving safety. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the 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.

[0047] Figure 1 This is a flowchart of a power steering method provided in an embodiment of this application;

[0048] Figure 2 This is a schematic diagram illustrating the working principle of an EPS provided in an embodiment of this application;

[0049] Figure 3 This is a schematic diagram of the signal interaction between an EPS and a sensor provided in an embodiment of this application;

[0050] Figure 4 This is a schematic diagram of an environmental judgment process provided in an embodiment of this application;

[0051] Figure 5 This is a schematic diagram of the structure of a power steering device provided in an embodiment of this application;

[0052] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0053] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts are within the scope of the present application.

[0054] The embodiments of the present application provide a power-assisted steering method and device and electronic equipment to solve the problem that a driver easily affects driving safety.

[0055] Referring to Figure 1 , Figure 1 is a flowchart of a power-assisted steering method provided by the embodiments of the present application, as shown in Figure 1 The method comprises the following steps:

[0056] Step 101, detecting a target environment in which a vehicle is located in a case where the vehicle is steering;

[0057] Step 102, determining a power-assisted parameter value of a steering gear of the vehicle as a first power-assisted parameter value according to the target environment;

[0058] Step 103, power-assisted steering of the vehicle based on the power-assisted parameter of the first power-assisted parameter value;

[0059] In a case where the power-assisted parameter of the steering gear is adjusted from a second power-assisted parameter value of a reference to the first power-assisted parameter value, a change rate of a manual parameter of the steering gear is within a preset range.

[0060] In step 101, the target environment in which the vehicle is located can be determined by detecting the state of the vehicle, such as state information of a wading state, a vibration state, a temperature state, etc. Based on the state in which the vehicle is located, the target environment in which the vehicle is located is determined. In a specific implementation, the state of the vehicle can be detected by a sensor, such as a vibration sensor, an infrared temperature sensor, a wading height sensor, etc.

[0061] For example, it is determined that the current environment state is an ice surface when the sensor detects that the vehicle is in a non-wading state, and the vibration is small and the temperature is low. It is determined that the current environment state is a gravel road when the sensor detects that the vehicle is in a non-wading state, and the vibration is large and the temperature is high.

[0062] In addition, image acquisition can also be performed by a camera, and object recognition can be performed to determine the environment in which the vehicle is located.

[0063] In step 102, when the vehicle is in a static state, the corresponding vehicle running parameter, such as the sliding friction coefficient of the tire and the ground, can be determined according to the target environment, and the size of the power assistance parameter of the vehicle steering gear is calculated based on the vehicle running parameter and the parameters of the vehicle itself.

[0064] When the vehicle is in a low-speed driving state, the running parameter coefficient of the vehicle, such as the tire pressure coefficient, the temperature coefficient, the road surface friction coefficient, the vehicle speed coefficient, etc., can be determined according to the target environment. The above running parameter coefficient is associated with the target environment of the vehicle, so that the running parameter coefficient of the vehicle can be determined according to the target environment, and the size of the power assistance parameter of the vehicle steering gear is calculated according to the running parameter coefficient. The above power assistance parameter can be the torque provided by the steering machine. It should be noted that the above vehicle running parameter coefficient can be obtained according to empirical formula, experimental data, or calibration data, etc.

[0065] In addition, the size of the power assistance parameter in the target environment can also be determined according to the corresponding relationship between the pre-set target environment and the power assistance parameter. The size of the power assistance parameter can be determined according to experimental data, empirical formula or calibration data.

[0066] In the case of a conventional road surface, the power assistance parameter of the vehicle steering gear is a second power assistance parameter as a reference; in the case of a complex road surface, the influence of the road surface environment is considered, and the second power assistance parameter value as a reference is adjusted based on the vehicle running parameter coefficient, that is, the power assistance coefficient, to obtain an adjusted first power assistance parameter value. The second power assistance parameter value can be the power assistance parameter value when driving on a conventional road surface, such as an urban highway. Considering the steering feel and habit of the driver when driving on a conventional road surface, when driving on a complex road surface, the fluctuation of the steering feel is large and has an impact on the steering, so the power assistance parameter of the steering gear is adjusted to make the manual parameter of the driver more stable.

[0067] For example, Figure 2The basic working principle of the vehicle steering gear is shown as follows: the driver rotates the steering wheel, the hand force is transmitted to the input shaft of the steering gear through the steering wheel, the torque sensor on the input shaft receives the torque signal and converts it into an electrical signal transmitted to the steering controller, the controller comprehensively operates the vehicle speed signal, transmitter state, torque signal and other signals, and then sends the data value obtained by calculation to the assist motor in the form of an electrical signal, and the assist motor provides different assistance according to the different calculation output signal values. The steering gear ECU can accurately judge the actual attitude of the whole vehicle under the operation and processing of the vehicle speed and torque signal, and sends the control signal to the assist motor to improve the stability of the automobile steering. The assistance provided by the assist motor and the hand force provided by the driver jointly act on the steering mechanism to complete the steering action. That is, when the vehicle is steering, the steering is completed by the manual parameters of the driver and the assistance parameters of the steering gear. When the assistance parameter is the steering torque, the assistance parameter M 助 can be determined by the following formula:

[0068] M 转 = M 助 + M 手

[0069] wherein M 转 represents the steering torque, and the unit is N·mm;

[0070] M 助 represents the steering torque provided by the steering machine, and the unit is N·mm;

[0071] M 手 represents the hand torque during steering, and the unit is N·mm.

[0072] The steering torque of the vehicle during low-speed driving is in a proportional relationship with the wheel angle, and the steering assistance parameter at this time needs to be determined in combination with the road surface condition, the vehicle speed V and the wheel angle β.

[0073] According to the above formula, the steering torque M 转 is equal to the assistance parameter M 助 provided by the steering gear and the manual torque M 手 provided by the driver. When the steering torque M 转 increases or decreases, in order to ensure that the manual torque M 手 of the driver remains unchanged, the corresponding steering gear assistance torque M 助 should increase or decrease with the steering torque M 转 .

[0074] For example, when the vehicle is driven in an ice surface environment, compared with the conventional road surface, the vehicle load does not change, the road condition is ice surface, the road friction coefficient decreases, the tire pressure slightly decreases, and the steering torque M 转decreases. At this time, if the assist parameter adopts the reference value (the second assist parameter value), there may be a case that the steering is light, and the direction is not easy to control. Therefore, by increasing the tire pressure adjustment coefficient K P , increasing the temperature adjustment coefficient K T , decreasing the road surface friction adjustment coefficient K f , and keeping the vehicle speed adjustment coefficient K V unchanged, the steering assist torque M 助 is synchronously decreased, but the manual torque M 手 provided by the driver is slightly increased to increase the driving safety.

[0075] Therefore, in the present application, the assist parameter M 助 of the steering of the vehicle is adjusted based on the environment, and when the assist parameter of the steering of the vehicle is adjusted from the second assist parameter to the first assist parameter, the change rate of the manual parameter M 手 of the driver is within a preset range, that is, when the environment changes greatly, the manual assist force of the driver has a smaller fluctuation than that when the vehicle is driven on a regular road, the manual assist force operation is stable, and the driving safety can be improved.

[0076] In the above adjustment process, the electric power steering (EPS) interacts with many signals of the vehicle, including torque, vehicle speed, steering angle, tire pressure, etc., and comprehensively considers the assist condition, as shown in FIG. 1. Figure 3

[0077] In the present application, by adding or using existing sensors, such as vibration sensors, infrared temperature sensors, wading height sensors, etc., the judgment of the EPS on the external road condition is strengthened, the environmental variable parameters are monitored, the adjustment coefficient is increased, the steering assist force is accurately output, the assist force of the EPS is adjusted, the feeling of the driver is stable, the driving experience is ensured, and the safety is increased.

[0078] Optionally, the determining of the assist parameter of the steering of the vehicle as the first assist parameter value according to the target environment comprises:

[0079] acquiring an assist coefficient associated with the target environment when the vehicle is in a driving state;

[0080] determining the assist parameter of the steering of the vehicle as the first assist parameter value based on a product of the assist coefficient and the second assist parameter value.

[0081] ​In the case that the vehicle is in a driving state, the value of the assistance coefficient is determined according to the target environment, which can be determined according to an empirical formula, a pre-set corresponding relationship between the target environment and the assistance coefficient, actual calibration, etc. The assistance coefficient can be a driving parameter coefficient of the vehicle associated with the environment, and the assistance coefficient can include one or more. For example, the assistance coefficient includes a tire pressure coefficient, a temperature coefficient, a road surface friction coefficient, and a vehicle speed coefficient.

[0082] Considering the influence of the target environment, the reference assistance parameter (i.e., the second assistance parameter value) of the steering gear in the conventional road surface state is adjusted by using the assistance coefficient to obtain the first assistance parameter value, and the steering torque M of the steering gear is calculated according to the first assistance parameter value. 转 :

[0083] M 转 =M 助 ×K P ×K T ×K f ×K V +M 手

[0084] wherein M 助 represents the second assistance parameter value of the steering gear of the vehicle when driving in the conventional road surface state;

[0085] K P represents the tire pressure coefficient, and the value range is 0.95-1.05;

[0086] K T represents the temperature coefficient, and the value range is 0.95-1.05;

[0087] K f represents the road surface friction coefficient, and the value range is 0.95-1.05;

[0088] K V represents the vehicle speed coefficient, and the value range is 0.9-1.1.

[0089] The above assistance coefficients K (including K P , K T , K f , and K V ) are set to 1 when steering in place on a 20℃ asphalt road surface, and are adjusted on this basis when the road surface environment changes (the adjustment coefficients need to be determined by actual calibration).

[0090] By determining the assistance coefficient corresponding to the road surface environment and multiplying the above assistance coefficient by the second assistance parameter value, the first assistance parameter value is obtained, and in the case that the road surface environment is complex, the assistance parameter of the corresponding steering gear can be determined, thereby reducing the manual parameter fluctuation of the driver and improving the driving safety.

[0091] Optionally, the assist coefficients include at least one of a tire pressure coefficient, a temperature coefficient, a road surface friction coefficient, and a vehicle speed coefficient.

[0092] The assist coefficients have different sizes when the vehicle is in different road surface environments. The sizes of the assist coefficients can be determined according to actual calibration. As shown in the above formula, each assist coefficient is within a preset range, and the assist coefficient within the range can be adjusted according to the road surface environment, so that the manual parameter fluctuation of the driver is small, and the stability is good. The specific adjustment mode and adjustment process can be determined according to actual calibration.

[0093] Optionally, the assisting the vehicle to steer based on the assist parameter of the first assist parameter value includes:

[0094] adjusting the assist parameter of the steering gear from the second assist parameter value to the first assist parameter value;

[0095] assisting the vehicle to steer based on the assist parameter of the first assist parameter value.

[0096] When the driver drives on a regular road surface, the assist parameter of the steering gear of the vehicle is a second assist parameter. When the driver drives from a regular road surface to a complex road surface, the assist parameter (assist torque) of the steering gear of the vehicle is adjusted from the second assist parameter to a first assist parameter according to the above calculation. In this process, the manual parameter (manual torque) of the driver is adjusted from a first parameter to a second parameter, and the difference between the first parameter and the second parameter is small, the fluctuation of the feeling of the driver is small, and the driving safety can be improved.

[0097] Optionally, the detecting the target environment in which the vehicle is located includes:

[0098] detecting a vehicle body state of the vehicle, the vehicle body state including at least one of a water wading state, a vibration state, and a temperature state;

[0099] determining the target environment in which the vehicle is located according to the vehicle body state.

[0100] In this embodiment, in order to ensure the driving feeling of the driver, the type and number of the vehicle body sensors are increased to more accurately judge the external environment and the vehicle state, and then the assist parameter of the steering gear is adjusted by changing the assist coefficient. The environmental parameter is judged as follows: the vibration of the vehicle body is collected by the vibration sensor, the temperature of the vehicle body and the external environment is collected by the infrared sensor, and whether the vehicle is wading is judged by the water wading sensor. According to the judgment process, when the vehicle is not wading and the vibration sensor has weak vibration and the ground and vehicle body temperature is low, it is judged that the road condition is ice. Figure 4

[0101] ​by Figure 4 Taking the eight scenarios shown as examples, the target environment in which the vehicle is located includes:

[0102] The first scenario: The vehicle is in a water-crossing, high-vibration, and high-temperature environment, indicating that the vehicle is in a river (summer).

[0103] The second scenario: The vehicle is in a water-crossing, high-vibration, and low-temperature environment, indicating that the vehicle is in a river (winter).

[0104] The third type: The vehicle is in a water-crossing, low-vibration, and high-temperature environment, indicating that the vehicle is on a beach;

[0105] The fourth type: The vehicle is in a water-wading, low-vibration, and low-temperature environment, indicating that the vehicle is in a shallow stream;

[0106] The fifth type: If the vehicle is in a non-water-crossing, high-vibration, and high-temperature environment, it indicates that the vehicle is on a water-crossing gravel road.

[0107] The sixth type: The vehicle is in a non-water-crossing, high-vibration, and low-temperature environment, indicating that the vehicle is in a dry riverbed;

[0108] The seventh type: If the vehicle is in a non-water-crossing, low-vibration, and high-temperature environment, it indicates that the vehicle is in a desert.

[0109] The eighth type: The vehicle is in a non-water-crossing, low-vibration, and low-temperature environment, indicating that the vehicle is on ice.

[0110] It should be noted that the above eight environments are merely examples, and other environments identified through other environmental data also fall within the scope of protection of this application.

[0111] The vehicle's environment is determined by the environmental data acquired by sensors, and the corresponding assist coefficient is determined based on the environment. The assist parameters are then adjusted according to the assist coefficient.

[0112] Taking an ice surface as an example, the vehicle load remains unchanged, the road surface is ice, the road friction coefficient is reduced, the tire pressure is slightly reduced, and the steering torque M of the steering system... 转 Decrease. At this point, increase the tire pressure adjustment factor K. P Increase the temperature adjustment coefficient K T Reduce the road surface friction adjustment coefficient K f Vehicle speed adjustment coefficient K V The steering assist torque M remains unchanged, so that the steering assist torque M 助 The torque M provided by the driver decreases synchronously. 手 Slightly enhanced.

[0113] In this way, the assistance parameter can be adjusted for the target environment under the target environment, so that the manual parameter of the driver is relatively small when driving on the conventional road surface, and the driving safety is improved.

[0114] Optionally, in the case where the vehicle is in a stationary state, the determination of the assistance parameter size of the steering gear of the vehicle according to the target environment as the first assistance parameter value comprises:

[0115] According to the target environment, the corresponding sliding friction coefficient is determined.

[0116] According to the sliding friction coefficient and the parameters of the vehicle, the assistance parameter size of the steering gear of the vehicle is calculated as the first assistance parameter value.

[0117] In the case where the vehicle is in a stationary state, the corresponding sliding friction coefficient can be determined according to the target environment. After the type of the target environment is determined, the corresponding sliding friction coefficient of the target environment can be determined. For example, when the vehicle is on ice, the sliding friction coefficient between the tire and the road surface is small, and the corresponding value can be determined, for example, 0.1; when the vehicle is on asphalt or concrete road surface, the sliding friction coefficient between the tire and the ground can be determined, for example, 0.7. The above sliding friction coefficient can be determined by actual calibration data.

[0118] According to the above sliding friction coefficient, the steering torque is calculated according to the following formula:

[0119]

[0120] Wherein, Mr is the original steering resistance torque on the asphalt or concrete road surface, and the unit is N.mm;

[0121] f is the sliding friction coefficient between the tire and the ground, and the value is 0.7;

[0122] G1 is the steering shaft load, and the unit is N;

[0123] P is the tire pressure, and the unit is Mpa.

[0124] According to the above formula, the assistance parameter of the EPS can be determined according to the tire pressure P, the road surface condition (sliding friction coefficient) and the load condition G1 and other influencing factors. The above parameters can be the calibration value of the conventional road surface state, when the vehicle is in a complex road surface, the value of the sliding friction coefficient between the tire and the ground can be determined according to the actual road surface environment, and the original steering torque under different road surface environment is calculated according to the sliding friction coefficient. For example, when the road surface environment is ice, the above f value is 0.1, and the corresponding original steering resistance torque is calculated according to the f value.

[0125] According to the embodiment, the sliding friction coefficient is calculated according to the target environment, a more accurate friction coefficient can be obtained, and the accuracy of the steering resistance torque is improved.

[0126] When the vehicle is running on a complex road, the steering torque M 转 of the steering gear is increased (or decreased), the corresponding steering gear assistance parameter M 助 should be increased (or decreased) accordingly, so as to ensure that the stability of the driver's driving experience is good, and the driving safety is improved. 转

[0127] Referring to Figure 5 , Figure 5 is a structural schematic diagram of an assistance steering device provided by an embodiment of the application, as Figure 5 shown, the assistance steering device 500 comprises:

[0128] The detection module 501 is configured to detect a target environment in which the vehicle is located when the vehicle is steering.

[0129] The determination module 502 is configured to determine, according to the target environment, that the assistance parameter of the steering gear of the vehicle is a first assistance parameter value.

[0130] The steering module 503 is configured to assist the steering of the vehicle based on the assistance parameter of the first assistance parameter value.

[0131] In the case where the assistance parameter of the steering gear is adjusted from a reference second assistance parameter value to the first assistance parameter value, the change rate of the manual parameter of the steering gear is within a preset range.

[0132] Optionally, the determination module comprises:

[0133] The acquisition sub-module is configured to acquire an assistance coefficient associated with the target environment when the vehicle is in a running state.

[0134] The first determination sub-module is configured to determine, based on the product of the assistance coefficient and the second assistance parameter value, that the assistance parameter of the steering gear of the vehicle is the first assistance parameter value.

[0135] Optionally, the assistance coefficient comprises at least one of a tire pressure coefficient, a temperature coefficient, a road surface friction coefficient, and a vehicle speed coefficient.

[0136] Optionally, the steering module comprises:

[0137] The adjustment sub-module is configured to adjust the assistance parameter of the steering gear from the second assistance parameter value to the first assistance parameter value.

[0138] ​The turning sub-module is configured to perform power-assisted turning on the vehicle based on the power-assisted parameter value of the first power-assisted parameter.

[0139] Optionally, the detection module comprises:

[0140] The detection sub-module is configured to detect a body state of the vehicle, the body state comprising at least one of a wading state, a vibration state, and a temperature state.

[0141] The second determination sub-module is configured to determine a target environment in which the vehicle is located according to the body state.

[0142] Optionally, when the vehicle is in a stationary state, the determination module comprises:

[0143] The third determination sub-module is configured to determine a corresponding sliding friction coefficient according to the target environment.

[0144] The calculation sub-module is configured to calculate a power-assisted parameter value of a power-assisted parameter of a steering gear of the vehicle according to the sliding friction coefficient and parameters of the vehicle.

[0145] The power-assisted turning device can achieve Figure 1 the processes implemented in the method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0146] The embodiments of the present application also provide a vehicle, which comprises the power-assisted turning device according to any one of the above embodiments. Since the vehicle comprises the power-assisted turning device, the vehicle can achieve the beneficial effects of the power-assisted turning device.

[0147] As shown in Figure 6 the embodiments of the present application also provide an electronic device 600, which comprises a processor 601, a memory 602, and a program stored in the memory 602 and executable on the processor 601. When the program is executed by the processor 601, the processes of the power-assisted turning method embodiments are implemented, and the same technical effects are achieved. To avoid repetition, details are not described herein.

[0148] The embodiments of the present application also provide a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processes of the power-assisted turning method embodiments are implemented, and the same technical effects are achieved. To avoid repetition, details are not described herein. The computer-readable storage medium can be, for example, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

[0149] The embodiment of the present application further provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the above-mentioned Figure 1 The various processes of the method embodiment are implemented by the computer program product, and the same technical effects can be achieved. To avoid repetition, details are not described herein.

[0150] It should be noted that, in this document, the term "comprising" or "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0151] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and necessary general hardware platforms, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a number of instructions for making a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the methods described in the various embodiments of the present application.

[0152] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, which are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims.

Claims

1. A power steering method, characterized in that, include: When the vehicle is turning, detect the target environment in which the vehicle is located; Based on the target environment, the power assist parameter of the vehicle's steering system is determined as the first power assist parameter value; Based on the first assist parameter value, the vehicle is assisted in steering. Wherein, when the power assist parameter of the steering gear is adjusted from the reference second power assist parameter value to the first power assist parameter value, the rate of change of the manual parameter of the steering gear is within a preset range; The step of determining the steering assist parameter of the vehicle as a first assist parameter value based on the target environment includes: With the vehicle in motion, obtain the assist coefficient associated with the target environment; Based on the product of the assist coefficient and the second assist parameter value, the assist parameter value of the vehicle's steering system is determined to be the first assist parameter value; The assist coefficient includes at least one of the following: tire pressure coefficient, temperature coefficient, road surface friction coefficient, and vehicle speed coefficient; The method of providing power steering to the vehicle based on the power steering parameter of the first power steering parameter value includes: Adjust the power assist parameter of the steering system from the second power assist parameter value to the first power assist parameter value; Based on the first assist parameter value, the vehicle is assisted in steering; The target environment in which the detection vehicle is located includes: The vehicle body condition is detected, including at least one of the following: water wading condition, vibration condition, and temperature condition. Based on the vehicle's condition, the target environment in which the vehicle is located is determined.

2. The method according to claim 1, characterized in that, When the vehicle is stationary, determining the steering assist parameter of the vehicle as a first assist parameter value based on the target environment includes: Determine the corresponding coefficient of sliding friction based on the target environment; Based on the sliding friction coefficient and the vehicle parameters, the power assist parameter of the vehicle's steering system is calculated as a first power assist parameter value.

3. A power steering device, characterized in that, include: The detection module is used to detect the target environment in which the vehicle is located when the vehicle is turning. The determining module is used to determine the steering assist parameter of the vehicle as a first assist parameter value based on the target environment; A steering module is used to provide power steering to the vehicle based on the power parameters of the first power assist parameter value; Wherein, when the power assist parameter of the steering gear is adjusted from the reference second power assist parameter value to the first power assist parameter value, the rate of change of the manual parameter of the steering gear is within a preset range; The determining module includes: The acquisition submodule is used to acquire the assist coefficient associated with the target environment when the vehicle is in motion; The first determining submodule is used to determine the steering assist parameter of the vehicle as the first assist parameter value based on the product of the assist coefficient and the second assist parameter value. The assist coefficient includes at least one of the following: tire pressure coefficient, temperature coefficient, road surface friction coefficient, and vehicle speed coefficient; The steering module includes: An adjustment submodule is used to adjust the power assist parameter of the steering system from the second power assist parameter value to the first power assist parameter value; The steering submodule is used to provide power steering to the vehicle based on the power steering parameters according to the first power steering parameter value; The detection module includes: The detection submodule is used to detect the vehicle body condition, which includes at least one of the following: water wading condition, vibration condition, and temperature condition. The second determining submodule is used to determine the target environment in which the vehicle is located based on the vehicle body state.

4. An electronic device, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the power steering method as described in any one of claims 1 to 2.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the power steering method as described in any one of claims 1 to 2.

6. A computer program product, characterized in that, It includes computer instructions that, when executed by a processor, implement the steps of the power steering method as described in any one of claims 1 to 2.

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