Adaptive control method for automobile steering assist force based on human body information and related device

Abstract

The application discloses a kind of based on human information's automobile steering assist force self-adaptive control method and related equipment, belong to automobile steering technical field.Utilize steering wheel input torque and vehicle speed, construct basic assist force current control function;With the comparison result of driver weight information, seat position information, steering wheel height adjustment information, steering wheel telescopic length information and corresponding preset threshold, generate assist force gain coefficient;According to assist force gain coefficient and basic assist force current control function, obtain motor assist force current control function;Through motor assist force current control function to real-time steering wheel input torque and real-time vehicle speed are handled, obtain motor assist force current, to make assist force motor output corresponding assist force torque.Realize more humanization, comfortable steering assist force steering wheel operation feeling, solve the problem that existing steering assist force is fixed and does not change, ignores individual difference.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile steering technology, and in particular to an automobile steering assist self-adaptive control method based on human body information and related equipment. BACKGROUND

[0002] The statements in this section merely provide background information related to the present application and do not necessarily constitute the prior art.

[0003] Automobile electrification, intelligentization and networking technologies are gradually penetrating into various sub-components of the automobile system. As an important system with high perception and attention in the automobile, the intelligentization of the steering system is also accelerating. For example, automatic steering matching high-order automatic driving.

[0004] The current steering assist method of the automobile is fixed in the steering assist module after being calibrated by the developer in the early stage. In a certain state, the assist size is a fixed value. However, in reality, there are individual differences between human bodies, and the operation force on the steering wheel is different, and the steering assist has different needs. Using a fixed value for steering assist affects the steering wheel operation feel. SUMMARY

[0005] In order to solve the problems of the prior art, the present application provides an automobile steering assist self-adaptive control method, device, system and automobile based on human body information, which considers the individual differences and driving habits of drivers to perform adaptive steering assist control and improve the steering wheel operation feel.

[0006] In a first aspect, the present application provides an automobile steering assist self-adaptive control method based on human body information.

[0007] An automobile steering assist self-adaptive control method based on human body information, comprising:

[0008] A basic assist current control function is constructed using the steering wheel input torque and the vehicle speed;

[0009] Obtain driver weight information, seat position information, steering wheel height adjustment information and steering wheel extension length information, and generate an assist gain coefficient based on the comparison results of the driver weight information, the seat position information, the steering wheel height adjustment information and the steering wheel extension length information with the corresponding preset threshold value;

[0010] According to the assist gain coefficient and the basic assist current control function, a motor assist current control function is obtained; the real-time steering wheel input torque and the real-time vehicle speed are obtained, and the real-time steering wheel input torque and the real-time vehicle speed are processed through the motor assist current control function to obtain a motor assist current, so that the assist motor outputs a corresponding assist torque.

[0011] In some embodiments, the generating the boost gain coefficient based on the comparison result of the driver weight information, the seat position information, the steering wheel height adjustment information and the steering wheel telescopic length information includes:

[0012] generating a first boost gain coefficient based on a ratio of the driver weight information and a preset human weight threshold value;

[0013] generating a second boost gain coefficient based on a ratio of the seat position information and a maximum seat moving distance;

[0014] generating a third boost gain coefficient based on a ratio of the steering wheel height adjustment information and a maximum steering wheel adjustment distance;

[0015] generating a fourth boost gain coefficient based on a ratio of the steering wheel telescopic length information and a maximum steering wheel telescopic distance.

[0016] In some embodiments, the first boost gain coefficient is expressed as:

[0017] k1 = (m0 - m) * k1 max / min / m0;

[0018] wherein m0 represents the human weight threshold value, m represents the driver weight information, k1 max / min represents a maximum value / minimum value of the first boost gain coefficient;

[0019] The second boost gain coefficient is expressed as:

[0020] k2 = W * k2 max / min / W max ;

[0021] wherein W represents the seat position information, k2 max / min represents a maximum value / minimum value of the second boost gain coefficient, W max represents the maximum seat moving distance;

[0022] The third boost gain coefficient is expressed as:

[0023] k3 = H * k3 max / min / H max ;

[0024] wherein H represents the steering wheel height adjustment information, k3 max / min represents a maximum value / minimum value of the third boost gain coefficient, H max represents the maximum steering wheel adjustment distance;

[0025] The fourth boost gain coefficient is expressed as:

[0026] k4 = L * k4 max / min / L max ;

[0027] In the formula, L represents the steering wheel telescopic length information, k4 max / min represents the maximum / minimum value of the third boost gain coefficient, L max represents the maximum telescopic distance of the steering wheel.

[0028] In some embodiments, the obtaining the motor boost current control function according to the boost gain coefficient and the basic boost current is specifically: determining the corresponding boost gain current by multiplying the first boost gain coefficient, the second boost gain coefficient, the third boost gain coefficient and the basic boost current, and determining the motor boost current control function by combining the basic boost current control function.

[0029] In some embodiments, further comprising: in response to the input operation of the driver, terminating the calculation of the first boost gain coefficient, the second boost gain coefficient, the third boost gain coefficient and / or the fourth boost gain coefficient.

[0030] In some embodiments, the motor boost current control function is expressed as:

[0031] I a = (1 + k1 + k2 + k3 + k4) * f(T d ,V);

[0032] In the formula, k1 represents the first boost gain coefficient, k2 represents the second boost gain coefficient, k3 represents the third boost gain coefficient, k4 represents the fourth boost gain coefficient, f(T d ,V) represents the basic boost current control function, T d represents the steering wheel input torque, and V represents the vehicle speed.

[0033] In a second aspect, the present application provides an automobile steering boost adaptive control device based on human body information;

[0034] An automobile steering boost adaptive control device based on human body information, comprising:

[0035] A basic control module configured to: utilize the steering wheel input torque and the vehicle speed to construct a basic boost current control function;

[0036] An adaptive control module configured to: obtain driver weight information, seat position information, steering wheel height adjustment information and steering wheel telescopic length information, and generate a boost gain coefficient based on the comparison results of the driver weight information, the seat position information, the steering wheel height adjustment information and the steering wheel telescopic length information with corresponding preset thresholds.

[0037] According to the boost gain coefficient and the basic boost current control function, the motor boost current control function is obtained; the real-time steering wheel input torque and the real-time vehicle speed are obtained, and the real-time steering wheel input torque and the real-time vehicle speed are processed through the motor boost current control function to obtain the motor boost current, so that the boost motor outputs the corresponding boost torque.

[0038] In a third aspect, the present application provides a vehicle steering boost adaptive control system based on human information.

[0039] The vehicle steering boost adaptive control system based on human information comprises:

[0040] A data acquisition unit is configured to acquire driver weight information, seat position information, steering wheel height adjustment information, steering wheel extension length information, real-time steering wheel input torque and real-time vehicle speed.

[0041] A steering control unit is configured to construct a basic boost current control function by using the steering wheel input torque and the vehicle speed; acquire the driver weight information, the seat position information, the steering wheel height adjustment information and the steering wheel extension length information; generate a boost gain coefficient based on a comparison result of the driver weight information, the seat position information, the steering wheel height adjustment information and the steering wheel extension length information with a corresponding preset threshold; acquire a motor boost current control function according to the boost gain coefficient and the basic boost current control function; acquire the real-time steering wheel input torque and the real-time vehicle speed, and process the real-time steering wheel input torque and the real-time vehicle speed through the motor boost current control function to obtain the motor boost current.

[0042] A boost motor is configured to output a boost torque corresponding to the motor boost current and drive the steering wheel to rotate.

[0043] In some embodiments, a central control screen is further included, which is configured to acquire input operations of the driver and transmit the input operations to the control unit, and the control unit is configured to terminate calculation of the first boost gain coefficient, the second boost gain coefficient, the third boost gain coefficient and / or the fourth boost gain coefficient in response to the input operations of the driver.

[0044] In a fourth aspect, the present application provides a vehicle.

[0045] The vehicle comprises the vehicle steering boost adaptive control system described above.

[0046] Compared with the prior art, the present application has the following beneficial effects:

[0047] 1、The technical scheme provided by the present application can calculate the current size required by the boost motor according to the human information given by the driver, so that the boost motor outputs the corresponding boost torque, and realizes more personalized and comfortable steering boost steering wheel operation feeling.

[0048] 2、The technical scheme provided by the application, the driver can cancel or start each gain item according to the own demand, and the physical button or voice control is adopted, and the steering wheel operation feeling required by different drivers is realized intelligently and individually. BRIEF DESCRIPTION OF DRAWINGS

[0049] The drawings constituting a part of the specification of the application are used to provide further understanding of the application, and the illustrative embodiments of the application and the description thereof are used to explain the application, and do not constitute improper limitation on the application.

[0050] Figure 1 The flowchart of the automobile steering assist force adaptive control method based on human body information provided for the embodiment of the application is shown.

[0051] Figure 2 The architecture diagram of the automobile steering assist force adaptive control system based on human body information provided for the embodiment of the application is shown.

[0052] Figure 3 The example diagram of the different assist motor current curves provided for the embodiment of the application is shown. DETAILED DESCRIPTION

[0053] It should be pointed out that the following detailed description is exemplary, and is intended to provide further description of the application. Unless otherwise specified, all technical and scientific terms used in the application have the same meaning as generally understood by those skilled in the art to which the application belongs.

[0054] In the case of no conflict, the embodiments in the application and the features in the embodiments can be combined with each other.

[0055] Embodiment one

[0056] The existing automobile steering assist force control does not consider the human body information and driving habits of the driver, which affects the driving experience; therefore, the application provides an automobile steering assist force adaptive control method based on human body information.

[0057] Next, combined with Figures 1-3 A kind of automobile steering assist force adaptive control method based on human body information disclosed by the present embodiment is described in detail. The automobile steering assist force adaptive control method based on human body information is deployed in control unit, including the following steps:

[0058] S1, the steering wheel input torque and vehicle speed are used to build a basic assist current control function;Wherein, the basic assist current control function is expressed as:

[0059] I a0 =f(T d ,V)=K(V)*Td ;

[0060] wherein K(V) is a vehicle speed dependent gain coefficient, V represents vehicle speed, T d represents steering wheel input torque.

[0061] Generally, in the case of only steering wheel torque information input, the steering assist belongs to the basic control method, that is, the assist current is calculated through the basic assist current control function, and the assist current control curve is as shown in FIG. 1. Figure 3 I a0 state.

[0062] S2, obtaining driver body weight information, seat position information, steering wheel height adjustment information and steering wheel extension length information, generating an assist gain coefficient based on the comparison results of the driver body weight information, the seat position information, the steering wheel height adjustment information, the steering wheel extension length information and the corresponding preset threshold value, determining the corresponding assist gain current according to the assist gain coefficient and the basic assist current control function, and obtaining the motor assist current control function.

[0063] Considering that the demand for steering wheel operating force is different among drivers due to individual differences, in the embodiment, driver body information is introduced into steering assist control to provide steering assist that meets the individual needs of the driver; as an implementation manner, S2 specifically includes:

[0064] S201, obtaining driver body weight information, generating a first assist gain coefficient based on the proportion of the driver body weight information and the preset body weight threshold value; wherein the first assist gain coefficient and the corresponding assist gain current are represented as:

[0065] k1=(m0-m)*k1 max / min / m0;

[0066] I a0_s1 =k1*f(T d ,V);

[0067] wherein m0 represents the body weight threshold value, m represents the driver body weight information, k1 max / min represents the maximum / minimum value of the first assist gain coefficient, I a0_s1 represents the assist gain current associated with the body weight information.

[0068] For example, the body weight threshold value m0=67kg, if the driver body weight information=m0, then k1=0; if the driver body weight information is greater than 67kg, then k1 is a negative value; if the driver body weight information is less than 67Kg, then k1 is a positive value; the maximum and minimum values can be set to k1 max =0.3, k1 min= -0.3, i.e. the calculated value of k1 cannot exceed ±0.3, and if it exceeds, it is treated as -0.3 or 0.3.

[0069] For example, the driver's weight m = 80 Kg, then k1 = (m0 - m) * k1 max / m0 = -0.058.

[0070] Here, the driver's weight information is collected by the driver seat body weight information sensor installed on the seat. Drivers with larger body weight may be used to exert more steering force during driving, and the corresponding assist gain should be reduced; drivers with smaller body weight may be used to exert less steering force during driving, and the corresponding assist gain should be increased.

[0071] S202, generating a second assist gain coefficient based on the ratio of the seat position information and the maximum moving distance of the seat; wherein the second assist gain coefficient and the corresponding assist gain current are represented as:

[0072] k2 = W * k2 max / min / W max ;

[0073] I a0_s2 = k2 * f(T d , V);

[0074] In the formula, W represents the seat position information, k2 max / min represents the maximum / minimum value of the second assist gain coefficient, W max represents the maximum moving distance of the seat, I a0_s2 represents the assist gain current associated with the seat position information.

[0075] The seat position information here refers to the distance information of the seat position adjustment before and after the design position state, and the position information of the seat position relative to the design position is collected by the driver seat front and rear position information sensor.

[0076] For example, when the seat position is in the design position state, W0 = 0, k2 = 0; the seat is adjusted forward, k2 is positive, and the seat is adjusted backward, k2 is negative, the maximum and minimum values can be set k2 max = 0.3, k2 min = -0.3, i.e. the calculated value of k2 cannot exceed ±0.3, and if it exceeds, it is treated as -0.3 or 0.3; the maximum moving distance of the seat forward / backward W maxFor example, when the seat position is moved backward by a distance W = -40 mm, then k2 = W * k2

[0077] For example, when the seat position is moved backward by a distance W = -40 mm, then k2 = W * k2 max / W max = -0.2.

[0078] S203, generating a third assist gain coefficient based on the ratio of the steering wheel height adjustment information and the maximum steering wheel adjustment distance; wherein the third assist gain coefficient and the corresponding assist gain current are represented as:

[0079] k3 = H * k3 max / min / H max ;

[0080] I a0_s3 = k3 * f(T d , V);

[0081] In the formula, H represents the steering wheel height adjustment information, k3 max / min represents the maximum / minimum value of the third assist gain coefficient, H max represents the maximum steering wheel adjustment distance, I a0_s3 represents the assist gain current associated with the steering wheel adjustment height information.

[0082] For example, when the steering wheel is in the design position state, then H0 = 0, k3 = 0; the steering wheel is adjusted upward, k3 is negative, and downward, k3 is positive; the maximum and minimum values can be set to k3 max = 0.3, k3 min = -0.3, that is, the calculated value of k3 cannot exceed ±0.3, and if it exceeds, it is processed as -0.3 or 0.3; the maximum upward / downward adjustment distance of the steering wheel H max = ±30 mm; a driver with a smaller body type or a lower height may adjust the steering wheel downward before driving, and may be accustomed to applying a slightly smaller steering force during driving, so the corresponding assist gain should be increased; a driver with a larger body type or a higher height may adjust the steering wheel upward before driving, and may be accustomed to applying a larger steering force during driving, so the corresponding assist gain should be reduced.

[0083] For example, when the steering wheel is adjusted upward by H = -20 mm, then k3 = H * k3 max / H max = -0.2.

[0084] Here, the steering wheel height adjustment information is collected by a steering wheel height adjustment direction position information sensor installed.

[0085] S204, based on the steering wheel telescopic length information and the ratio of the steering wheel maximum telescopic distance, a fourth assist gain coefficient is generated; wherein the fourth assist gain coefficient and the corresponding assist gain current are represented as:

[0086] k4=L*k4 max / min / L max ;

[0087] I a0_s4 =k4*f(T d ,V);

[0088] In the formula, L represents the steering wheel telescopic length information, k4 max / min represents the maximum / minimum value of the third assist gain coefficient, L max represents the steering wheel maximum telescopic distance, I a0_s4 represents the assist gain current associated with the steering wheel telescopic length information.

[0089] For example, when the steering wheel is in the design position state, then L=0, k4=0; when the steering wheel is adjusted backward, k4 is negative, and when the steering wheel is adjusted forward, k4 is positive; the maximum and minimum values of k4 max =0.3, k4 min =-0.3, that is, the calculated value of k4 cannot exceed ±0.3, if it exceeds, it is processed as -0.3 or 0.3; the maximum telescopic length L max of the steering wheel is ±30mm. Smaller drivers are used to leaning forward during driving, and may adjust the steering wheel forward before driving, and may be used to applying slightly smaller steering force during driving, and the corresponding assist gain should be increased; larger drivers may adjust the steering wheel backward before driving, and may be used to applying larger steering force during driving, and the corresponding assist gain should be decreased.

[0090] For example, the steering wheel telescopes forward L=15mm, then k4=L*k4 min / L max =0.15.

[0091] S205, according to the first assist gain coefficient, the second assist gain coefficient, the third assist gain coefficient, the fourth assist gain coefficient and the basic assist current control function, the motor assist current control function is obtained, represented as:

[0092] I a =I a0 +I a0_s1 +I a0_s2 +I a0_s3 +Ia0_s4

[0093] =f(T) d ,V)+k1*f(T d ,V)+k2*f(T d ,V)+k3*f(T d ,V)+k4*f(T d ,V)

[0094] = (1+k1+k2+k3+k4)*f(T) d ,V);

[0095] In the formula, k1 represents the first boost gain coefficient, k2 represents the second boost gain coefficient, k3 represents the third boost gain coefficient, k4 represents the fourth boost gain coefficient, and f(T) d V) represents the basic assist current control function, T d V represents the steering wheel input torque, and V represents the vehicle speed.

[0096] In addition, if a certain information channel is unavailable or the vehicle model does not have this configuration, the boost gain coefficient can be set to 0 by default.

[0097] Furthermore, drivers can also control the activation or deactivation of a specific power steering boost via physical buttons on the central control screen or voice input; thus, intelligently and personalizedly achieving the steering wheel operation feel required by different drivers.

[0098] S3. Obtain the real-time steering wheel input torque and real-time vehicle speed. Process the real-time steering wheel input torque and real-time vehicle speed through the motor assist current control function to obtain the motor assist current so that the assist motor outputs the corresponding assist torque.

[0099] Based on this, the current of the power steering motor is adaptively calculated according to the information provided by the driver, thereby causing the power steering motor to output the corresponding assist torque. The motor assist current, which incorporates driver information, is determined by the basic assist curve I. a0 Optimized to Figure 3 Middle I a1 Or I a2 , where I a1 A larger assist current indicates lighter steering wheel operation effort. And I a2 A smaller assist current indicates a more stable steering wheel operation.

[0100] Example 2

[0101] This embodiment discloses a vehicle steering assist adaptive control device based on human body information, including:

[0102] The basic control module is configured to construct a basic assist current control function by using the steering wheel input torque and the vehicle speed.

[0103] The adaptive control module is configured to obtain driver weight information, seat position information, steering wheel height adjustment information and steering wheel extension length information, and generate an assist gain coefficient based on a comparison result of the driver weight information, the seat position information, the steering wheel height adjustment information, the steering wheel extension length information and corresponding preset threshold values.

[0104] According to the assist gain coefficient and the basic assist current control function, a motor assist current control function is obtained; real-time steering wheel input torque and real-time vehicle speed are obtained, and the motor assist current control function is used to process the real-time steering wheel input torque and the real-time vehicle speed to obtain a motor assist current, so that the assist motor outputs a corresponding assist torque.

[0105] It should be noted that the above basic control module and adaptive control module correspond to the steps in Embodiment One, and the above modules and the examples and application scenarios realized by the corresponding steps are the same, but are not limited to the content disclosed in Embodiment One. It should be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer executable instructions.

[0106] Embodiment Three

[0107] In combination Figure 2 Based on the adaptive control method of automobile steering assist based on human body information provided in the embodiments, the adaptive control system of automobile steering assist based on human body information provided in Embodiment Three comprises a data acquisition unit, a steering control unit and an assist motor, the data acquisition unit and the steering control unit are connected through the vehicle CAN communication, and the steering control unit is connected with the assist motor through a wire harness.

[0108] The data acquisition unit is configured to acquire driver weight information, seat position information, steering wheel height adjustment information, steering wheel extension length information, real-time steering wheel input torque and real-time vehicle speed; the steering control unit is configured to construct a basic assist current control function by using the steering wheel input torque and the vehicle speed; the driver weight information, the seat position information, the steering wheel height adjustment information and the steering wheel extension length information are acquired, and based on a comparison result of the driver weight information, the seat position information, the steering wheel height adjustment information, the steering wheel extension length information and corresponding preset threshold values, an assist gain coefficient is generated; the motor assist current control function is acquired according to the assist gain coefficient and the basic assist current control function; the real-time steering wheel input torque and the real-time vehicle speed are acquired, and the real-time steering wheel input torque and the real-time vehicle speed are processed by the motor assist current control function to acquire the motor assist current; and the assist motor is configured to output an assist torque corresponding to the motor assist current to drive the steering wheel to rotate.

[0109] Further, the data acquisition unit includes a driver seat human weight information sensor, a driver seat front and rear position information sensor, a steering wheel adjustment height direction position information sensor, a steering wheel extension length direction position information sensor and a torque & rotation angle sensor.

[0110] Further, the automobile steering assist self-adaptive control system based on human information further includes a steering wheel, a transmission mechanism, a central control screen, a vehicle CAN, a steering actuator and a wheel, the steering wheel can be mechanically connected with the transmission mechanism; the assist motor is connected with the transmission mechanism through a speed reduction mechanism; a steering wheel position sensor is arranged in the transmission mechanism and is configured to acquire relative height and length positions of the steering wheel; a torque & rotation angle sensor is arranged in the transmission mechanism and is configured to acquire steering wheel torque and rotation angle information; a control unit can be connected with the assist motor through a wire harness or can be integrated on a housing of the assist motor; a seat sensor is arranged in a driver side seat and is configured to acquire driver weight information and relative movement positions of the seat; the vehicle CAN is a communication module and provides vehicle power-on state, vehicle speed and other information for the control unit; the central control screen is a human control input window for a driver to control a control feeling; the transmission mechanism is mechanically connected with the actuator; and the actuator is mechanically connected with the wheel.

[0111] Embodiment Four

[0112] Based on the automobile steering assist self-adaptive control system based on human information, the automobile provided in this embodiment four is provided with the automobile steering assist self-adaptive control system based on human information described in the above embodiments, and the automobile steering assist self-adaptive control system based on human information has the technical effects described above, so the technical effects of the automobile adopting the automobile steering assist self-adaptive control system based on human information please refer to the above embodiments.

[0113] The description of each of the above-mentioned embodiments has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments described. Many modifications and variations will be apparent to those of ordinary skill in the art. It is intended that the scope of the application be defined by the following claims.

[0114] The above descriptions are only the preferred embodiments of the application, not intended to limit the application. The application can be variously changed and modified by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A method for adaptive control of steering assist of a vehicle based on human body information, characterized by, The method comprises: constructing a basic assist current control function by using steering wheel input torque and vehicle speed; obtaining driver weight information, seat position information, steering wheel height adjustment information and steering wheel telescopic length information, and generating an assist gain coefficient based on a comparison result of the driver weight information, the seat position information, the steering wheel height adjustment information and the steering wheel telescopic length information with corresponding preset threshold values; obtaining a motor assist current control function according to the assist gain coefficient and the basic assist current control function; obtaining real-time steering wheel input torque and real-time vehicle speed, processing the real-time steering wheel input torque and the real-time vehicle speed through the motor assist current control function, and obtaining a motor assist current to enable an assist motor to output a corresponding assist torque. The method further comprises: terminating the calculation of the first assist gain coefficient, the second assist gain coefficient, the third assist gain coefficient and / or the fourth assist gain coefficient in response to an input operation of the driver. The motor assist current control function is represented as: The method comprises: a basic control module configured to construct a basic assist current control function by using steering wheel input torque and vehicle speed; an adaptive control module configured to obtain driver weight information, seat position information, steering wheel height adjustment information and steering wheel telescopic length information, and generate an assist gain coefficient based on a comparison result of the driver weight information, the seat position information, the steering wheel height adjustment information and the steering wheel telescopic length information with corresponding preset threshold values; k1 = (m0 - m) * k1 max / min / m0; In the formula, m0 represents a human weight threshold value, m represents driver weight information, k1 max / min represents a maximum / minimum value of the first boost gain coefficient; obtaining a motor assist current control function according to the assist gain coefficient and the basic assist current control function; k2 = W * k2 max / min / W max ; In the formula, W represents seat position information, k2 max / min represents the maximum / minimum value of the second assist gain coefficient, W max represents the maximum moving distance of the seat obtaining real-time steering wheel input torque and real-time vehicle speed, processing the real-time steering wheel input torque and the real-time vehicle speed through the motor assist current control function, and obtaining a motor assist current to enable an assist motor to output a corresponding assist torque. k3 = H * k3 max / min / H max ; wherein H denotes the steering wheel height adjustment information, k3 max / min denotes the maximum / minimum value of the third boost gain factor, H max denotes the maximum steering wheel adjustment distance; The method comprises: k4 = L * k4 max / min / L max ; In the formula, L represents the steering wheel extension length information, k4 max / min represents the maximum / minimum value of the fourth assist gain coefficient, L max represents the maximum extension distance of the steering wheel.

2. The human body information-based adaptive control method of automobile steering assist force according to claim 1, characterized by, ​ 3. The human body information-based adaptive control method of automobile steering assist force according to claim 1, characterized by ​ ​ 4. The human body information-based adaptive control method of automobile steering assist force according to claim 1, characterized by, ​ I a = (1 + k1+ k2+ k3+ k4) * f(T d , V); In the formula, k1 represents a first assist gain coefficient, k2 represents a second assist gain coefficient, k3 represents a third assist gain coefficient, k4 represents a fourth assist gain coefficient, f(T d , V) represents a base assist current control function, T d represents a steering wheel input torque, and V represents a vehicle speed.

5. The adaptive control device for steering assist of an automobile based on human information, which adopts the adaptive control method for steering assist of an automobile based on human information according to any one of claims 1 to 4, characterized in that, ​ ​ ​ ​ ​ 6. The adaptive control system of automobile steering assist force based on human information, which adopts the adaptive control method of automobile steering assist force based on human information as claimed in any one of claims 1 to 4, characterized in that, ​ The data acquisition unit is configured to acquire driver weight information, seat position information, steering wheel height adjustment information, steering wheel extension length information, real-time steering wheel input torque and real-time vehicle speed. The steering control unit is configured to construct a basic assist current control function by using the steering wheel input torque and the vehicle speed. The driver weight information, the seat position information, the steering wheel height adjustment information and the steering wheel extension length information are acquired, and based on a comparison result of the driver weight information, the seat position information, the steering wheel height adjustment information and the steering wheel extension length information with corresponding preset threshold values, an assist gain coefficient is generated. The motor assist current control function is acquired according to the assist gain coefficient and the basic assist current control function. The real-time steering wheel input torque and the real-time vehicle speed are acquired, and the real-time steering wheel input torque and the real-time vehicle speed are processed by the motor assist current control function to acquire a motor assist current. The assist motor is configured to output an assist torque corresponding to the motor assist current to drive the steering wheel to rotate.

7. The human body information-based adaptive control system for automobile steering assist according to Claim 6, wherein The control unit is further configured to terminate calculation of the first assist gain coefficient, the second assist gain coefficient, the third assist gain coefficient and / or the fourth assist gain coefficient in response to an input operation of the driver.

8. An automobile characterized by comprising: The adaptive control system for automobile steering assist comprises the adaptive control system for automobile steering assist according to any one of claims 6-7.

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