Vehicle power-assisted steering control method, electronic equipment, storage medium and program product

Abstract

The embodiment of the invention provides a vehicle power-assisted steering control method, electronic equipment, a storage medium and a program product. The method comprises the steps that the interval where the load is located is determined according to the obtained vehicle load, the target additional assisting power is determined according to the mapping relation between the target steering wheel hand power corresponding to the interval where the load is located and the additional assisting power and the current target steering wheel hand power, and the target steering assisting power is determined according to the target additional assisting power and initial assisting power. According to the method, when the load of the vehicle is changed and before and after the load of the vehicle is changed, a driver can control the vehicle to steer without changing the hand force applied to a steering wheel, so that the consistency of the hand force applied by the driver when the vehicle is steered under different loads is realized; therefore, the stability and comfort of the vehicle in the vehicle driving process are improved.

Description

Technical Field

[0001] The present application relates to the field of automatic control, and in particular to a vehicle steering assist control method, electronic equipment, storage medium and program product. Background Art

[0002] The rapid development of the automobile industry has provided solid technical support for vehicle power-assist systems. It has become an inevitable technical pursuit to reduce the driver's operating intensity and improve driving comfort through vehicle power-assist systems.

[0003] Existing electric power steering systems and electro-hydraulic power steering systems can output vehicle power assistance based on parameters such as vehicle speed and steering angle.

[0004] However, the prior art fails to take into account the impact of changes in vehicle load on the driver's steering wheel turning, resulting in a large change in the hand force applied by the driver to the steering wheel when the vehicle load changes (especially when the load of a commercial vehicle is fully loaded or unloaded), which is not conducive to the stability of the vehicle during driving, thereby affecting the comfort of the vehicle during driving. Summary of the invention

[0005] The embodiments of the present application provide a vehicle steering assist control method, electronic device, storage medium and program product, which are used to achieve that when the load of the vehicle changes, the driver can steer the vehicle without changing the amount of hand force applied to the steering wheel before and after the load of the vehicle changes, thereby achieving consistency in the hand force applied by the driver when the vehicle is steering under different loads, thereby improving the stability and comfort of the vehicle during driving.

[0006] In a first aspect, an embodiment of the present application provides a vehicle steering assist control method, which is applied to a steering controller, and the method includes:

[0007] In response to acquiring the load, determining a target load interval to which the load belongs;

[0008] Obtaining a target mapping relationship between a target steering wheel hand force and additional power assistance corresponding to the target load range;

[0009] Determining a target additional power assist based on the target mapping relationship and the current target steering wheel hand force;

[0010] The target additional power assist and the initial power assist are integrated to obtain a target steering power assist; wherein the initial power assist is determined according to the vehicle speed and the steering angle.

[0011] In a possible implementation manner, determining the target load interval to which the load belongs includes:

[0012] taking a preset load interval including the load among a plurality of preset load intervals as the target load interval;

[0013] Among them, each preset load interval corresponds to a mapping relationship between a target steering wheel hand force and additional power assistance.

[0014] In a possible implementation manner, the load is determined by a vehicle controller according to torque information when the vehicle is running.

[0015] In a possible implementation manner, obtaining a target mapping relationship between a target steering wheel hand force and an additional power assist corresponding to the target load range includes:

[0016] In response to the vehicle being in a driving state, a target mapping relationship between a target steering wheel hand force and additional power assistance corresponding to the target load interval is obtained.

[0017] In a possible implementation, the method further includes:

[0018] In response to the load not being obtained or the obtained load being abnormal, obtaining historical additional assistance;

[0019] The historical additional steering assistance is integrated with the initial steering assistance to obtain a target steering assistance.

[0020] In a possible implementation manner, at least two of the preset load intervals have overlapping loads.

[0021] In a second aspect, an embodiment of the present application provides a vehicle steering assist control device, which is applied to a steering controller, and the device includes:

[0022] A first determining unit, configured to determine, in response to the acquired load, a target load interval to which the load belongs;

[0023] A first acquisition unit is used to acquire a target mapping relationship between a target steering wheel hand force and an additional power assist corresponding to the target load range;

[0024] A second determining unit is used to determine a target additional power assist based on the target mapping relationship and a current target steering wheel hand force;

[0025] The first processing unit is used to integrate the target additional power assistance and the initial power assistance to obtain a target steering power assistance; wherein the initial power assistance is determined according to the vehicle speed and the steering angle.

[0026] In a possible implementation manner, the first determining unit includes:

[0027] A processing module, configured to use a preset load interval including the load among a plurality of preset load intervals as the target load interval;

[0028] Among them, each preset load interval corresponds to a mapping relationship between a target steering wheel hand force and additional power assistance.

[0029] In a possible implementation manner, the load is determined by a vehicle controller according to torque information when the vehicle is running.

[0030] In a possible implementation manner, the first acquiring unit includes:

[0031] The acquisition module is used for acquiring a target mapping relationship between a target steering wheel hand force and an additional power assist corresponding to the target load interval in response to the vehicle being in a driving state.

[0032] In a possible implementation, the device further includes:

[0033] A second acquisition unit, configured to acquire historical additional assistance in response to failure to acquire the load or an abnormal load acquired;

[0034] The second processing unit is used to integrate the historical additional steering assistance and the initial steering assistance to obtain a target steering assistance.

[0035] In a possible implementation manner, at least two of the preset load intervals have overlapping loads.

[0036] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0037] The memory stores computer-executable instructions;

[0038] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0039] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0040] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0041] The embodiments of the present application provide a vehicle steering assist control method, electronic device, storage medium and program product. The method determines the load interval by acquiring the vehicle load, and then determines the target additional assist according to the mapping relationship between the target steering wheel hand force and the additional assist corresponding to the load interval, and the current target steering wheel hand force. The target steering assist is determined according to the target additional assist and the initial assist. When the vehicle load changes, the driver can steer the vehicle without changing the hand force before and after the vehicle load changes, thereby achieving consistency in the hand force applied by the driver when the vehicle is steering under different loads, thereby improving the stability and comfort of the vehicle during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] Figure 1 A schematic diagram of a vehicle steering assist control method provided in this application Figure 1 ;

[0044] Figure 2 A schematic diagram of a vehicle steering assist control method provided in this application Figure 2 ;

[0045] Figure 3 A schematic diagram of a vehicle steering assist control method provided in this application Figure 3 ;

[0046] Figure 4 A schematic structural diagram of a vehicle power steering control device provided in this application;

[0047] Figure 5 A schematic diagram of the structure of an electronic device provided in this application.

[0048] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0049] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0050] With the development of society, people have higher and higher requirements for driving convenience and comfort. Driving for a long time or driving under complex road conditions will increase the burden on the driver. Therefore, it has become an inevitable demand to reduce the driver's operating intensity and improve the ease of driving through the power assist system.

[0051] The rapid development of the automobile industry has provided solid technical support for the research and development of power-assist systems. Innovations in electronic control technology, hydraulic technology, etc. have enabled power-assist systems to control vehicles more accurately, thereby improving the driving experience.

[0052] In one example, the vehicle power steering output can be performed through an electro-hydraulic power steering system, which can output a fixed preset power steering amount and increase the steering assist for the vehicle according to the power steering amount selected by the driver.

[0053] However, in the above method, the driver is required to manually adjust the power assistance, which is inefficient and increases the difficulty of operation and is not convenient enough.

[0054] In another example, the vehicle power assist can be output through the electric power steering system. The electric power steering system can output vehicle power assist according to the vehicle speed and steering wheel rotation angle, reducing manual operation.

[0055] However, the above method fails to take into account the influence of the vehicle load on the driver's operation of the steering wheel. When the vehicle load is heavy, the driver needs to increase the hand force to achieve steering, and the driving comfort and stability are poor.

[0056] The present application provides a vehicle steering assist control method, aiming to solve the above-mentioned problem.

[0057] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0058] Figure 1 A schematic diagram of a vehicle steering assist control method provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0059] S101 . In response to acquiring a load, determining a target load interval to which the load belongs.

[0060] For example, different vehicles have different usage scenarios and usage attributes, such as commercial vehicles and engineering vehicles. The vehicles may carry passengers and items. The load is the weight carried by the vehicle, including the total weight of the vehicle's passengers and cargo. The vehicle load range is represented by the total weight of the empty vehicle from 0 to the maximum total weight that the vehicle can safely carry. The vehicle load range is divided into multiple continuous intervals according to demand.

[0061] The vehicle load sent by the vehicle controller to the steering controller in real time through the CAN bus is obtained, and a specific interval of the vehicle load interval is determined, which is the target load interval.

[0062] S102: Obtain a target mapping relationship between a target steering wheel hand force and additional power assistance corresponding to a target load range.

[0063] For example, the target steering wheel hand force is the force of turning the steering wheel for comfortable driving that is calibrated during the vehicle development process. The driver's hand force is the opposite of the target steering wheel hand force. The driver's hand force is the force actually applied to the steering wheel by the driver during the vehicle driving process. The additional power assist is the additional power assist provided by the vehicle steering controller in addition to the power assist applied by the vehicle's existing electric steering system. The additional power assist is intended to make the driver's hand force close to and equal to the target steering wheel hand force under different vehicle load scenarios.

[0064] Through technical calibration during the research and development process, a mapping relationship between each load range and target steering wheel force and additional power assistance can be obtained. According to the target load range obtained in step S101, a target mapping relationship corresponding to the target load range is determined.

[0065] S103: Determine a target additional power assist based on the target mapping relationship and the current target steering wheel hand force.

[0066] Exemplarily, the current target steering wheel hand force is the force required to turn the steering wheel for comfortable driving calibrated for the current vehicle. With the current target steering wheel hand force, the driver can drive the vehicle to steer under any load scenario.

[0067] According to the target mapping relationship and the current target steering wheel hand force, the corresponding additional power assistance, namely the target additional power assistance, can be determined.

[0068] S104, integrating the target additional power assistance and the initial power assistance to obtain a target steering power assistance; wherein the initial power assistance is determined according to the vehicle speed and the steering angle.

[0069] For example, the vehicle's built-in electric power steering system will output initial power based on the current vehicle speed and steering wheel rotation angle. The initial power includes power size and power direction. When the vehicle steering controller obtains the target additional power, it calculates the sum of the two powers to obtain the target steering power size. The target steering power direction is the initial power direction. The target steering power is sent by the steering controller to the vehicle power motor, so that the vehicle power motor outputs the corresponding power current to complete the power process.

[0070] A vehicle steering assist control method provided in an embodiment of the present application determines the load range by acquiring the vehicle load, and then determines the target additional assist according to the mapping relationship between the target steering wheel hand force and the additional assist corresponding to the load range, and determines the target steering assist according to the target additional assist and the initial assist, so that when the vehicle load changes, the driver can steer the vehicle without changing the hand force before and after the vehicle load changes, thereby achieving consistency in the hand force applied by the driver when the vehicle is steering under different loads, thereby improving the stability and comfort of the vehicle during driving.

[0071] Figure 2 A schematic diagram of a vehicle steering assist control method provided in this application Figure 2 ,like Figure 2 As shown, in this embodiment Figure 1 Based on the embodiment, a vehicle steering assist control method is described in detail, the method comprising:

[0072] S201 . In response to acquiring the load, determining a target load interval to which the load belongs.

[0073] The load is determined by the vehicle controller based on the torque information when the vehicle is running.

[0074] In one example, “determining the target load interval to which the load belongs” in step S201 includes:

[0075] taking a preset load interval including the load among the plurality of preset load intervals as a target load interval;

[0076] Among them, each preset load interval corresponds to a mapping relationship between a target steering wheel hand force and additional power assistance.

[0077] Exemplarily, the torque information of the vehicle during operation includes the vehicle engine torque, motor output torque, vehicle resistance, etc. The vehicle controller obtains the torque information and then determines the current load of the vehicle based on the torque information according to the principles of vehicle dynamics.

[0078] Different vehicles have different usage scenarios and properties. For example, commercial vehicles and engineering vehicles carry passengers and items. The load is the weight carried by the vehicle, including the total weight of the vehicle's passengers and cargo. The total weight of the empty vehicle from 0 to the maximum total weight that the vehicle can safely carry represents the vehicle load range. The vehicle load range is divided into multiple continuous intervals according to demand.

[0079] The vehicle load sent by the vehicle controller to the steering controller in real time through the CAN bus is obtained, and a specific interval of the vehicle load interval is determined, which is the target load interval.

[0080] S202: In response to the vehicle being in a driving state, a target mapping relationship between a target steering wheel hand force and an additional power assist corresponding to a target load range is obtained.

[0081] For example, in the same load range, when the vehicle is in a high-speed driving state, the steering power required is smaller, and when the vehicle is in a low-speed driving state, the steering power required is larger. Therefore, by combining technical calibration under different operating conditions, a mapping relationship between each load range and the target steering wheel force and additional power assistance can be obtained. According to the obtained target load range, the target mapping relationship corresponding to the target load range is determined.

[0082] S203: Determine the target additional power assistance based on the target mapping relationship and the current target steering wheel hand force.

[0083] The step S203 of this embodiment can refer to the above step S103 and will not be described in detail.

[0084] S204: Integrate the target additional power assist and the initial power assist to obtain a target steering power assist; wherein the initial power assist is determined according to the vehicle speed and the steering angle.

[0085] The step S204 of this embodiment may refer to the above step S104 and will not be described in detail.

[0086] A vehicle steering assist control method provided in an embodiment of the present application determines a target load range to which the load belongs in response to an acquired load, obtains a target mapping relationship between a target steering wheel hand force and an additional assist corresponding to the target load range in response to the vehicle being in a driving state, determines a target additional assist based on the target mapping relationship and the current target steering wheel hand force, integrates the target additional assist with the initial assist, and obtains a target steering assist; wherein the initial assist is determined based on the vehicle speed and the steering angle, so that when the vehicle load changes, the driver can steer the vehicle without changing the hand force before and after the vehicle load changes, thereby achieving consistency in the hand force applied by the driver when the vehicle is steering under different loads, thereby improving the stability and comfort of the vehicle during driving.

[0087] Figure 3 A schematic diagram of a vehicle steering assist control method provided in this application Figure 3 ,like Figure 3 As shown, in this embodiment Figure 1 Based on the embodiment, a vehicle steering assist control method is described in detail, the method comprising:

[0088] S301: In response to failure to obtain a load or an abnormal obtained load, obtain historical additional assistance.

[0089] For example, when the vehicle is running, the steering controller may fail to receive the load message sent by the vehicle controller due to a fault. In this case, the historical additional assistance corresponding to the vehicle load obtained before the message was lost is still used as the current target additional assistance.

[0090] S302: Integrate the historical additional power assistance and the initial power assistance to obtain the target steering power assistance.

[0091] Exemplarily, the initial power assist and initial power assist direction output by the vehicle's built-in power steering system are obtained, and the target steering power assist value is obtained based on the sum of the historical additional power assist and the current initial power assist. The target steering power assist direction is the initial power assist direction.

[0092] The steering controller drives the vehicle power-assist motor to output a corresponding power-assist current according to the target steering power-assist.

[0093] A vehicle steering assist control method provided in an embodiment of the present application controls the driver to steer the vehicle with steering wheel force and maintains the driving stability of the vehicle by using historical additional assist and initial assist when the vehicle load is not acquired.

[0094] Figure 4 A schematic diagram of the structure of a vehicle steering assist control device provided in this application, such as Figure 4 As shown, a vehicle steering assist control device 40 provided in this embodiment includes:

[0095] A first determining unit 401 is used to determine a target load interval to which the load belongs in response to the acquired load;

[0096] A first acquisition unit 402 is used to acquire a target mapping relationship between a target steering wheel hand force and an additional power assist corresponding to a target load range;

[0097] A second determining unit 403 is used to determine a target additional power assist based on the target mapping relationship and the current target steering wheel hand force;

[0098] The first processing unit 404 is used to integrate the target additional power assistance and the initial power assistance to obtain a target steering power assistance; wherein the initial power assistance is determined according to the vehicle speed and the steering angle.

[0099] In a possible implementation, the first determining unit 401 includes:

[0100] The processing module 4011 is used to use a preset load interval including the load among the multiple preset load intervals as a target load interval;

[0101] Among them, each preset load interval corresponds to a mapping relationship between a target steering wheel hand force and additional power assistance.

[0102] In a possible implementation manner, the load is determined by a vehicle controller according to torque information when the vehicle is running.

[0103] In a possible implementation, the first acquiring unit 402 includes:

[0104] The acquisition module 4021 is used for acquiring a target mapping relationship between a target steering wheel hand force and an additional power assist corresponding to a target load range in response to the vehicle being in a driving state.

[0105] In a possible implementation, the device 40 further includes:

[0106] A second acquisition unit 405 is used to acquire historical additional assistance in response to failure to acquire the load or an abnormal load acquired;

[0107] The second processing unit 406 is used for integrating the historical additional steering assistance and the initial steering assistance to obtain the target steering assistance.

[0108] In a possible implementation manner, at least two preset load intervals have overlapping loads.

[0109] The present embodiment provides a vehicle power steering control device, which can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail in this embodiment.

[0110] Figure 5 This is a schematic diagram of the structure of an electronic device provided in this application. Figure 5 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0111] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0112] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0113] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0114] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0115] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0116] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0117] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0118] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0119] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0120] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0121] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0123] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0124] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0125] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A vehicle steering assist control method, characterized in that: Applied to a steering controller, the method comprises: In response to acquiring the load, determining a target load interval to which the load belongs; Obtaining a target mapping relationship between a target steering wheel hand force and additional power assistance corresponding to the target load range; Determining a target additional power assist based on the target mapping relationship and the current target steering wheel hand force; The target additional power assist and the initial power assist are integrated to obtain a target steering power assist; wherein the initial power assist is determined according to the vehicle speed and the steering angle.

2. The method according to claim 1, characterized in that The determining the target load interval to which the load belongs includes: taking a preset load interval including the load among a plurality of preset load intervals as the target load interval; Among them, each preset load interval corresponds to a mapping relationship between a target steering wheel hand force and additional power assistance.

3. The method according to claim 1, characterized in that The load is determined by the vehicle controller according to the torque information when the vehicle is running.

4. The method according to claim 1, characterized in that The step of obtaining a target mapping relationship between a target steering wheel hand force and an additional power assist force corresponding to the target load range includes: In response to the vehicle being in a driving state, a target mapping relationship between a target steering wheel hand force and additional power assistance corresponding to the target load interval is obtained.

5. The method according to claim 1, characterized in that The method further comprises: In response to the load not being obtained or the obtained load being abnormal, obtaining historical additional assistance; The historical additional steering assistance is integrated with the initial steering assistance to obtain a target steering assistance.

6. The method according to claim 2, characterized in that At least two of the preset load intervals have overlapping loads.

7. A vehicle power steering control device, characterized in that: Applied to a steering controller, the device comprises: A first determining unit, configured to determine, in response to the acquired load, a target load interval to which the load belongs; A first acquisition unit is used to acquire a target mapping relationship between a target steering wheel hand force and an additional power assist corresponding to the target load range; A second determining unit is used to determine a target additional power assist based on the target mapping relationship and a current target steering wheel hand force; The first processing unit is used to integrate the target additional power assistance and the initial power assistance to obtain a target steering power assistance; wherein the initial power assistance is determined according to the vehicle speed and the steering angle.

8. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 6 when being executed by a processor.

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