Vehicle drifting assisting method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle drifting assistance method which comprises the following steps: determining a target vehicle drifting state according to a drifting assistance mode selected by a driver and driving operation information input by the driver, and determining a current vehicle drifting state according to current driving information of a vehicle; according to the difference between the current vehicle drifting state and the target vehicle drifting state, the steering angle correction amount and / or the torque correction amount of a steering wheel are / is determined; and generating a first auxiliary control instruction according to the steering wheel steering angle correction amount and / or generating a second auxiliary control instruction according to the torque correction amount, and sending the first auxiliary control instruction to perform steering wheel steering angle correction on the vehicle and / or sending the second auxiliary control instruction to perform torque correction on the vehicle. The invention further provides a vehicle drifting assisting device, a vehicle and a storage medium. The requirement for the driving skill of a driver is lowered, and the driver can experience the pleasure of controlling the posture of the vehicle through the accelerator pedal in the drifting process.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle drift assist method, device, vehicle and storage medium. Background Art

[0002] Some vehicles are equipped with a vehicle drift driving assistance system, which can dynamically distribute the torque between the front and rear axles of the vehicle, thereby assisting the driver in completing drifting actions.

[0003] The current vehicle drift driving assistance system still has some technical problems to be optimized in practical applications: during the assisted drift process, the vehicle drift driving assistance system requires the driver to keep the accelerator pedal fully depressed, and the driver himself needs to perform delicate and precise steering wheel control. This requirement is a huge challenge for drivers who are trying drift for the first time or lack experience. They may find it difficult to master such difficult steering wheel adjustment skills in a short time. For drivers who already have certain drifting skills, continuous full throttle operation violates the conventional drifting operation habits and limits their experience of the fun of controlling the vehicle drift state through the accelerator pedal during drifting. In addition, for drivers who already have certain drifting skills, this continuous full throttle operation also requires the driver to invest extra time to adapt and learn, which increases the cost and difficulty of learning. Summary of the invention

[0004] The object of the present invention is to provide a vehicle drift assistance method, device, vehicle and storage medium to alleviate or eliminate at least one of the above-mentioned technical problems.

[0005] A vehicle drift assist method according to the present invention is applied to a vehicle equipped with a steer-by-wire system, and comprises the following steps: When the vehicle meets the drift assist condition, determining the drift state of the target vehicle according to the drift assist mode selected by the driver and the driving operation information input by the driver, and determining the current vehicle drift state according to the current driving information of the vehicle; Determining a steering wheel angle correction amount and / or a torque correction amount according to a preset mapping relationship based on a difference between the current vehicle drift state and the target vehicle drift state; A first auxiliary control instruction is generated according to the steering wheel angle correction amount and / or a second auxiliary control instruction is generated according to the torque correction amount, and the first auxiliary control instruction is sent to perform steering wheel angle correction on the vehicle and / or the second auxiliary control instruction is sent to perform torque correction on the vehicle, so as to correct the drift state of the vehicle.

[0006] Optionally, the step of determining the target vehicle drift state according to the drift assist mode selected by the driver and the driving operation information input by the driver comprises the following steps: determining the target vehicle body sideslip angle according to the drift assist mode selected by the driver and the steering angle input by the driver; Determining the current vehicle drift state according to the current driving information of the vehicle comprises the following steps: determining the current vehicle body sideslip angle according to the current driving information of the vehicle; Determining the steering wheel angle correction amount and / or the torque correction amount according to a preset mapping relationship based on the difference between the current vehicle drift state and the target vehicle drift state includes the following steps: calculating the difference between the target vehicle body sideslip angle and the current vehicle body sideslip angle, and determining the steering wheel angle correction amount and / or the torque correction amount according to the preset mapping relationship based on the difference.

[0007] Optionally, the torque correction amount includes a front axle torque correction amount and / or a rear axle torque correction amount; Optionally, after sending the first auxiliary control instruction to perform steering wheel angle correction on the vehicle, the following steps are included: when it is identified that the actual steering rate of the steering wheel of the vehicle is limited and the steering wheel angle correction cannot be completed, adjusting the front and rear axle torque distribution of the vehicle and / or controlling the vehicle to perform single-wheel braking to assist the vehicle in completing the steering wheel angle correction.

[0008] Optionally, the preset mapping relationship includes a first mapping relationship, a second mapping relationship, and a third mapping relationship, and the vehicle drift assist method includes the following steps: When the vehicle is in a drifting stage, determining the steering wheel angle correction amount and / or the torque correction amount suitable for assisting in stabilizing the vehicle posture according to the first mapping relationship; When the vehicle is in a drift maintenance phase, determining the steering wheel angle correction amount and / or the torque correction amount suitable for keeping the vehicle in a controllable drift state according to the second mapping relationship; When the vehicle is in the end of drifting stage, the steering wheel angle correction amount and / or the torque correction amount suitable for returning the vehicle to a normal driving state is determined according to the third mapping relationship.

[0009] Optionally, when the vehicle is in the end drift phase, the steering wheel angle of the vehicle decreases linearly over time.

[0010] Optionally, the vehicle drift assist method further includes the following steps: limiting the torque output of the vehicle according to a drift assist mode selected by the driver.

[0011] The present invention also provides a vehicle drift assisting device, which is applied to a vehicle equipped with a wire-controlled steering system, comprising: The first module is used to: when the vehicle meets the drift assistance condition, determine the drift state of the target vehicle according to the drift assistance mode selected by the driver and the driving operation information input by the driver, and determine the current vehicle drift state according to the current driving information of the vehicle; The second module is used to: determine the steering wheel angle correction amount and / or the torque correction amount according to a preset mapping relationship based on the difference between the current vehicle drift state and the target vehicle drift state; The third module is used to: generate a first auxiliary control instruction according to the steering wheel angle correction amount and / or generate a second auxiliary control instruction according to the torque correction amount, send the first auxiliary control instruction to correct the steering wheel angle of the vehicle and / or send the second auxiliary control instruction to correct the torque of the vehicle, so as to correct the drift state of the vehicle.

[0012] The present invention also provides a vehicle, comprising the above-mentioned vehicle drift assisting device.

[0013] The present invention also proposes a storage medium on which a computer program is stored. The computer program is executed by a processor to implement any of the above-mentioned vehicle drift assistance methods.

[0014] The present invention can better assist the driver to achieve vehicle drift, reduces the requirements on the driver's driving skills, and enables the driver to experience the pleasure of controlling the vehicle posture through the accelerator pedal during the drifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of a vehicle drift assisting method described in some embodiments; Figure 2 is a schematic diagram of a steer-by-wire system described in some embodiments; Figure 3 is a schematic diagram of a vehicle drift assistance system described in some embodiments; Figure 4 is a flow chart of a vehicle drift assistance method described in a specific example; Figure 5 A schematic diagram of a drift mode setting interface described in some embodiments.

[0016] In the figure, 101 is a steering wheel, 102 is a steering feedback driver, 103 is a wheel driver, 104 is a left front wheel, 105 is a right front wheel, 106 is a front motor, 107 is a vehicle drift assist device, 108 is a rear motor, 109 is a left rear wheel, 110 is a right rear wheel, 201 is a vehicle central control screen, 202 is a drift assist mode virtual button, 203 is a drift side slip angle virtual button, 204 is a drift assist virtual button, 205 is a drift speed limit virtual button, and 206 is a drift control level virtual button. DETAILED DESCRIPTION

[0017] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0018] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0019] Existing vehicle drift assistance systems all take over the vehicle's power output, relying on the driver to keep the accelerator pedal fully depressed and accurately correct the steering wheel to achieve vehicle drift. The driver's driving skills are high, and the driver needs a lot of practice to master the steering wheel correction skills. Moreover, since the vehicle drift assistance system takes over the vehicle's power output, the driver cannot experience the fun of controlling the vehicle's posture through the accelerator pedal.

[0020] Because electric vehicles have a small transmission system inertia and fast power response, drifting is mainly based on the driver's precise control of the vehicle. It is highly dependent on the driver's ability to control the accelerator pedal and steering wheel. Drivers usually need a lot of practice to drift successfully. Compared with fuel vehicles, drifting of electric vehicles requires higher driving skills.

[0021] With the popularity of the wire-controlled chassis, vehicles equipped with wire-controlled steering systems have begun mass production. In view of this, this embodiment proposes a vehicle drift assistance method applied to a vehicle equipped with a wire-controlled steering system, which automatically corrects the direction and torque according to the state and parameters of the vehicle to assist the driver in completing the drift action. It can reduce the requirements for the driver's driving skills, so that the driver can experience the fun of controlling the vehicle posture through the accelerator pedal during the drift process.

[0022] like Figure 1 As shown, a vehicle drift assist method proposed in this embodiment is applied to a vehicle equipped with a wire-controlled steering system, comprising the following steps: S10: when the vehicle meets the drift assist condition, determining the drift state of the target vehicle according to the drift assist mode selected by the driver and the driving operation information input by the driver, and determining the current vehicle drift state according to the current driving information of the vehicle; S20: determining a steering wheel angle correction amount and / or a torque correction amount according to a preset mapping relationship based on a difference between the current vehicle drift state and the target vehicle drift state; S30: Generate a first auxiliary control instruction according to the steering wheel angle correction amount and / or generate a second auxiliary control instruction according to the torque correction amount, send the first auxiliary control instruction to correct the steering wheel angle of the vehicle and / or send the second auxiliary control instruction to correct the torque of the vehicle to correct the drift state of the vehicle.

[0023] The above technical solution is used in combination with a wire-controlled steering system to realize vehicle assisted drift, which has the characteristics of being easy to realize. The drift state of the target vehicle is determined according to the drift assist mode selected by the driver and the driving operation information input by the driver, so that the driver's drift intention can be better determined. The steering wheel angle of the vehicle and the torque output of the vehicle are corrected by using the determined steering wheel angle correction amount and torque correction amount, which can better assist the driver in realizing vehicle drift, reduce the requirements for the driver's driving skills, and enable the driver to experience the fun of controlling the vehicle posture through the accelerator pedal during the drift process.

[0024] In specific implementation, the drift state characteristics of the target vehicle during drifting can be determined according to the drift assist mode selected by the driver, the driver's driving trajectory intention can be determined according to the driving operation information input by the driver, and then the stage of vehicle drift can be determined. The drift state of the target vehicle can be determined according to the drift stage combined with the drift state characteristics of the target vehicle.

[0025] In specific implementation, the first auxiliary control instruction is sent to the wheel driver of the wire-controlled steering system to correct the steering wheel angle of the vehicle. The second auxiliary control instruction is sent to the power domain controller or motor controller of the vehicle to correct the torque of the vehicle. In some embodiments, determining the drift state of the target vehicle according to the drift assist mode selected by the driver and the driving operation information input by the driver includes the following steps: determining the target vehicle body slip angle according to the drift assist mode selected by the driver and the steering angle input by the driver; determining the current vehicle drift state according to the current driving information of the vehicle includes the following steps: determining the current vehicle body slip angle according to the current driving information of the vehicle; determining the steering wheel angle correction amount and / or torque correction amount according to a preset mapping relationship based on the difference between the current vehicle drift state and the target vehicle drift state includes the following steps: calculating the difference between the target vehicle body slip angle and the current vehicle body slip angle, and determining the steering wheel angle correction amount and / or torque correction amount according to the preset mapping relationship based on the difference. In the above technical solution, the vehicle body slip angle can reflect the posture of the vehicle, and the vehicle drift state is determined by using the vehicle body slip angle, which has the characteristics of being easy to implement.

[0026] In some embodiments, the torque correction includes a front axle torque correction and / or a rear axle torque correction. The vehicle drift assist method provided by the present invention can be applied to four-wheel drive electric vehicles, rear-wheel drive electric vehicles and front-wheel drive electric vehicles. When the vehicle drift assist method provided by the present invention is applied to a four-wheel drive electric vehicle, the torque correction may include a front axle torque correction and a rear axle torque correction. When the vehicle drift assist method provided by the present invention is applied to a front-wheel drive electric vehicle, the torque correction includes a front axle torque correction. When the vehicle drift assist method provided by the present invention is applied to a rear-wheel drive electric vehicle, the torque correction includes a rear axle torque correction. More specifically, in a specific implementation, in order to more accurately correct the drift state of the vehicle, the front axle torque correction includes a front axle drive torque correction, a left front wheel brake torque correction and a right front wheel brake torque correction, and the rear axle torque correction includes a rear axle drive torque correction, a left rear wheel brake torque correction and a right rear wheel brake torque correction.

[0027] In some embodiments, after sending the first auxiliary control instruction to correct the steering wheel angle of the vehicle, the following steps are included: when it is identified that the actual steering rate of the vehicle's steering wheel is limited and the steering wheel angle correction amount cannot be completed, the front and rear axle torque distribution of the vehicle is adjusted and / or the vehicle is controlled to perform single-wheel braking to assist the vehicle in completing the steering wheel angle correction amount. During the drifting process of the vehicle, the actual steering rate of the vehicle's steering wheel may be limited by the output capacity of the wheel driver, resulting in the vehicle's steering wheel being unable to complete the steering wheel angle correction in a timely manner according to the steering wheel angle correction amount. At this time, issuing an instruction to adjust the front and rear axle torque distribution or issuing an instruction to control the vehicle to perform single wheel braking can help the vehicle turn faster, thereby better completing the correction of the vehicle's drift posture.

[0028] In some embodiments, the preset mapping relationship includes a first mapping relationship, a second mapping relationship and a third mapping relationship, including the following steps: when the vehicle is in the drift starting stage, after calculating the difference between the current vehicle drift state and the target vehicle drift state, the steering wheel angle correction amount and / or torque correction amount suitable for assisting in stabilizing the vehicle posture is determined according to the first mapping relationship; when the vehicle is in the drift maintaining stage, after calculating the difference between the current vehicle drift state and the target vehicle drift state, the steering wheel angle correction amount and / or torque correction amount suitable for keeping the vehicle in a controllable drift state is determined according to the second mapping relationship; when the vehicle is in the drift ending stage, after calculating the difference between the current vehicle drift state and the target vehicle drift state, the steering wheel angle correction amount and / or torque correction amount suitable for returning the vehicle to a normal driving state is determined according to the third mapping relationship.

[0029] By adopting the above technical solution, the vehicle has different target vehicle drift states in different drift stages. Different mapping relationships are set corresponding to different drift stages of the vehicle, which can better meet the different correction requirements required by the vehicle in different drift stages.

[0030] In a specific implementation, the first mapping relationship, the second mapping relationship and the third mapping relationship respectively include a mapping relationship between the difference between the drift state of the front vehicle and the drift state of the target vehicle and the steering wheel angle correction amount, and a mapping relationship between the difference between the drift state of the front vehicle and the drift state of the target vehicle and the torque correction amount, and these mapping relationships can be determined by calibration. For example, these mapping relationships can be determined by a preset Gain value.

[0031] In some embodiments, when the vehicle is in the end of drifting, the steering wheel angle of the vehicle decreases linearly over time. The above technical solution can better assist the driver to complete the drifting action and ensure that the vehicle can return to a normal driving state after the drifting ends. In specific implementation, when the vehicle is in the end of drifting, the steering wheel angle correction can be kept at a fixed value so that the steering wheel angle of the vehicle decreases linearly over time.

[0032] In some embodiments, the vehicle drift assist method further includes the following steps: limiting the torque output of the vehicle according to the drift assist mode selected by the driver, that is, the drift assist mode selected by the driver limits the power output of the front axle, rear axle and wheel end of the vehicle to ensure the safety of drifting. In specific implementation, the maximum value of the torque output of the vehicle can be limited according to the drift assist mode selected by the driver.

[0033] In specific implementation, Figure 2As shown, the wire-controlled steering system generally includes a steering feedback driver 102 and a wheel driver 103. The steering feedback driver 102 is arranged at the position of the conventional steering upper shaft, and provides the driver's steering intention by turning the steering wheel 101 by the driver, and feeds back the positive force according to the side slip angle state of the wheel; the wheel driver 103 is arranged at the steering gear position of the conventional subframe, drives the steering knuckle to control the wheel to achieve steering and provides the vehicle with the actual wheel angle information. The steering wheels of the vehicle are generally the left front wheel 104 and the right front wheel 105. The wheel driver 103 and the left front wheel 104 and the wheel driver 103 and the right front wheel 105 are generally connected by mechanical transmission. The steering feedback driver 102 and the wheel driver 103 are connected by CAN bus communication, and the steering wheel 101 and the steering feedback driver 102 are mechanically connected. The steering angle of the steering wheel 101 measured by the steering feedback driver 102 is given to the wheel driver 103 as a target through the CAN signal to drive the steering wheel to steer, and the wheel driver 103 feeds back the actual steering angle through the CAN signal.

[0034] In specific implementation, Figure 3 As shown, the vehicle drift assist system includes the above-mentioned wire control steering system, and the vehicle drift assist system generally also includes a front motor 106, a vehicle drift assist device 107, a rear motor 108, a left rear wheel 109 and a right rear wheel 110. Mechanical connections are generally used between the rear motor 108 and the left rear wheel 109, between the rear motor 108 and the right rear wheel 110, between the front motor 106 and the left front wheel 104, and between the front motor 106 and the right front wheel 105. The vehicle drift assist device 107 and the steering feedback driver 102, and between the vehicle drift assist device 107 and the wheel driver 103 are connected by CAN bus communication. The vehicle drift assist device 107 and the front motor 106 and the vehicle drift assist device 107 and the rear motor 108 are mechanically controlled and driven, and the vehicle drift assist device 107 and the brakes of each wheel are hydraulically controlled. The wheel driver corrects the steering wheel angle according to the steering wheel angle correction value given by the vehicle drift assist device and feeds back the actual execution result to the steering feedback driver and the vehicle drift assist device. The vehicle drift assist device can also send torque control requests to the controller of the front motor and the controller of the rear motor respectively, and the corresponding motors output torque.

[0035] In a specific implementation, the vehicle's body inertia sensor may be used to provide the actual yaw rate, lateral acceleration and sideslip angle of the current vehicle.

[0036] In specific implementation, the drift assist mode can be set and adjusted in the vehicle system. Figure 5As shown, the drift control interface is displayed on the vehicle central control screen 201. The driver can turn on or off the drift assist mode through the drift assist mode virtual button 202 on the drift control interface. The driver can select the drift slip angle through the drift slip angle virtual button 203 on the drift control interface. The driver can choose to turn on or off the drift assist through the drift assist virtual button 204 on the drift control interface. The driver can set the drift speed limit through the drift speed limit virtual button 205 on the drift control interface. The driver can set the drift control level through the drift control level virtual button 206 on the drift control interface.

[0037] In order to better illustrate the vehicle drift assistance method proposed in this application, the method is described below with reference to a specific example. Figure 4 As shown, the vehicle drift assistance method includes the following steps: S100: System initialization: The vehicle is powered on, and the inertia sensor, acceleration sensor, and steering angle sensor are initialized. After the driver turns on the drift assist mode through the drift control interface and completes the drift parameter selection, when the vehicle drift assist device variables are initialized, the steering feedback driver angle of the steer-by-wire system, the wheel driver angle, the accelerator pedal opening value, the vehicle gear position, the target torque, and other information related to vehicle drift are obtained.

[0038] S200: Real-time sensor data processing: The vehicle drift assist device processes the received sensor signals to obtain yaw angular velocity and its rate of change, lateral acceleration and its rate of change, wheel speed, and vehicle speed.

[0039] S300: Calculation of vehicle body and rear axle slip angle: The vehicle drift assist device obtains the vehicle body slip angle and rear axle slip angle based on the yaw rate, lateral acceleration, vehicle speed and rear axle track.

[0040] S400: Driver input analysis: The driver's driving trajectory intention is analyzed based on the input information of the steering feedback driver, the input information of the accelerator pedal, and the input information of the brake pedal. Specifically, when the vehicle speed reaches the preset minimum speed, the operation of first steering input and maintaining the input angle and then pressing the accelerator pedal deeply is identified as the intention to start drifting; when the accelerator pedal opening is maintained above the preset lower limit or the accelerator pedal opening is above the preset lower limit and the brake pedal is below the preset upper limit, the steering wheel angle obtained by the steering feedback driver is maintained in the reverse state and is identified as the intention to maintain drifting; when the reverse steering wheel angle continues to decrease and the accelerator pedal opening decreases to below the preset lower limit, it is identified as the intention to exit drifting.

[0041] S500: Calculation of target sideslip angle: The vehicle drift assist device obtains a target body sideslip angle according to the input angle of the driver to the steering feedback actuator.

[0042] S600: Target-actual deviation calculation: The vehicle drift assisting device calculates the deviation between the current vehicle posture and the target vehicle posture according to the difference between the actual vehicle sideslip angle and the target vehicle sideslip angle.

[0043] S700: Correction amount calculation: The vehicle drift assist device converts the calculated deviation and the preset Gain value into a steering wheel angle correction amount and a torque correction amount.

[0044] S800: Torque correction output: The vehicle drift assist device sends a control instruction according to the torque correction to control the front motor and the rear motor to perform torque correction.

[0045] S900: Steering correction output: The vehicle drift assist device outputs the steering wheel angle correction to the wheel driver to perform steering correction of the steering wheel. Specifically, when the driver starts drifting, the rear axle wheel loses grip, the vehicle starts to slide, and the vehicle's sensor detects the change in yaw. The vehicle drift assist device corrects the wheel steering angle to assist in stabilizing the vehicle's posture so that the vehicle can enter the drift state more smoothly. When the driver maintains continuous drift by adjusting the accelerator pedal opening, the vehicle drift assist device continuously outputs the steering wheel angle correction to ensure that the vehicle is continuously in a controllable drift state and avoids the vehicle being thrown out of control or entering an understeering state. When the driver wants to end the drift, the vehicle drift assist device will output a wheel angle that gradually decreases according to the slope to ensure that the vehicle body returns to a normal driving state. When the actual steering rate of the steering wheel is limited by the output capacity of the wheel driver, the vehicle drift assist device requests front and rear axle drive torque adjustment or single-wheel hydraulic braking to assist in maintaining the target state of the vehicle body during the driver's drifting process.

[0046] The above steps S100 to S900 are cycled repeatedly, and real-time corrections are performed based on real-time sensor information and driver input information to ensure that the vehicle maintains a stable and controllable drift state.

[0047] The present invention also provides a vehicle drift assisting device, which is applied to a vehicle equipped with a wire-controlled steering system, comprising: The first module is used to: when the vehicle meets the drift assistance condition, determine the drift state of the target vehicle according to the drift assistance mode selected by the driver and the driving operation information input by the driver, and determine the current vehicle drift state according to the current driving information of the vehicle; The second module is used to: determine the steering wheel angle correction amount and / or the torque correction amount according to a preset mapping relationship based on the difference between the current vehicle drift state and the target vehicle drift state; The third module is used to: generate a first auxiliary control instruction according to the steering wheel angle correction amount and / or generate a second auxiliary control instruction according to the torque correction amount, send the first auxiliary control instruction to correct the steering wheel angle of the vehicle and / or send the second auxiliary control instruction to correct the torque of the vehicle, so as to correct the drift state of the vehicle.

[0048] The vehicle drift assisting device is used to execute any of the above-mentioned vehicle drift assisting methods. It should be noted that the above explanations of the vehicle drift assisting method embodiment are also applicable to the vehicle drift assisting device of this embodiment, and will not be repeated here.

[0049] The present invention also provides a vehicle, comprising the above-mentioned vehicle drift assisting device.

[0050] The present invention also proposes a storage medium on which a computer program is stored. The computer program is executed by a processor to implement any of the above-mentioned vehicle drift assistance methods.

[0051] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. In the description of this specification, the description of reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics of the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

Claims

1. A vehicle drift assist method, applied to a vehicle equipped with a steer-by-wire system, characterized in that: The following steps are involved: When the vehicle meets the drift assist condition, determining the drift state of the target vehicle according to the drift assist mode selected by the driver and the driving operation information input by the driver, and determining the current vehicle drift state according to the current driving information of the vehicle; Determining a steering wheel angle correction amount and / or a torque correction amount according to a preset mapping relationship based on a difference between the current vehicle drift state and the target vehicle drift state; A first auxiliary control instruction is generated according to the steering wheel angle correction amount and / or a second auxiliary control instruction is generated according to the torque correction amount, and the first auxiliary control instruction is sent to perform steering wheel angle correction on the vehicle and / or the second auxiliary control instruction is sent to perform torque correction on the vehicle, so as to correct the drift state of the vehicle.

2. The vehicle drift assist method according to claim 1, characterized in that: The step of determining the target vehicle drift state according to the drift assist mode selected by the driver and the driving operation information input by the driver comprises the following steps: determining the target vehicle side slip angle according to the drift assist mode selected by the driver and the steering angle input by the driver; Determining the current vehicle drift state according to the current driving information of the vehicle comprises the following steps: determining the current vehicle body sideslip angle according to the current driving information of the vehicle; Determining the steering wheel angle correction amount and / or the torque correction amount according to a preset mapping relationship based on the difference between the current vehicle drift state and the target vehicle drift state includes the following steps: calculating the difference between the target vehicle body sideslip angle and the current vehicle body sideslip angle, and determining the steering wheel angle correction amount and / or the torque correction amount according to the preset mapping relationship based on the difference.

3. The vehicle drift assist method according to claim 1, characterized in that: The torque correction amount includes a front axle torque correction amount and / or a rear axle torque correction amount.

4. The vehicle drift assist method according to claim 1, characterized in that: After sending the first auxiliary control instruction to correct the steering wheel angle of the vehicle, the following steps are included: when it is identified that the actual steering rate of the steering wheel of the vehicle is limited and the steering wheel angle correction amount cannot be completed, the front and rear axle torque distribution of the vehicle is adjusted and / or the vehicle is controlled to perform single-wheel braking to assist the vehicle in completing the steering wheel angle correction amount.

5. The vehicle drift assist method according to claim 1, characterized in that: The preset mapping relationship includes a first mapping relationship, a second mapping relationship and a third mapping relationship, and the vehicle drift assist method includes the following steps: When the vehicle is in a drifting stage, determining the steering wheel angle correction amount and / or the torque correction amount suitable for assisting in stabilizing the vehicle posture according to the first mapping relationship; When the vehicle is in a drift maintenance phase, determining the steering wheel angle correction amount and / or the torque correction amount suitable for keeping the vehicle in a controllable drift state according to the second mapping relationship; When the vehicle is in the end of drifting stage, the steering wheel angle correction amount and / or the torque correction amount suitable for returning the vehicle to a normal driving state is determined according to the third mapping relationship.

6. The vehicle drift assist method according to claim 5, characterized in that: When the vehicle is in the end drift phase, the steering wheel angle of the vehicle decreases linearly over time.

7. The vehicle drift assist method according to claim 1, characterized in that: The following steps are also included: The torque output of the vehicle is limited according to the drift assist mode selected by the driver.

8. A vehicle drift assisting device, characterized in that: Applicable to vehicles equipped with steer-by-wire systems, including: The first module is used to: when the vehicle meets the drift assistance condition, determine the drift state of the target vehicle according to the drift assistance mode selected by the driver and the driving operation information input by the driver, and determine the current vehicle drift state according to the current driving information of the vehicle; The second module is used to: determine the steering wheel angle correction amount and / or the torque correction amount according to a preset mapping relationship based on the difference between the current vehicle drift state and the target vehicle drift state; The third module is used to: generate a first auxiliary control instruction according to the steering wheel angle correction amount and / or generate a second auxiliary control instruction according to the torque correction amount, send the first auxiliary control instruction to correct the steering wheel angle of the vehicle and / or send the second auxiliary control instruction to correct the torque of the vehicle, so as to correct the drift state of the vehicle.

9. A vehicle, characterized in that: Comprising the vehicle drift assist device as described in claim 8.

10. A storage medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to implement the vehicle drift assistance method as described in any one of claims 1-7.

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