A vehicle drift assist method, device, vehicle, and storage medium

Abstract

The present application relates to a kind of vehicle drift auxiliary method, comprising the following steps: according to the drift auxiliary mode selected by driver and the driving operation information input by driver determines target vehicle drift state, according to the current driving information of vehicle determines current vehicle drift state;According to the difference between current vehicle drift state and target vehicle drift state, determine the steering wheel rotation angle correction and / or torque correction;According to the steering wheel rotation angle correction generates first auxiliary control instruction and / or according to the torque correction generates second auxiliary control instruction, sends first auxiliary control instruction to correct the steering wheel rotation angle of vehicle and / or sends second auxiliary control instruction to correct the torque of vehicle.The present application also proposes a kind of vehicle drift auxiliary device, vehicle and storage medium.The present application reduces the requirement for driver driving skill, so that driver can experience the joy of controlling vehicle posture through accelerator pedal in the process of drifting.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically to a vehicle drift assist method, device, vehicle, and storage medium. Background Technology

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

[0003] Current vehicle drifting assistance systems still have some technical issues that need optimization in practical applications: During assisted drifting, these systems require the driver to maintain a fully depressed accelerator pedal while simultaneously performing precise and nuanced steering wheel control. This poses a significant challenge for drivers new to drifting or those with limited experience, who may find it difficult to master such advanced steering techniques in a short time. For experienced drivers, the continuous full-throttle operation contradicts conventional drifting habits, limiting their enjoyment of controlling the vehicle's drift state through the accelerator pedal. Furthermore, for skilled drivers, this continuous full-throttle operation requires additional time for adaptation and learning, increasing the cost and difficulty of the learning process. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle drift assist method, device, vehicle, and storage medium to alleviate or eliminate at least one of the aforementioned technical problems.

[0005] The vehicle drift assist method of the present invention, applied to a vehicle equipped with a steer-by-wire system, includes the following steps:

[0006] When the vehicle meets the drift assist conditions, 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, and the current vehicle drift state is determined according to the current driving information of the vehicle.

[0007] Based on 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 are determined according to a preset mapping relationship;

[0008] A first auxiliary control command is generated based on the steering wheel angle correction amount and / or a second auxiliary control command is generated based on the torque correction amount. The first auxiliary control command is sent to correct the steering wheel angle of the vehicle and / or the second auxiliary control command is sent to correct the torque of the vehicle, so as to correct the drift state of the vehicle.

[0009] Optionally, determining the drift state of the target vehicle based on 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 sideslip angle based on the drift assist mode selected by the driver and the steering angle input by the driver;

[0010] Determining the current vehicle drift state based on the vehicle's current driving information includes the following steps: determining the current vehicle body side slip angle based on the vehicle's current driving information;

[0011] The step of determining the steering wheel angle correction 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 difference and the preset mapping relationship.

[0012] Optionally, the torque correction amount includes a front axle torque correction amount and / or a rear axle torque correction amount;

[0013] Optionally, after sending the first auxiliary control command 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 wheels 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.

[0014] 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:

[0015] When the vehicle is in the drifting phase, the steering wheel angle correction amount and / or the torque correction amount are determined according to the first mapping relationship to assist in stabilizing the vehicle's attitude.

[0016] When the vehicle is in the drift maintenance phase, the steering wheel angle correction amount and / or the torque correction amount are determined according to the second mapping relationship to maintain the vehicle in a controllable drift state.

[0017] When the vehicle is in the end-of-drift phase, the steering wheel angle correction and / or torque correction amount suitable for returning the vehicle to normal driving state are determined according to the third mapping relationship.

[0018] Optionally, when the vehicle is in the end-of-drift phase, the steering wheel angle of the vehicle decreases linearly over time.

[0019] Optionally, the vehicle drift assist method further includes the following step: limiting the torque output of the vehicle according to the drift assist mode selected by the driver.

[0020] The present invention also proposes a vehicle drift assist device, applied to a vehicle equipped with a steer-by-wire system, comprising:

[0021] The first module is used to: when the vehicle meets the drift assist conditions, determine the drift state of the target vehicle based on the drift assist mode selected by the driver and the driving operation information input by the driver, and determine the current vehicle drift state based on the current driving information of the vehicle.

[0022] The second module is used to: determine 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;

[0023] The third module is used to: generate a first auxiliary control command based on the steering wheel angle correction amount and / or generate a second auxiliary control command based on the torque correction amount, send the first auxiliary control command to correct the steering wheel angle of the vehicle and / or send the second auxiliary control command to correct the torque of the vehicle, so as to correct the drift state of the vehicle.

[0024] The present invention also proposes a vehicle including the above-described vehicle drift assist device.

[0025] The present invention also proposes a storage medium storing a computer program that is executed by a processor to implement the vehicle drift assist method described in any of the preceding claims.

[0026] This invention can better assist drivers in achieving vehicle drifting, reduce the requirements for drivers' driving skills, and allow drivers to experience the fun of controlling the vehicle's attitude through the accelerator pedal during drifting. Attached Figure Description

[0027] Figure 1 This is a flowchart of the vehicle drift assist method described in some embodiments;

[0028] Figure 2 This is a schematic diagram of the steer-by-wire system described in some embodiments;

[0029] Figure 3 This is a schematic diagram of the vehicle drift assist system described in some embodiments;

[0030] Figure 4 Here is a flowchart of a vehicle drift assist method as described in a specific example;

[0031] Figure 5This is a schematic diagram of the drift mode setting interface described in some embodiments.

[0032] In the diagram, 101—steering wheel, 102—steering feedback driver, 103—wheel driver, 104—left front wheel, 105—right front wheel, 106—front motor, 107—vehicle drift assist device, 108—rear motor, 109—left rear wheel, 110—right rear wheel, 201—vehicle central control screen, 202—virtual button for drift assist mode, 203—virtual button for drift side slip angle, 204—virtual button for drift start assist, 205—virtual button for drift speed limit, 206—virtual button for drift control level. Detailed Implementation

[0033] The embodiments of the present invention will be described below 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 content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed 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 and not for limiting the scope of protection of the present invention.

[0034] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0035] Existing vehicle drift assist systems all take over the vehicle's power output, requiring the driver to keep the accelerator pedal fully depressed and make precise steering wheel corrections to achieve drifting. This demands a high level of driving skill from the driver, requiring extensive practice to master steering wheel correction techniques. Furthermore, because the vehicle drift assist system takes over the vehicle's power output, the driver cannot experience the enjoyment of controlling the vehicle's attitude through the accelerator pedal.

[0036] Because electric vehicles have low transmission inertia and fast power response, drifting is mainly achieved by 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 electric vehicles requires higher driving skills from the driver.

[0037] With the increasing popularity of steer-by-wire chassis, vehicles equipped with steer-by-wire systems have begun mass production. Therefore, this embodiment proposes a vehicle drift assistance method for vehicles equipped with steer-by-wire systems. Based on the vehicle's state and parameters, the method automatically corrects the direction and torque to assist the driver in completing drift maneuvers. This reduces the demands on the driver's driving skills, allowing the driver to experience the enjoyment of controlling the vehicle's attitude through the accelerator pedal during drifting.

[0038] like Figure 1 As shown, this embodiment proposes a vehicle drift assist method, applied to a vehicle equipped with a steer-by-wire system, which includes the following steps:

[0039] S10: When the vehicle meets the drift assist conditions, determine the target vehicle's drift state based on the drift assist mode selected by the driver and the driving operation information input by the driver, and determine the current vehicle's drift state based on the vehicle's current driving information.

[0040] S20: Based on the difference between the current vehicle drift state and the target vehicle drift state, determine the steering wheel angle correction and / or torque correction according to the preset mapping relationship;

[0041] S30: Generate a first auxiliary control command based on the steering wheel angle correction amount and / or generate a second auxiliary control command based on the torque correction amount, send the first auxiliary control command to correct the steering wheel angle of the vehicle and / or send the second auxiliary control command to correct the torque of the vehicle to correct the vehicle's drift state.

[0042] The above-described technical solution, combined with a steer-by-wire system, facilitates vehicle-assisted drifting and is easy to implement. By determining the target vehicle's drift state based on the driver's selected drift assist mode and input driving information, the driver's drifting intentions can be better identified. Using predetermined steering wheel angle and torque corrections to adjust the vehicle's steering wheel angle and torque output further assists the driver in drifting, reducing the skill requirements and allowing the driver to experience the enjoyment of controlling the vehicle's attitude through the accelerator pedal during drifting.

[0043] In practice, the drift state characteristics of the target vehicle can be determined based on the drift assist mode selected by the driver. The driver's driving trajectory intention can be determined based on 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 by combining the stage of drift with the drift state characteristics of the target vehicle.

[0044] In practice, sending the first auxiliary control command to the wheel drive of the steer-by-wire system corrects the steering wheel angle. Sending the second auxiliary control command to the vehicle's power domain controller or motor controller corrects the torque.

[0045] In some embodiments, determining the drift state of the target vehicle based on 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 based on the drift assist mode selected by the driver and the steering angle input by the driver; determining the current vehicle drift state based on the current driving information of the vehicle includes the following steps: determining the current vehicle body slip angle based on the current driving information of the vehicle; determining the steering wheel angle correction 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 difference and a preset mapping relationship. In the above technical solution, the vehicle body slip angle can reflect the vehicle's attitude, and using the vehicle body slip angle to determine the vehicle drift state has the advantage of being easy to implement.

[0046] In some embodiments, the torque correction amount includes a front axle torque correction amount and / or a rear axle torque correction amount. The vehicle drift assist method provided by this 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 this invention is applied to a four-wheel drive electric vehicle, the torque correction amount may include a front axle torque correction amount and a rear axle torque correction amount. When the vehicle drift assist method provided by this invention is applied to a front-wheel drive electric vehicle, the torque correction amount includes a front axle torque correction amount. When the vehicle drift assist method provided by this invention is applied to a rear-wheel drive electric vehicle, the torque correction amount includes a rear axle torque correction amount. More specifically, in practical implementation, in order to more accurately correct the vehicle's drift state, the front axle torque correction amount includes a front axle drive torque correction amount, a left front wheel braking torque correction amount, and a right front wheel braking torque correction amount; the rear axle torque correction amount includes a rear axle drive torque correction amount, a left rear wheel braking torque correction amount, and a right rear wheel braking torque correction amount.

[0047] In some embodiments, after sending the first auxiliary control command to correct the vehicle's steering wheel angle, the process includes the following steps: when it is detected that the actual steering rate of the vehicle's steering wheels is limited and cannot complete the steering wheel angle correction, adjusting the front-to-rear axle torque distribution and / or controlling the vehicle to apply single-wheel braking to assist the vehicle in completing the steering wheel angle correction. During vehicle drifting, the actual steering rate of the vehicle's steering wheels may be limited by the output capability of the wheel drives, causing the vehicle's steering wheels to be unable to complete the steering wheel angle correction in a timely manner according to the steering wheel angle correction amount. In this case, issuing a command to adjust the front-to-rear axle torque distribution or issuing a command to control the vehicle to apply single-wheel braking can help the vehicle steer faster, thereby better correcting the vehicle's drift posture.

[0048] In some embodiments, the preset mapping relationship includes a first mapping relationship, a second mapping relationship, and a third mapping relationship, comprising the following steps: when the vehicle is in the drift initiation stage, after calculating the difference between the current vehicle drift state and the target vehicle drift state, a steering wheel angle correction amount and / or torque correction amount suitable for assisting in stabilizing the vehicle attitude is determined according to the first mapping relationship; when the vehicle is in the drift maintenance stage, after calculating the difference between the current vehicle drift state and the target vehicle drift state, a steering wheel angle correction amount and / or torque correction amount suitable for maintaining the vehicle in a controllable drift state is determined according to the second mapping relationship; when the vehicle is in the drift termination stage, after calculating the difference between the current vehicle drift state and the target vehicle drift state, a 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.

[0049] By adopting the above technical solution, the vehicle has different target vehicle drift states in different drift stages, and different mapping relationships are set for different drift stages of the vehicle, which can better meet the different correction requirements required by the vehicle in different drift stages.

[0050] In practical implementation, the first, second, and third mapping relationships respectively include the mapping relationship between the difference between the drift state of the preceding vehicle and the drift state of the target vehicle and the steering wheel angle correction, and the mapping relationship between the difference between the drift state of the preceding vehicle and the drift state of the target vehicle and the torque correction. These mapping relationships can be determined through calibration. For example, these mapping relationships can be determined by a preset Gain value.

[0051] In some embodiments, when the vehicle is in the drift-ending phase, the steering wheel angle decreases linearly over time. This technical solution better assists the driver in completing the drift maneuver and ensures the vehicle returns to normal driving mode after the drift ends. In practical implementation, when the vehicle is in the drift-ending phase, the steering wheel angle correction can be maintained at a fixed value so that the steering wheel angle decreases linearly over time.

[0052] In some embodiments, the vehicle drift assist method further includes the following step: limiting the vehicle's torque output according to the drift assist mode selected by the driver, that is, limiting the power output of the vehicle's front axle, rear axle, and wheel ends according to the drift assist mode selected by the driver to ensure drift safety. In specific implementation, the maximum value of the vehicle's torque output can be limited according to the drift assist mode selected by the driver.

[0053] In specific implementation, such as Figure 2 As shown, a steer-by-wire system typically includes a steering feedback driver 102 and a wheel driver 103. The steering feedback driver 102 is located at the position of the conventional steering upper axle, providing the driver's steering intention through the steering wheel 101 and feeding back the return force based on the wheel slip angle. The wheel driver 103 is located at the steering gear position of the conventional subframe, driving the steering knuckle to control the wheels and providing the vehicle with information on the actual wheel angle. The vehicle's steering wheels are typically the left front wheel 104 and the right front wheel 105. Mechanical transmission connections are usually used between the wheel driver 103 and the left front wheel 104, and between the wheel driver 103 and the right front wheel 105. The steering feedback driver 102 and the wheel driver 103 communicate via a CAN bus, while 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 used as a target and transmitted to the wheel driver 103 via a CAN signal to drive the steering wheels. The wheel driver 103 then feeds back the actual steering angle executed via a CAN signal.

[0054] In specific implementation, such as Figure 3As shown, the vehicle drift assist system includes the aforementioned steer-by-wire system. The vehicle drift assist system typically 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 typically 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 via a CAN bus. Mechanical control drive connections are established between the vehicle drift assist device 107 and the front motor 106, and between the vehicle drift assist device 107 and the rear motor 108. A hydraulic control connection is used between the vehicle drift assist device 107 and the brakes of each wheel. The wheel drive adjusts the steering wheel angle based on the steering wheel angle correction amount given by the vehicle drift assist device and feeds back the actual execution result to the steering feedback drive and the vehicle drift assist device. The vehicle drift assist device can also send torque control requests to the controllers of the front motor and the rear motor, respectively, and the corresponding motors will output the torque.

[0055] In practice, the vehicle's body inertia sensor can be used to provide the vehicle's actual yaw rate, lateral acceleration, and sideslip angle.

[0056] In practice, the drift assist mode can be set and adjusted in the vehicle's infotainment system. For example... Figure 5 As shown, a drift control interface is displayed on the vehicle's central control screen 201. The driver can turn the drift assist mode on or off using the drift assist mode virtual button 202 on the drift control interface. The driver can select the drift side angle using the drift side angle virtual button 203 on the drift control interface. The driver can turn the drift start assist on or off using the drift start assist virtual button 204 on the drift control interface. The driver can set the drift speed limit using the drift speed limit virtual button 205 on the drift control interface. The driver can set the drift control level using the drift control level virtual button 206 on the drift control interface.

[0057] To better illustrate the vehicle drift assist method proposed in this application, a specific example is provided below. Figure 4 As shown, the vehicle drift assist method includes the following steps:

[0058] S100: System Initialization: The vehicle is powered on, and the inertia sensor, acceleration sensor, and steering angle sensor are initialized. After the driver opens the drift assist mode and selects the drift parameters through the drift control interface, the system obtains information related to vehicle drifting, such as the angle of the steering feedback drive of the steer-by-wire system, the angle of the wheel drive, the opening value of the accelerator pedal, the vehicle's gear position, and the target torque, after the vehicle drift assist device variables are initialized.

[0059] S200: Real-time sensor data processing: The vehicle drift assist device processes the received sensor signals to obtain yaw rate and rate of change, lateral acceleration and rate of change, wheel speed, and vehicle speed.

[0060] S300: Body and rear axle slip angle calculation: The vehicle drift assist device calculates the body slip angle and rear axle slip angle based on the yaw rate, lateral acceleration, vehicle speed and rear axle track.

[0061] S400: Driver Input Analysis: Based on the input information from the steering feedback drive, accelerator pedal, and brake pedal, the driver's driving trajectory intention is analyzed. Specifically: When the vehicle speed reaches the preset minimum speed, the operation of first inputting the steering input, maintaining the input steering angle, and then pressing the accelerator pedal deeply is recognized as a drift intention; when the accelerator pedal opening is maintained above the preset lower limit, or when 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 drive is kept in a counter-steering state and recognized as a drift intention; when the counter-steering angle continues to decrease and the accelerator pedal opening decreases to below the preset lower limit, it is recognized as a drift exit intention.

[0062] S500: Target Side Slip Angle Calculation: The vehicle drift assist device calculates the target body side slip angle based on the driver's input angle at the steering feedback drive.

[0063] S600: Target-Actual Deviation Calculation: The vehicle drift assist device calculates the deviation between the current vehicle attitude and the target vehicle attitude based on the difference between the actual vehicle body sideslip angle and the target vehicle body sideslip angle.

[0064] S700: Correction Calculation: The vehicle drift assist device converts the calculated deviation into steering wheel angle correction and torque correction based on the preset Gain value.

[0065] S800: Torque Correction Output: The vehicle drift assist device sends control commands based on the torque correction amount to control the front and rear motors to perform torque correction.

[0066] S900: Steering Correction Output: The vehicle drift assist device outputs steering wheel angle correction to the wheel actuators to correct steering wheel movements. Specifically: When the driver initiates a drift, the rear axle wheels lose traction, and the vehicle begins to sideslip. The vehicle's sensors detect the change in yaw, and the vehicle drift assist device corrects the wheel steering angle to help stabilize the vehicle's attitude, allowing it to smoothly enter a drift state. While the driver maintains a continuous drift by adjusting the accelerator pedal opening, the vehicle drift assist device continuously outputs steering wheel angle correction to ensure the vehicle remains in a controllable drift state, preventing it from losing control or entering an understeer state. When the driver wants to end the drift, the vehicle drift assist device outputs a wheel steering angle that gradually decreases in slope to ensure the vehicle returns to a normal driving state. When the actual steering rate of the steering wheels is limited by the output capacity of the wheel actuators, the vehicle drift assist device requests front and rear axle drive torque adjustment or single-wheel hydraulic braking to help maintain the vehicle's target state during the driver's drift.

[0067] Repeat steps S100 to S900, making real-time corrections based on real-time sensor information and driver input to ensure the vehicle remains in a stable and controllable drift state.

[0068] The present invention also proposes a vehicle drift assist device, applied to a vehicle equipped with a steer-by-wire system, comprising:

[0069] The first module is used to: determine the drift state of the target vehicle based on the drift assist mode selected by the driver and the driving operation information input by the driver when the vehicle meets the drift assist conditions; and determine the current vehicle drift state based on the current driving information of the vehicle.

[0070] The second module is used to: determine 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;

[0071] The third module is used to: generate a first auxiliary control command based on the steering wheel angle correction amount and / or generate a second auxiliary control command based on the torque correction amount, send the first auxiliary control command to correct the steering wheel angle of the vehicle and / or send the second auxiliary control command to correct the torque of the vehicle, so as to correct the drift state of the vehicle.

[0072] The vehicle drift assist device is used to perform the vehicle drift assist method described in any of the above embodiments. It should be noted that the foregoing explanation of the vehicle drift assist method embodiments also applies to the vehicle drift assist device of this embodiment, and will not be repeated here.

[0073] The present invention also proposes a vehicle including the above-described vehicle drift assist device.

[0074] The present invention also proposes a storage medium storing a computer program that is executed by a processor to implement the vehicle drift assist method described in any of the preceding claims.

[0075] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. In the description of this specification, the reference to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., means that a specific feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

Claims

1. A vehicle drift assist method applied to a vehicle configured with a steer-by-wire system, characterized by, The method comprises the following steps: When the vehicle meets the drift assistance condition, determining a target vehicle drift state according to a drift assistance mode selected by the driver and driving operation information input by the driver, and determining a current vehicle drift state according to current driving information of the vehicle; According to the difference between the current vehicle drift state and the target vehicle drift state, determining a steering wheel rotation angle correction amount and / or a torque correction amount according to a preset mapping relationship; According to the steering wheel rotation angle correction amount, generating a first auxiliary control instruction and / or according to the torque correction amount, generating a second auxiliary control instruction, and sending the first auxiliary control instruction to correct the steering wheel rotation angle of the vehicle and / or sending the second auxiliary control instruction to correct the torque of the vehicle, so as to correct the drift state of the vehicle; The preset mapping relationship comprises a first mapping relationship, a second mapping relationship and a third mapping relationship, and the vehicle drift assistance method comprises the following steps: When the vehicle is in the stage of starting to drift, the first mapping relationship is used to determine the steering wheel rotation angle correction amount and / or the torque correction amount suitable for assisting in stabilizing the attitude of the vehicle; When the vehicle is in the stage of maintaining drift, the second mapping relationship is used to determine the steering wheel rotation angle correction amount and / or the torque correction amount suitable for keeping the vehicle in a controllable drift state; When the vehicle is in the stage of ending drift, the third mapping relationship is used to determine the steering wheel rotation angle correction amount and / or the torque correction amount suitable for making the vehicle return to a normal driving state.

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

3. The vehicle drift assist method according to claim 1, characterized by, The torque correction amount comprises a front axle torque correction amount and / or a rear axle torque correction amount.

4. The vehicle drift assist method of claim 1, wherein After the first auxiliary control instruction is sent to correct the steering wheel rotation angle of the vehicle, the following step is further included: when it is identified that the actual steering rate of the steering wheel of the vehicle is limited and cannot complete the steering wheel rotation angle correction amount, the front-rear axle torque distribution of the vehicle is adjusted and / or the vehicle is controlled to perform single-wheel braking, so as to assist the vehicle to complete the steering wheel rotation angle correction amount.

5. The vehicle drift assist method of claim 1, wherein When the vehicle is in the stage of ending drift, the steering wheel rotation angle of the vehicle decreases linearly over time.

6. The vehicle drift assist method of claim 1, wherein The method further comprises the following steps: According to the drift assistance mode selected by the driver, limiting the torque output of the vehicle.

7. A vehicle drift assist apparatus characterized by, The method is applied to a vehicle configured with a steer-by-wire system, and the vehicle comprises The first module is configured to determine a target vehicle drift state according to a drift assist mode selected by a driver and driving operation information input by the driver when the vehicle meets a drift assist condition, and determine a current vehicle drift state according to current driving information of the vehicle; The second module is configured to determine a steering wheel rotation 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; The third module is configured to generate a first assist control instruction according to the steering wheel rotation angle correction amount and / or a second assist control instruction according to the torque correction amount, and send the first assist control instruction to correct the steering wheel rotation angle of the vehicle and / or send the second assist control instruction to correct the torque of the vehicle, so as to correct the drift state of the vehicle; The preset mapping relationship includes a first mapping relationship, a second mapping relationship and a third mapping relationship; When the vehicle is in a start drift stage, the steering wheel rotation angle correction amount and / or the torque correction amount suitable for assisting in stabilizing the attitude of the vehicle are determined according to the first mapping relationship; When the vehicle is in a maintain drift stage, the steering wheel rotation angle correction amount and / or the torque correction amount suitable for keeping the vehicle in a controllable drift state are determined according to the second mapping relationship; When the vehicle is in an end drift stage, the steering wheel rotation angle correction amount and / or the torque correction amount suitable for making the vehicle return to a normal driving state are determined according to the third mapping relationship.

8. A vehicle characterized by comprising: The vehicle drift assist device includes the vehicle drift assist device according to claim 7.

9. A storage medium having stored thereon a computer program, characterized in that The computer program is executed by a processor to implement the vehicle drift assist method according to any one of claims 1-6.

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