Power-assisted steering control method, system and device for vehicle and storage medium

Abstract

The invention discloses a power-assisted steering control method, system and device for a vehicle and a storage medium, and the method comprises the steps that map information of the vehicle in the driving process is obtained, a curve road section where the vehicle is driven is determined based on the map information, and the map information is used for providing a driving route for the vehicle; based on the multiple route key points of the curve road section, a target steering angle of the curve road section is determined, and the target steering angle is used for representing the steering angle of the vehicle passing through the curve road section; based on the target steering angle, a power-assisted steering grade of the vehicle is generated, and the power-assisted steering grade is used for representing the power-assisted degree of the vehicle on the curve road section; based on the power-assisted steering level, the power-assisted steering of the vehicle is controlled, a control result of the vehicle is obtained, and the control result is used for representing that the power-assisted steering meets the power-assisted steering requirement of the vehicle when the vehicle passes through the curve road section. The technical problem that the stability of the vehicle in the steering process is low in the prior art is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and in particular, relates to a steering assist control method, system, device, and storage medium for a vehicle. Background Art

[0002] Currently, in addition to meeting the basic performance requirements of the vehicle, users also have high demands for the comfort of the vehicle's steering system. Modern vehicles are usually equipped with auxiliary systems such as electronic steering assist programs. When the configuration information of these systems is set unreasonably, the steering assist of the vehicle cannot be effectively controlled, resulting in the technical problem of low stability of the vehicle during the steering process.

[0003] For the above technical problem of low stability of the vehicle during the steering process, no effective solution has been proposed yet. Summary of the Invention

[0004] Embodiments of the present invention provide a steering assist control method, system, device, and storage medium for a vehicle to at least solve the technical problem of low stability of the vehicle during the steering process in the related art.

[0005] According to the first aspect of the embodiments of the present invention, a steering assist control method for a vehicle is provided, including: obtaining map information of the vehicle during driving, and based on the map information, determining a curved road section on which the vehicle is traveling, where the map information is used to provide a driving route for the vehicle; determining a target steering angle of the curved road section based on a plurality of route key points of the curved road section, where the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section; generating a steering assist level of the vehicle based on the target steering angle, where the steering assist level is used to represent the assist degree of the vehicle on the curved road section; and controlling the steering assist of the vehicle based on the steering assist level to obtain a control result of the vehicle, where the control result is used to represent that the steering assist meets the steering assist requirements of the vehicle when passing through the curved road section.

[0006] Optionally, determining a target steering angle of the curved road section based on a plurality of route key points of the curved road section includes: obtaining the tangent directions of the plurality of route key points on the driving route; and determining the target steering angle based on the plurality of route key points and the tangent directions.

[0007] Optionally, a steering assistance level of the vehicle is generated based on a target steering angle, including: obtaining functional requirement information of a driving object of the vehicle; determining a first control state of a first steering function of the vehicle based on the functional requirement information, where the first control state is used to represent whether the first steering function is in an on state; obtaining a second control state of a second steering function of the vehicle, and generating the steering assistance level based on the first control state, the second control state, and the target steering angle, where the second control state is used to represent whether the second steering function is in an on state, and the cost of configuring the first steering function for the vehicle is higher than the cost of configuring the second steering function.

[0008] Optionally, generating the steering assistance level based on the first control state, the second control state, and the target steering angle includes: in response to the first control state indicating that the first steering function is in an on state, determining that the steering assistance level is a first steering assistance level based on the second control state indicating that the second steering function is not in an on state and the target steering angle; in response to the first control state indicating that the first steering function is not in an on state, determining that the steering assistance level is a second steering assistance level based on the second control state indicating that the second steering function is not in an on state and the target steering angle, where the assistance degree of the second steering assistance level is lower than the assistance degree of the first steering assistance level.

[0009] Optionally, generating the steering assistance level based on the first control state, the second control state, and the target steering angle includes: in response to the first control state indicating that the first steering function is not in an on state, determining a manual assistance level of the vehicle based on the second control state indicating that the second steering function is in an on state and the target steering angle, and determining the manual assistance level as the steering assistance level, where the manual assistance level is an assistance level selected manually.

[0010] Optionally, the method further includes: obtaining an emergency event signal of the vehicle; in response to the emergency event signal, determining that the steering assistance level is the second steering assistance level.

[0011] According to the second aspect of the embodiments of the present invention, there is also provided a steering assist control system for a vehicle, including: a vehicle networking subsystem, configured to obtain map information of the vehicle during driving, and based on the map information, determine a curved road section on which the vehicle is traveling, wherein the map information is used to provide a driving route for the vehicle; based on a plurality of route key points of the curved road section, determine a target steering angle of the curved road section, wherein the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section; a vehicle controller, configured to generate a steering assist level of the vehicle based on the target steering angle, wherein the steering assist level is used to represent the assist degree of the vehicle on the curved road section; an electric power steering subsystem, configured to control the steering assist of the vehicle based on the steering assist level to obtain a control result of the vehicle, wherein the control result is used to represent that the steering assist meets the steering assist requirement of the vehicle when passing through the curved road section.

[0012] According to the third aspect of the embodiments of the present invention, there is also provided a steering assist control device for a vehicle, including: a first acquisition unit, configured to obtain map information of the vehicle during driving, and based on the map information, determine a curved road section on which the vehicle is traveling, wherein the map information is used to provide a driving route for the vehicle; a first determination unit, configured to determine a target steering angle of the curved road section based on a plurality of route key points of the curved road section, wherein the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section; a generation unit, configured to generate a steering assist level of the vehicle based on the target steering angle, wherein the steering assist level is used to represent the assist degree of the vehicle on the curved road section; a control unit, configured to control the steering assist of the vehicle based on the steering assist level to obtain a control result of the vehicle, wherein the control result is used to represent that the steering assist meets the steering assist requirement of the vehicle when passing through the curved road section.

[0013] According to the fourth aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steering assist control method of the vehicle in any one of the embodiments of the first aspect when running on a computer or a processor.

[0014] According to the fifth aspect of the embodiments of the present invention, there is also provided a vehicle, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steering assist control method of the vehicle in any one of the embodiments of the first aspect.

[0015] According to the sixth aspect of the embodiments of the present invention, there is also provided a computer program product, including a computer program, and the computer program realizes the steering assist control method of the vehicle in any one of the embodiments of the first aspect when executed by a processor.

[0016] In an embodiment of the present invention, map information of a vehicle during driving is obtained, and based on the map information, a curved road section on which the vehicle is traveling is determined, where the map information is used to provide a driving route for the vehicle; based on multiple route key points of the curved road section, a target steering angle of the curved road section is determined, where the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section; based on the target steering angle, a steering assistance level of the vehicle is generated, where the steering assistance level is used to represent the assistance degree of the vehicle on the curved road section; based on the steering assistance level, the steering assistance of the vehicle is controlled to obtain a control result of the vehicle, where the control result is used to represent that the steering assistance meets the steering assistance requirement of the vehicle when passing through the curved road section. That is to say, in the embodiment of the present invention, after determining the curved road section on which the vehicle is traveling according to the obtained map information, the target steering angle of the curved road section can also be determined according to multiple route key points of the curved road section, and then according to the target steering angle, the steering assistance level of the vehicle is generated, and based on the steering assistance level, the steering assistance of the vehicle is controlled, so that the steering assistance of the vehicle meets the steering assistance requirement of the vehicle when passing through the curved road section, thereby solving the technical problem of low stability of the vehicle during the steering process and achieving the technical effect of improving the stability of the vehicle during the steering process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and form a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0018] Figure 1 is a flowchart of a method for controlling the steering assistance of a vehicle according to an embodiment of the present invention;

[0019] Figure 2 is a flowchart of another method for controlling the steering assistance of a vehicle according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of a system for controlling the steering assistance of a vehicle according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of a device for controlling the steering assistance of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0024] According to an embodiment of the present invention, an embodiment of a steering assist control method for a vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system including at least one set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0025] This method embodiment can also be executed in an electronic device including a memory and a processor, a similar control device, or the cloud. Taking the electronic device as an example, the electronic device can include one or more processors and a memory for storing data. Optionally, the above-mentioned electronic device can also include a communication device for communication functions and a display device. Those of ordinary skill in the art can understand that the above structural description is only illustrative and does not limit the structure of the above-mentioned electronic device. For example, the electronic device can also include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0026] The processor may include one or more processing units. For example, the processor may include a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Digital Signal Processing (DSP) chip, a Microcontroller Unit (MCU), a Field-Programmable Gate Array (FPGA), a Neural-network Processing Unit (NPU), a Tensor Processing Unit (TPU), an Artificial Intelligent (AI) type processor, and other processing devices. Among them, different processing units may be independent components or integrated in one or more processors. In some instances, the electronic device may also include one or more processors.

[0027] The memory can be used to store computer programs. For example, it can store the computer program corresponding to the vehicle multi-screen joint display method in the embodiments of the present invention. The processor realizes the above-mentioned vehicle multi-screen joint display method by running the computer program stored in the memory. The memory may include a high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory may further include a memory remotely set relative to the processor, and these remote memories can be connected to the electronic device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and their combinations.

[0028] The communication device is used to receive or send data via a network. Specific examples of the above network may include the wireless network provided by the communication provider of the mobile terminal. In one instance, the communication device includes a Network Interface Controller (NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the communication device can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly. In some embodiments of this solution, the communication device is used to connect to mobile devices such as mobile phones and tablets, and can send instructions to the electronic device through the mobile device.

[0029] The display device can be a touch-screen liquid crystal display (LCD) and a touch display (also known as a "touch screen" or "touch display screen"). The liquid crystal display enables a user to interact with the user interface of an electronic device. In some embodiments, the above-mentioned electronic device has a graphical user interface (GUI), and the user can perform human-computer interaction with the GUI by touching a finger on the touch-sensitive surface and / or gestures. The executable instructions for performing the above human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0030] Figure 1 is a flowchart of a steering assist control method for a vehicle according to an embodiment of the present invention, as Figure 1 shown, the method includes the following steps:

[0031] Step S101, obtain map information of the vehicle during driving, and based on the map information, determine the curved road section on which the vehicle is driving. Among them, the map information is used to provide a driving route for the vehicle.

[0032] In step S101 of the embodiment of the present invention, the Telematics Box (T-BOX) can be used to obtain the map information of the vehicle during driving, and then based on the map information, determine the curved road section on which the vehicle is driving. Among them, the map information can be called high-precision map information. The curved road section can be represented by D. For example, D 1 , D 3 , D 5 .

[0033] For example, the vehicle networking system can obtain the high-precision map information 5 kilometers (km) ahead of the vehicle driving road according to the networking platform, and intercept the relevant data of the curved road section based on the high-precision map information. It should be noted that this is only a preferred implementation manner for determining the curved road section on which the vehicle is driving, and the process and method for determining the curved road section on which the vehicle is driving are not specifically limited.

[0034] Step S102, based on multiple route key points of the curved road section, determine the target steering angle of the curved road section, where the target steering angle is used to characterize the steering angle of the vehicle when passing through the curved road section.

[0035] In step S102 of the embodiment of the present invention, according to multiple route key points of the curved road section, the target steering angle of the curved road section can be determined. Among them, the target steering angle can be called the fitting steering angle and can be represented by α. For example, α 1 , α3 , α 5 etc.

[0036] It should be noted that this is only a preferred implementation for determining the target steering angle of the curved road section, and does not specifically limit the process and method for determining the target steering angle of the curved road section. As long as the process and method for determining the target steering angle of the curved road section based on multiple route key points of the curved road section are within the protection scope of the present invention, they will not be listed here.

[0037] Step S103: Generate a steering assist level for the vehicle based on the target steering angle, where the steering assist level is used to characterize the assist degree of the vehicle on the curved road section.

[0038] In step S103 of the embodiment of the present invention, after obtaining the target steering angle, the vehicle control unit (VCU for short) can be used to generate a steering assist level for the vehicle according to the target steering angle, where the steering assist level can be represented by K.

[0039] For example, it is possible to receive the function settings required by the driver from the instrument display and receive the fitted steering angle of the road from the T - BOX, and determine the steering assist level required by the driver at this time based on the comprehensive judgment of the two. It can be understood that this is only a preferred implementation for generating the steering assist level of the vehicle, and does not specifically limit the process and method for generating the steering assist level of the vehicle.

[0040] Step S104: Control the steering assist of the vehicle based on the steering assist level to obtain a control result of the vehicle, where the control result is used to characterize that the steering assist meets the steering assist requirements of the vehicle when passing through the curved road section.

[0041] In step S104 of the embodiment of the present invention, the electric power steering (EPS for short) subsystem of the vehicle is used to control the steering assist of the vehicle according to the obtained steering assist level to obtain a control result of the vehicle, so that the steering assist at this time meets the steering assist requirements of the vehicle when passing through the curved road section.

[0042] For example, by receiving the level requirement information sent by the VCU, different steering assist levels are determined to control the steering assist of the vehicle, so that the steering assist at this time can meet the steering assist requirements of the vehicle when passing through the curved road section. It should be noted that this is only a preferred implementation for obtaining the control result of the vehicle, and does not specifically limit the process and method for obtaining the control result of the vehicle.

[0043] In an embodiment of the present invention, map information during the driving of a vehicle is obtained, and based on the map information, a curved road section on which the vehicle is driving is determined, where the map information is used to provide a driving route for the vehicle; based on multiple route key points of the curved road section, a target steering angle of the curved road section is determined, where the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section; based on the target steering angle, a steering assistance level of the vehicle is generated, where the steering assistance level is used to represent the assistance degree of the vehicle on the curved road section; based on the steering assistance level, the steering assistance of the vehicle is controlled to obtain a control result of the vehicle, where the control result is used to represent that the steering assistance meets the steering assistance requirements of the vehicle when passing through the curved road section. That is to say, in an embodiment of the present invention, after determining the curved road section on which the vehicle is driving according to the obtained map information, the target steering angle of the curved road section is determined according to multiple route key points of the curved road section. Furthermore, according to the target steering angle, a steering assistance level of the vehicle can be generated, and based on the steering assistance level, the steering assistance of the vehicle is controlled to obtain a control result of the vehicle, so that the steering assistance of the vehicle at this time meets the steering assistance requirements of the vehicle when passing through the curved road section, thereby solving the technical problem of low stability of the vehicle during steering and achieving the technical effect of improving the stability of the vehicle during steering.

[0044] As an optional embodiment, determining the target steering angle of the curved road section based on multiple route key points of the curved road section includes: obtaining the tangent directions of multiple route key points on the driving route; determining the target steering angle based on the multiple route key points and the tangent directions.

[0045] In this embodiment, the tangent directions of multiple route key points on the driving route can be obtained, and then the target steering angle can be determined according to the multiple road key points and the tangent directions. Among them, the route key points can be referred to as road key points.

[0046] For example, after obtaining the curved road section of the vehicle, the direction of the road key point and the tangent angle Θ of its normal can be sampled and measured. 1 ,Θ 2 ,Θ 3 ,…,Θ y Furthermore, the curved road section can be segmented and fitted, and the fitted steering angle of this section of the road can be obtained by calculation.

[0047] For another example, a section of road is measured and divided into D 1 ,D 2 ,D 3 ,D 4 ,D 5 ,a total of these 5 sections, where D 1 ,D 3 ,D 5It is determined to be a curve, and then the road fitting steering angle α can be obtained. 1 , α 3 , α 5 , when the vehicle is about to enter D 1 , send α 1 to the VCU. When the vehicle is about to enter a straight road D 2 , send the straight line default value to the VCU, and so on.

[0048] As an alternative embodiment, based on the target steering angle, a steering assistance level of the vehicle is generated, including: obtaining functional requirement information of a driving object of the vehicle; determining a first control state of a first steering function of the vehicle based on the functional requirement information, where the first control state is used to represent whether the first steering function is in an on state; obtaining a second control state of a second steering function of the vehicle, and generating a steering assistance level based on the first control state, the second control state, and the target steering angle, where the second control state is used to represent whether the second steering function is in an on state, and the cost of configuring the first steering function of the vehicle is higher than the cost of configuring the second steering function.

[0049] In this embodiment, the functional requirement information of the driving object of the vehicle can be obtained first, and then the first control state of the first steering function of the vehicle can be determined according to the functional requirement information. Then, the second control state of the second steering function of the vehicle can be directly obtained, and finally, based on the first control state, the second control state, and the target steering angle obtained above, the purpose of generating the steering assistance level can be achieved.

[0050] Optionally, the driving object can be a user object, such as a driver, etc. The functional requirement information can be called level functional requirement information. The first steering function can be called a predictive steering function. The second steering function can be called a fixed steering function or a fixed steering assistance function.

[0051] For example, after obtaining the functional requirement information of the driver, it is possible to determine whether the predictive steering function is turned on according to the functional requirement information, and then directly check whether the fixed steering function in the vehicle is turned on. According to the on states of the above two functions and the target steering angle obtained in the above steps, the steering assistance level required by the vehicle at this time can be determined.

[0052] As an alternative embodiment, generating a steering assist level based on a first control state, a second control state, and a target steering angle includes: in response to the first control state indicating that the first steering function is in an enabled state, determining the steering assist level as a first steering assist level based on the second control state indicating that the second steering function is not in an enabled state and the target steering angle; in response to the first control state indicating that the first steering function is not in an enabled state, determining the steering assist level as a second steering assist level based on the second control state indicating that the second steering function is not in an enabled state and the target steering angle, where the assist degree of the second steering assist level is lower than that of the first steering assist level.

[0053] In this embodiment, after obtaining the first control state, the second control state, and the target steering angle, when the first control state indicates that the first steering function is in an enabled state, the enabled state of the second steering function is automatically turned off, that is, the second control state indicates that the second steering function is not in an enabled state. At this time, the steering assist level can be determined as the first steering assist level according to the target steering angle.

[0054] Optionally, when the first steering function is in an enabled state, it can be represented by On. The first steering assist level can be represented by K 1 When the first steering function is not in an enabled state, it can be represented by Off. The related representation methods of the second steering function are the same as above and will not be elaborated here.

[0055] For example, when the state of the anticipatory steering function is On and the state of the fixed steering function is Off, and the fitted steering angle obtained at this time is α x , then the steering assist level at this time can be determined as K 1 .

[0056] Optionally, when the first control state indicates that the first steering function is not in an enabled state and the second control state at this time also indicates that the second steering function is not in an enabled state, the steering assist level can be determined as the second steering assist level according to the target steering angle, where the second steering assist level can be represented by K off2 .

[0057] For example, when the state of the anticipatory steering function is Off and the state of the fixed steering function is also Off at this time, according to the fitted steering angle α z obtained at this time, the steering assist level at this time is determined as K off2 .

[0058] In this embodiment, the first control state and the second control state are displayed through the instrument (Instrument Cluster, abbreviated as IC) subsystem of the vehicle so that the driver can observe and process the above two states.

[0059] Optionally, the instrument subsystem can generally refer to the instrument assembly of the vehicle or the terminal assembly of the in-vehicle large screen. This system can achieve: enabling or disabling the anticipatory steering assist function; setting or disabling a fixed assist level; and the driver can enable or set the level of the function through the screen interface of this system.

[0060] Furthermore, to enable the anticipatory steering assist function in the vehicle: the driver can manually intervene to turn this function on or off; for setting the fixed assist level: the driver can select the assist level from assist level 1 to assist level X according to the instrument display, and the assist effect depends on the calibration result of the EPS system. Generally speaking, the instrument sends the function mode required by the driver to the vehicle control system, and there are the following possibilities: ① Anticipatory steering assist On; ② Anticipatory steering assist Off + Fixed assist level On + Assist level X (where there may be multiple levels here); ③ Anticipatory steering assist Off + Fixed assist level Off.

[0061] As an alternative embodiment, generating a steering assist level based on a first control state, a second control state, and a target steering angle includes: in response to the first control state indicating that a first steering function is not in an enabled state, based on the second control state indicating that a second steering function is in an enabled state and the target steering angle, determining a manual assist level of the vehicle and determining the manual assist level as the steering assist level, where the manual assist level is an assist level selected manually.

[0062] In this embodiment, when the first control state indicates that a first steering function is not in an enabled state and the second control state at this time indicates that a second steering function is in an enabled state, the manual assist level of the vehicle can be determined according to the target steering angle, and the manual assist level is determined as the steering assist level. Among them, the manual assist level can be the assist level selected by the driving object and can be represented by numbers, such as 1, 2, etc.

[0063] For example, when the state of the anticipatory steering function is Off and the state of the fixed steering function is On at this time, according to the obtained fitting steering angle α y , the driver can select the manual assist level of the vehicle as 2 and determine this manual assist level as the steering assist level K at this time. 2 .

[0064] Optionally, when the first control state indicates that a first steering function is in an enabled state and the second control state indicates that a second steering function is not in an enabled state, and the fitting steering angle of the vehicle is not obtained at this time, the steering assist level of the vehicle is directly determined as the default assist level, where the default assist level can be represented by K. off1 for representation.

[0065] For example, when the state of the predictive steering function is On and the state of the fixed steering function is Off at this time, the fitting steering angle of the vehicle is not obtained, and the default assist level K off1 is determined as the steering assist level. It should be noted that Table 1 is the steering assist level table. From Table 1, it can be seen that by enabling different steering functions, different steering assist levels can be determined.

[0066] Table 1 Steering Assist Level Table

[0067] Predictive steering function Fixed steering function Manual assistance level Fitted steering angle Steering assistance level On Off - <![CDATA[α x > <![CDATA[K 1 > On Off - - <![CDATA[K off1 > Off On 2 <![CDATA[α y > <![CDATA[K 2 > Off Off - <![CDATA[α z > <![CDATA[K off2 >

[0068] As an alternative embodiment, the method further includes: obtaining an emergency event signal of the vehicle; in response to the emergency event signal, determining that the steering assist level is the second steering assist level.

[0069] In this embodiment, an emergency event signal of the vehicle can be obtained, and in response to the emergency event signal, the steering assist level is determined as the second steering assist level.

[0070] For example, when an emergency event signal of the vehicle is received, it indicates that an emergency event has occurred in the vehicle. At this time, the steering assist of the vehicle is directly controlled according to the second steering assist level.

[0071] In the embodiment of the present invention, map information of the vehicle during driving is obtained, and based on the map information, a curved road section on which the vehicle is traveling is determined, where the map information is used to provide a driving route for the vehicle; based on multiple route key points of the curved road section, a target steering angle of the curved road section is determined, where the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section; based on the target steering angle, a steering assist level of the vehicle is generated, where the steering assist level is used to represent the assist degree of the vehicle on the curved road section; based on the steering assist level, the steering assist of the vehicle is controlled to obtain a control result of the vehicle, where the control result is used to represent that the steering assist meets the steering assist requirements of the vehicle when passing through the curved road section. That is to say, in the embodiment of the present invention, after determining the curved road section on which the vehicle is traveling according to the obtained map information, the target steering angle of the curved road section is determined according to multiple route key points of the curved road section. Then, according to the target steering angle, the steering assist level of the vehicle can be generated, and based on the steering assist level, the steering assist of the vehicle is controlled to obtain a control result of the vehicle, so that the steering assist of the vehicle at this time meets the steering assist requirements of the vehicle when passing through the curved road section, thereby solving the technical problem of low stability of the vehicle during the steering process and achieving the technical effect of improving the stability of the vehicle during the steering process.

[0072] Next, in combination with the preferred implementation manner, and taking a commercial vehicle in the vehicle as an example, the technical solution of the embodiment of the present invention will be illustrated by way of example.

[0073] At present, in addition to meeting the basic performance requirements of the vehicle, users also have relatively high demands for the comfort of the vehicle's steering system. Modern vehicles are usually equipped with auxiliary systems such as electronic stability programs. When these systems malfunction or are improperly set, they cannot effectively control the steering assistance of the vehicle, resulting in the technical problem of low stability of the vehicle during the steering process.

[0074] To solve the above problems, the present invention proposes a predictive steering assistance control method for commercial vehicles. This method can, based on the existing vehicle networking subsystem and the vehicle control system of commercial vehicles, use a high-precision map to reconstruct and analyze the curved road segments on the future road ahead of the commercial vehicle to calculate the road steering angle. The vehicle control system determines the steering angle level and sends the steering level requirement to the electronic steering assistance subsystem. The electronic steering assistance subsystem analyzes the above steering level requirement, thereby realizing dynamic electronic steering assistance control based on the road ahead, improving the comfort of the driver during driving, thus solving the technical problem of low stability of the vehicle during the steering process and achieving the technical effect of improving the stability of the vehicle during the steering process.

[0075] Figure 2 is a flowchart of another steering assistance control method for a vehicle according to an embodiment of the present invention, as Figure 2 shown, the method includes the following steps:

[0076] Step S201, the driver completes function settings through the instrument subsystem and uses the instrument subsystem to send the function enabling status to the vehicle control system.

[0077] In this embodiment, the driver completes function settings through the instrument subsystem and uses the instrument subsystem to send the function enabling status to the vehicle control system. For example, when the driver enables the predictive steering function (at this time, the fixed steering assistance level setting is invalid), the instrument sends the function setting information to the VCU.

[0078] Step S202, obtain the high-precision map information of the networked platform through the vehicle networking subsystem, intercept the curve data according to the high-precision map information to complete sampling and calculation, obtain the fitting steering angle of the segmented road, and based on the global positioning system of the vehicle, send the fitting steering angle of this section of the road to the VCU in advance before the change section.

[0079] In this embodiment, the vehicle networking system can obtain the high-precision map information of 5 kilometers ahead of the vehicle's driving road according to the networked platform, and intercept the relevant data of the curved road section based on the high-precision map information. Sample and calculate the direction of the key points of the road and the tangent angle Θ between its normal and the normal 1 , Θ 2 , Θ 3 , …, Θ y, and then the curved road section can be segmented and fitted, and the fitted steering angle of this section of the road can be obtained through calculation.

[0080] For example, a section of road is measured and divided into D 1 , D 2 , D 3 , D 4 , D 5 , a total of these 5 sections. Among them, D 1 , D 3 , D 5 is determined to be a curve. By fitting the curve, the fitted steering angle of the road can be obtained as α 1 , α 3 , α 5 . When the vehicle is about to enter D 1 , α 1 is sent to the VCU. When it is about to enter the straight road section of D 2 , the straight line default default value is sent to the VCU, and so on.

[0081] For another example, after the T-BOX measurement is completed, when the vehicle is about to enter the curved road section, the forward road deviation fitting angle α n is sent to the VCU system.

[0082] Step S203: After the VCU receives the driver function setting information from the instrument subsystem and the forward road fitted steering angle from the T-BOX system, when there is no fault and no emergency trigger event in the vehicle system, send the steering assistance level required for the whole vehicle obtained by comprehensive judgment to the EPS; when there are situations such as function shutdown, system failure, and emergency trigger event in the vehicle, send the default steering assistance level to the EPS.

[0083] In this embodiment, the vehicle controller receives the function settings required by the driver from the instrument display and the fitted steering angle of the road from the T-BOX, and determines the steering assistance level required by the driver at this time based on the comprehensive judgment of the two. The road fitted steering angle can be calibrated according to the system performance of the vehicle, that is, the angle difference can be used to set the steering assistance level through pre-performance development. The specific judgment results of the steering assistance level are shown in Table 1 and will not be elaborated here.

[0084] For example, the VCU makes a steering assistance level judgment based on the road deviation fitting angle (α n ) sent by the T-BOX. In the anticipatory steering assistance working condition, it is determined that the steering assistance level at this time is K(α n ), and it is sent to the EPS system.

[0085] Step S204, after the EPS receives the steering assist level requirement from the VCU, when the steering assist level is inconsistent with the current system working condition determination, the vehicle needs to run in the default mode; when the steering assist level is within the credible interval, the assist effect is changed after smooth filtering.

[0086] In this embodiment, the Electric Power Steering system (EPS) receives the level requirement information sent by the VCU and enables different steering assist levels based on the current running attitude and safety requirements of the vehicle. If the steering assist level is inconsistent with the current system working condition determination, the vehicle needs to run in the default mode; if the steering assist level is within the credible interval, the assist effect is changed after smooth filtering.

[0087] Optionally, the assist level filtering is to ensure the basic performance of the systems in the vehicle during operation, and the system will adopt a safe steering assist level in specific scenarios. For example, if the user manually selects a lower steering assist level that cannot meet the normal driving requirements, the system can amplify the hand force based on the current steering assist level requirement; if the user selects an excessive assist level under high-speed working conditions, the assist of the vehicle can be suppressed for its assist effect to ensure the vehicle stability.

[0088] Optionally, the assist level arbitration means that when the vehicle is in a normal operation scenario and receives the assist boost requirement after arbitration, the assist of the vehicle is changed through hand force change filtering (for example, in the scenario of a high-curvature bend); similarly, when receiving the assist suppression requirement after arbitration, the assist effect of the vehicle is changed using hand force change filtering (for example, in the scenario of a bend straightening).

[0089] For example, the EPS system receives a new assist level K(α n ), and at this time, the system performs smooth filtering on it from its own assist level to change the assist effect. Among them, the own assist level can be represented by K(α n-1 ).

[0090] In this embodiment, a steering assist control system for a vehicle is also provided. This system is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" is a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0091] Figure 3 is a schematic diagram of a steering assist control system for a vehicle according to an embodiment of the present invention, as Figure 3As shown, taking the vehicle's power steering control system 300 as an example, it includes: a vehicle networking subsystem 301, a vehicle controller 302, and an electric power steering subsystem 303.

[0092] The vehicle networking subsystem 301 is used to obtain map information during vehicle driving, and based on the map information, determine the curved road section on which the vehicle is traveling. The map information is used to provide a driving route for the vehicle; based on multiple route key points of the curved road section, determine the target steering angle of the curved road section, where the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section.

[0093] The vehicle controller 302 is used to generate a vehicle power steering level based on the target steering angle, where the power steering level is used to represent the assistance degree of the vehicle on the curved road section.

[0094] The electric power steering subsystem 303 is used to control the vehicle's power steering based on the power steering level to obtain a vehicle control result, where the control result is used to represent that the power steering meets the power steering requirements of the vehicle when passing through the curved road section.

[0095] Optionally, the instrument subsystem can generally refer to the vehicle's instrument assembly or the terminal assembly of the in-vehicle large screen. This system can complete: enabling or disabling the function of anticipatory power steering; setting or disabling a fixed power steering level; the driver can complete the enabling of the function or the setting of the level through the screen interface of this system.

[0096] Furthermore, to enable the anticipatory power steering function of the vehicle: the driver can manually intervene to enable or disable this function; setting a fixed power steering level: the driver can select the power assistance degree level from power assistance level 1 to power assistance level X according to the instrument display, and its power assistance effect depends on the calibration result of the EPS system. Generally speaking, the instrument sends the function mode required by the driver to the vehicle control system, and there are the following possibilities: ① Anticipatory power steering On; ② Anticipatory power steering Off + Fixed power steering level On + Power assistance level X (there may be multiple levels here); ③ Anticipatory power steering Off + Fixed power steering level Off.

[0097] Optionally, based on multiple route key points of the curved road section, determining the target steering angle of the curved road section includes: obtaining the tangent directions of the multiple route key points on the driving route; based on the multiple route key points and the tangent directions, determining the target steering angle.

[0098] Optionally, a steering assistance level of the vehicle is generated based on a target steering angle, including: obtaining function requirement information of a driving object of the vehicle; determining a first control state of a first steering function of the vehicle based on the function requirement information, where the first control state is used to represent whether the first steering function is in an on state; obtaining a second control state of a second steering function of the vehicle, and generating the steering assistance level based on the first control state, the second control state, and the target steering angle, where the second control state is used to represent whether the second steering function is in an on state, and the cost of configuring the first steering function for the vehicle is higher than the cost of configuring the second steering function.

[0099] Optionally, generating the steering assistance level based on the first control state, the second control state, and the target steering angle includes: in response to the first control state indicating that the first steering function is in an on state, determining the steering assistance level as a first steering assistance level based on the second control state indicating that the second steering function is not in an on state and the target steering angle; in response to the first control state indicating that the first steering function is not in an on state, determining the steering assistance level as a second steering assistance level based on the second control state indicating that the second steering function is not in an on state and the target steering angle, where the assistance degree of the second steering assistance level is lower than the assistance degree of the first steering assistance level.

[0100] Optionally, generating the steering assistance level based on the first control state, the second control state, and the target steering angle includes: in response to the first control state indicating that the first steering function is not in an on state, determining a manual assistance level of the vehicle based on the second control state indicating that the second steering function is in an on state and the target steering angle, and determining the manual assistance level as the steering assistance level, where the manual assistance level is an assistance level selected manually.

[0101] Optionally, the system includes: obtaining an emergency event signal of the vehicle; in response to the emergency event signal, determining the steering assistance level as the second steering assistance level.

[0102] In this embodiment, map information of the vehicle during driving is obtained through the vehicle networking subsystem, and based on the map information, the curved road section on which the vehicle is traveling is determined. The map information is used to provide a driving route for the vehicle; based on multiple route key points of the curved road section, the target steering angle of the curved road section is determined, where the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section; the vehicle's steering assist level is generated by the vehicle controller based on the target steering angle, where the steering assist level is used to represent the assist degree of the vehicle on the curved road section; the electronic steering assist subsystem controls the vehicle's steering assist based on the steering assist level to obtain the control result of the vehicle, where the control result is used to represent that the steering assist meets the steering assist requirements of the vehicle when passing through the curved road section, thereby solving the technical problem of low stability of the vehicle during steering and achieving the technical effect of improving the stability of the vehicle during steering.

[0103] Figure 4 is a schematic diagram of a steering assist control device for a vehicle according to an embodiment of the present invention, as Figure 4 shown. Taking the steering assist control device 400 of the vehicle as an example, it includes: a first acquisition unit 401, a first determination unit 402, a generation unit 403, and a control unit 404.

[0104] The first acquisition unit 401 is configured to acquire map information of the vehicle during driving, and based on the map information, determine the curved road section on which the vehicle is traveling. The map information is used to provide a driving route for the vehicle.

[0105] The first determination unit 402 is configured to determine the target steering angle of the curved road section based on multiple route key points of the curved road section, where the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section.

[0106] The generation unit 403 is configured to generate the vehicle's steering assist level based on the target steering angle, where the steering assist level is used to represent the assist degree of the vehicle on the curved road section.

[0107] The control unit 404 is configured to control the vehicle's steering assist based on the steering assist level to obtain the control result of the vehicle, where the control result is used to represent that the steering assist meets the steering assist requirements of the vehicle when passing through the curved road section.

[0108] Optionally, the first determination unit 402 may include: a first acquisition module, configured to acquire the tangent directions of multiple route key points on the driving route; a first determination module, configured to determine the target steering angle based on the multiple route key points and the tangent directions.

[0109] Optionally, the generating unit 403 may include: a second obtaining module, configured to obtain function requirement information of a driving object of the vehicle; a second determining module, configured to determine a first control state of a first steering function of the vehicle based on the function requirement information, where the first control state is used to represent whether the first steering function is in an on state; a generating module, configured to obtain a second control state of a second steering function of the vehicle, and generate a steering assistance level based on the first control state, the second control state, and a target steering angle, where the second control state is used to represent whether the second steering function is in an on state, and the cost of configuring the first steering function of the vehicle is higher than the cost of configuring the second steering function.

[0110] Optionally, the generating module may include: a first determining sub-module, configured to, in response to the first control state indicating that the first steering function is in an on state, determine, based on the second control state indicating that the second steering function is not in an on state and the target steering angle, that the steering assistance level is a first steering assistance level; a second determining sub-module, configured to, in response to the first control state indicating that the first steering function is not in an on state, determine, based on the second control state indicating that the second steering function is not in an on state and the target steering angle, that the steering assistance level is a second steering assistance level, where the assistance degree of the second steering assistance level is lower than the assistance degree of the first steering assistance level.

[0111] Optionally, the generating module may further include: a third determining sub-module, configured to, in response to the first control state indicating that the first steering function is not in an on state, determine, based on the second control state indicating that the second steering function is in an on state and the target steering angle, a manual assistance level of the vehicle, and determine the manual assistance level as the steering assistance level, where the manual assistance level is an assistance level selected manually.

[0112] Optionally, the apparatus further includes: a second obtaining unit, configured to obtain an emergency event signal of the vehicle; a second determining unit, configured to, in response to the emergency event signal, determine that the steering assistance level is a second steering assistance level.

[0113] In this embodiment, the first acquisition unit acquires map information of the vehicle during driving, and based on the map information, determines the curved road section on which the vehicle is traveling, where the map information is used to provide a driving route for the vehicle; the first determination unit determines the target steering angle of the curved road section based on multiple route key points of the curved road section, where the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section; the generation unit generates the steering assist level of the vehicle based on the target steering angle, where the steering assist level is used to represent the assist degree of the vehicle on the curved road section; the control unit controls the steering assist of the vehicle based on the steering assist level to obtain the control result of the vehicle, where the control result is used to represent that the steering assist meets the steering assist requirement of the vehicle when passing through the curved road section, thereby solving the technical problem of low stability of the vehicle during steering and achieving the technical effect of improving the stability of the vehicle during steering.

[0114] An embodiment of the present invention also provides a non-volatile storage medium, in which a computer program is stored, where the computer program is configured to execute the vehicle steering assist control method in any of the above embodiments when running on a computer or a processor.

[0115] Optionally, in this embodiment, the above computer program may be configured to store a computer program for executing the following steps:

[0116] Step S101, acquire map information of the vehicle during driving, and based on the map information, determine the curved road section on which the vehicle is traveling, where the map information is used to provide a driving route for the vehicle.

[0117] Step S102, determine the target steering angle of the curved road section based on multiple route key points of the curved road section, where the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section.

[0118] Step S103, generate the steering assist level of the vehicle based on the target steering angle, where the steering assist level is used to represent the assist degree of the vehicle on the curved road section.

[0119] Step S104, control the steering assist of the vehicle based on the steering assist level to obtain the control result of the vehicle, where the control result is used to represent that the steering assist meets the steering assist requirement of the vehicle when passing through the curved road section.

[0120] Optionally, determining the target steering angle of the curved road section based on multiple route key points of the curved road section includes: acquiring the tangent directions of multiple route key points on the driving route; determining the target steering angle based on multiple route key points and the tangent directions.

[0121] Optionally, a steering assist level of the vehicle is generated based on a target steering angle, including: obtaining function requirement information of a driving object of the vehicle; determining a first control state of a first steering function of the vehicle based on the function requirement information, where the first control state is used to represent whether the first steering function is in an on state; obtaining a second control state of a second steering function of the vehicle, and generating a steering assist level based on the first control state, the second control state, and the target steering angle, where the second control state is used to represent whether the second steering function is in an on state, and the cost of configuring the first steering function of the vehicle is higher than the cost of configuring the second steering function.

[0122] Optionally, generating a steering assist level based on the first control state, the second control state, and the target steering angle includes: in response to the first control state indicating that the first steering function is in an on state, determining the steering assist level as a first steering assist level based on the second control state indicating that the second steering function is not in an on state and the target steering angle; in response to the first control state indicating that the first steering function is not in an on state, determining the steering assist level as a second steering assist level based on the second control state indicating that the second steering function is not in an on state and the target steering angle, where the assisting degree of the second steering assist level is lower than that of the first steering assist level.

[0123] Optionally, generating a steering assist level based on the first control state, the second control state, and the target steering angle includes: in response to the first control state indicating that the first steering function is not in an on state, determining a manual assist level of the vehicle based on the second control state indicating that the second steering function is in an on state and the target steering angle, and determining the manual assist level as the steering assist level, where the manual assist level is an artificially selected assist level.

[0124] Optionally, the method further includes: obtaining an emergency event signal of the vehicle; in response to the emergency event signal, determining the steering assist level as the second steering assist level.

[0125] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and will not be elaborated herein.

[0126] An embodiment of the present invention further provides a vehicle, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the vehicle steering assist control method in any of the above embodiments.

[0127] Optionally, in this embodiment, the processor in the above vehicle may be configured to run the computer program to execute the following steps:

[0128] Step S101: Obtain the map information of the vehicle during driving, and based on the map information, determine the curved road section on which the vehicle is driving. The map information is used to provide a driving route for the vehicle.

[0129] Step S102: Based on multiple route key points of the curved road section, determine the target steering angle of the curved road section. The target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section.

[0130] Step S103: Based on the target steering angle, generate the steering assistance level of the vehicle. The steering assistance level is used to represent the assistance degree of the vehicle on the curved road section.

[0131] Step S104: Based on the steering assistance level, control the steering assistance of the vehicle to obtain the control result of the vehicle. The control result is used to represent that the steering assistance meets the steering assistance requirement of the vehicle when passing through the curved road section.

[0132] Optionally, determining the target steering angle of the curved road section based on multiple route key points of the curved road section includes: obtaining the tangent directions of the multiple route key points on the driving route; and determining the target steering angle based on the multiple route key points and the tangent directions.

[0133] Optionally, generating the steering assistance level of the vehicle based on the target steering angle includes: obtaining the functional requirement information of the driving object of the vehicle; determining the first control state of the first steering function of the vehicle based on the functional requirement information, where the first control state is used to represent whether the first steering function is in an on state; obtaining the second control state of the second steering function of the vehicle, and generating the steering assistance level based on the first control state, the second control state, and the target steering angle. The second control state is used to represent whether the second steering function is in an on state, and the cost of configuring the first steering function of the vehicle is higher than the cost of configuring the second steering function.

[0134] Optionally, generating the steering assistance level based on the first control state, the second control state, and the target steering angle includes: in response to the first control state indicating that the first steering function is in an on state, determining the steering assistance level as the first steering assistance level based on the second control state indicating that the second steering function is not in an on state and the target steering angle; in response to the first control state indicating that the first steering function is not in an on state, determining the steering assistance level as the second steering assistance level based on the second control state indicating that the second steering function is not in an on state and the target steering angle, where the assistance degree of the second steering assistance level is lower than the assistance degree of the first steering assistance level.

[0135] Optionally, a steering assistance level is generated based on the first control state, the second control state, and the target steering angle, including: in response to the first control state indicating that the first steering function is not turned on, determining a manual assistance level of the vehicle based on the second control state indicating that the second steering function is turned on and the target steering angle, and determining the manual assistance level as the steering assistance level, where the manual assistance level is an assistance level selected manually.

[0136] Optionally, the method further includes: obtaining an emergency event signal of the vehicle; in response to the emergency event signal, determining that the steering assistance level is the second steering assistance level.

[0137] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and will not be elaborated herein.

[0138] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the steering assistance control method for a vehicle in any of the above embodiments when executed by a processor.

[0139] Optionally, in this embodiment, when the above computer program is executed by a processor, the following steps are implemented:

[0140] Step S101: Obtain map information of the vehicle during driving, and based on the map information, determine a curved road section on which the vehicle is driving, where the map information is used to provide a driving route for the vehicle.

[0141] Step S102: Based on multiple route key points of the curved road section, determine a target steering angle of the curved road section, where the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section.

[0142] Step S103: Based on the target steering angle, generate a steering assistance level of the vehicle, where the steering assistance level is used to represent the assistance degree of the vehicle on the curved road section.

[0143] Step S104: Based on the steering assistance level, control the steering assistance of the vehicle to obtain a control result of the vehicle, where the control result is used to represent that the steering assistance meets the steering assistance requirement of the vehicle when passing through the curved road section.

[0144] Optionally, determining a target steering angle of a curved road section based on multiple route key points of the curved road section includes: obtaining the tangent directions of the multiple route key points on the driving route; and determining the target steering angle based on the multiple route key points and the tangent directions.

[0145] Optionally, a steering assistance level of the vehicle is generated based on a target steering angle, including: obtaining functional requirement information of a driving object of the vehicle; determining a first control state of a first steering function of the vehicle based on the functional requirement information, where the first control state is used to represent whether the first steering function is in an on state; obtaining a second control state of a second steering function of the vehicle, and generating a steering assistance level based on the first control state, the second control state, and the target steering angle, where the second control state is used to represent whether the second steering function is in an on state, and the cost of configuring the first steering function of the vehicle is higher than the cost of configuring the second steering function.

[0146] Optionally, generating a steering assistance level based on the first control state, the second control state, and the target steering angle includes: in response to the first control state indicating that the first steering function is in an on state, determining that the steering assistance level is a first steering assistance level based on the second control state indicating that the second steering function is not in an on state and the target steering angle; in response to the first control state indicating that the first steering function is not in an on state, determining that the steering assistance level is a second steering assistance level based on the second control state indicating that the second steering function is not in an on state and the target steering angle, where the assistance degree of the second steering assistance level is lower than the assistance degree of the first steering assistance level.

[0147] Optionally, generating a steering assistance level based on the first control state, the second control state, and the target steering angle includes: in response to the first control state indicating that the first steering function is not in an on state, determining a manual assistance level of the vehicle based on the second control state indicating that the second steering function is in an on state and the target steering angle, and determining the manual assistance level as the steering assistance level, where the manual assistance level is a manually selected assistance level.

[0148] Optionally, the method further includes: obtaining an emergency event signal of the vehicle; in response to the emergency event signal, determining that the steering assistance level is the second steering assistance level.

[0149] In the above embodiments of the present invention, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0150] In some embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the modules can be a logical function division. In actual implementation, there can be other division methods. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of the modules or modules can be in an electrical or other form.

[0151] The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical modules, that is, they can be located in one place, or they can be distributed to multiple modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0152] In addition, in each embodiment of the present invention, the functional modules can be integrated in a processing module, or each module can exist physically alone, or two or more modules can be integrated in one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0153] If the above-mentioned integrated module is implemented in the form of a software functional module 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, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. And the aforementioned storage medium includes: USB flash drives, read-only memories (ROM for short), random access memories (RAM for short), mobile hard disks, magnetic disks, or optical discs and other various media that can store program codes.

[0154] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A steering assist control method for a vehicle, characterized in that: include: Acquiring map information of the vehicle during driving, and determining the curved road section on which the vehicle is traveling based on the map information, wherein the map information is used to provide a driving route for the vehicle; Determining a target steering angle of the curved road section based on a plurality of route key points of the curved road section, wherein the target steering angle is used to represent a steering angle of the vehicle when passing through the curved road section; generating a steering assist level of the vehicle based on the target steering angle, wherein the steering assist level is used to represent the degree of assist of the vehicle on the curved road section; Based on the steering assist level, the steering assist of the vehicle is controlled to obtain a control result of the vehicle, wherein the control result is used to characterize that the steering assist meets the steering assist requirement of the vehicle when passing through the curved road section.

2. The method according to claim 1, characterized in that Determining a target steering angle of the curved road section based on a plurality of route key points of the curved road section includes: Obtaining tangent directions of a plurality of route key points on the driving route; The target steering angle is determined based on the plurality of route key points and the tangent direction.

3. The method according to claim 1, characterized in that Generating a steering assist level of the vehicle based on the target steering angle includes: Acquiring functional requirement information of a driving object of the vehicle; Based on the function requirement information, determining a first control state of a first steering function of the vehicle, wherein the first control state is used to indicate whether the first steering function is in an on state; A second control state of a second steering function of the vehicle is obtained, and the steering assist level is generated based on the first control state, the second control state and the target steering angle, wherein the second control state is used to characterize whether the second steering function is in an on state, and the cost of configuring the first steering function on the vehicle is higher than the cost of configuring the second steering function.

4. The method according to claim 3, characterized in that Generating the steering assist level based on the first control state, the second control state and the target steering angle includes: In response to the first control state being that the first steering function is in the on state, based on the second control state being that the second steering function is not in the on state and the target steering angle, determining that the steering assist level is a first steering assist level; In response to the first control state being that the first steering function is not in the turned-on state, based on the second control state being that the second steering function is not in the turned-on state and the target steering angle, the steering assist level is determined to be a second steering assist level, wherein the assist degree of the second steering assist level is lower than the assist degree of the first steering assist level.

5. The method according to claim 4, characterized in that Generating the steering assist level based on the first control state, the second control state and the target steering angle includes: In response to the first control state being that the first steering function is not in the on state, based on the second control state being that the second steering function is in the on state and the target steering angle, the manual power assist level of the vehicle is determined, and the manual power assist level is determined as the steering power assist level, wherein the manual power assist level is a manually selected power assist level.

6. The method according to claim 4, characterized in that The method further comprises: Acquiring an emergency event signal of the vehicle; In response to the emergency event signal, the steering assist level is determined to be a second steering assist level.

7. A vehicle power steering control system, characterized in that: include: The vehicle networking subsystem is used to obtain map information of the vehicle during driving, and based on the map information, determine the curved road section on which the vehicle is traveling, wherein the map information is used to provide a driving route for the vehicle; based on a plurality of route key points of the curved road section, determine a target steering angle of the curved road section, wherein the target steering angle is used to represent a steering angle of the vehicle when passing through the curved road section; A vehicle controller, configured to generate a steering assist level of the vehicle based on the target steering angle, wherein the steering assist level is used to characterize the degree of assist of the vehicle on the curved road section; The electronic steering assist subsystem is used to control the steering assist of the vehicle based on the steering assist level to obtain a control result of the vehicle, wherein the control result is used to characterize that the steering assist meets the steering assist requirement of the vehicle when passing through the curved road section.

8. A vehicle power steering control device, characterized in that: include: A first acquisition unit is used to acquire map information of the vehicle during driving, and determine the curved road section on which the vehicle is driving based on the map information, wherein the map information is used to provide a driving route for the vehicle; A first determining unit is used to determine a target steering angle of the curved road section based on a plurality of route key points of the curved road section, wherein the target steering angle is used to represent a steering angle of the vehicle when passing through the curved road section; a generating unit, configured to generate a steering assist level of the vehicle based on the target steering angle, wherein the steering assist level is used to represent a degree of assist of the vehicle on the curved road section; A control unit is used to control the steering assist of the vehicle based on the steering assist level to obtain a control result of the vehicle, wherein the control result is used to characterize that the steering assist meets the steering assist requirement of the vehicle when passing through the curved road section.

9. A non-volatile storage medium, characterized in that: The non-volatile storage medium stores a computer program, wherein the computer program is configured to execute the steering assist control method for a vehicle as described in any one of claims 1 to 6 when running on a computer or a processor.

10. A vehicle comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the steering assist control method for a vehicle as described in any one of claims 1 to 6.

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