Steering assist control method, system, device and storage medium for a vehicle

Abstract

The application discloses a kind of steering assist control method, system, device and storage medium of vehicle, the method includes: obtaining the map information in the driving process of vehicle, and based on map information, determine the curved road section that vehicle travels in, wherein, map information is used to provide driving route for vehicle;Determine the target steering angle of curved road section based on a plurality of route key points of curved road section, wherein, target steering angle is used to represent the steering angle of vehicle in after curved road section;Based on target steering angle, generate the steering assist level of vehicle, wherein, steering assist level is used to represent the degree of assistance of vehicle in curved road section;Based on steering assist level, the steering assist of vehicle is controlled, and the control result of vehicle is obtained, wherein, control result is used to represent that steering assist meets the steering assist demand of vehicle in after curved road section.The application solves the technical problem that the stability of vehicle in the process of steering in the related art is low.

Description

TECHNICAL FIELD

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

[0002] At present, the steering system of a vehicle meets the basic performance requirements of the vehicle, and users have high demands on the comfort thereof. Modern vehicles are usually equipped with auxiliary systems such as electronic steering assist programs, and 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 in the steering process.

[0003] In view of the above technical problem of low stability of the vehicle in the steering process, no effective solution has been proposed so far. SUMMARY

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

[0005] According to a first aspect of the embodiments of the present application, a steering assist control method of a vehicle is provided, including: acquiring map information of the vehicle in a driving process, and determining a target steering angle of a curved road section on which the vehicle drives based on the map information, wherein the map information is used to provide a driving route for the vehicle; determining the 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 an 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, 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.

[0006] Optionally, the target steering angle of the curved road section is determined based on the plurality of route key points, including: acquiring a tangent direction 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 direction.

[0007] Optionally, the generating the steering assist level of the vehicle based on the target steering angle comprises: obtaining function demand 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 demand information, wherein the first control state is used to represent whether the first steering function is in an open state; obtaining a second control state of a second steering function of the vehicle, and generating the steering assist level based on the first control state, the second control state and the target steering angle, wherein the second control state is used to represent whether the second steering function is in the open state, and a cost of configuring the first steering function is higher than a cost of configuring the second steering function.

[0008] Optionally, the generating the steering assist level based on the first control state, the second control state and the target steering angle comprises: in response to the first control state being that the first steering function is in the open state, determining the steering assist level as a first steering assist level based on the second control state being that the second steering function is not in the open state and the target steering angle; and in response to the first control state being that the first steering function is not in the open state, determining the steering assist level as a second steering assist level based on the second control state being that the second steering function is not in the open state and the target steering angle, wherein an assist degree of the second steering assist level is lower than an assist degree of the first steering assist level.

[0009] Optionally, the generating the steering assist level based on the first control state, the second control state and the target steering angle comprises: in response to the first control state being that the first steering function is not in the open state, determining a manual assist level of the vehicle based on the second control state being that the second steering function is in the open state and the target steering angle, and determining the manual assist level as the steering assist level, wherein the manual assist level is a manually selected assist level.

[0010] Optionally, the method further comprises: obtaining an emergency event signal of the vehicle; and in response to the emergency event signal, determining the steering assist level as the second steering assist level.

[0011] According to a second aspect of the embodiments of the present application, a steering assist control system of a vehicle is provided, comprising: an Internet of Vehicles subsystem configured to acquire map information of the vehicle in a driving process, and determine a curved road section on which the vehicle is driving based on the map information, wherein the map information is configured to provide a driving route for the vehicle; 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 configured to represent a steering angle of the vehicle when passing through the curved road section; a vehicle control unit configured to generate a steering assist level of the vehicle based on the target steering angle, wherein the steering assist level is configured to represent an assist degree of the vehicle on the curved road section; and an electronic steering assist 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 configured to represent that the steering assist meets a steering assist requirement of the vehicle when passing through the curved road section.

[0012] According to a third aspect of the embodiments of the present application, a steering assist control apparatus of a vehicle is provided, comprising: a first acquisition unit configured to acquire map information of the vehicle in a driving process, and determine a curved road section on which the vehicle is driving based on the map information, wherein the map information is configured 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 configured to represent a 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 configured to represent an assist degree of the vehicle on the curved road section; and 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 configured to represent that the steering assist meets a steering assist requirement of the vehicle when passing through the curved road section.

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

[0014] According to a fifth aspect of the embodiments of the present application, a vehicle is provided, comprising a memory and a processor, and the memory stores a computer program, and the processor is configured to execute the computer program to execute the vehicle steering assist control method in any of the embodiments of the first aspect.

[0015] According to a sixth aspect of the embodiments of the present application, a computer program product is provided, comprising a computer program, and the computer program is configured to implement the vehicle steering assist control method in any of the embodiments of the first aspect when executed by a processor.

[0016] In this embodiment of the invention, map information of the vehicle during its driving process is acquired, and based on the map information, the curved road segment in which the vehicle is driving is determined, wherein the map information is used to provide a driving route for the vehicle; based on multiple key points of the curved road segment, a target steering angle for the curved road segment is determined, wherein the target steering angle is used to characterize the steering angle of the vehicle when passing through the curved road segment; based on the target steering angle, a steering assist level for the vehicle is generated, wherein the steering assist level is used to characterize the degree of assistance provided by the vehicle when passing through the curved road segment; based on the steering assist level, the steering assist of the vehicle is controlled to obtain a control result for the vehicle, wherein 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 segment. In other words, in this embodiment of the invention, after determining the curved road segment on which the vehicle is traveling based on the obtained map information, the target steering angle of the curved road segment can be determined based on multiple key points of the route. Then, based on the target steering angle, the steering assist level of the vehicle is generated, and the steering assist of the vehicle is controlled based on the steering assist level, so that the steering assist of the vehicle meets the steering assist requirements of the vehicle when passing through the curved road segment. This solves the technical problem of low stability of the vehicle during the turning process and achieves the technical effect of improving the stability of the vehicle during the turning process. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0018] Figure 1 This is a flowchart of a vehicle steering assist control method according to an embodiment of the present invention;

[0019] Figure 2 This is a flowchart of another vehicle steering assist control method according to an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of a vehicle steering assist control system according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of a vehicle steering assist control device according to an embodiment of the present invention. Detailed Implementation

[0022] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work should belong to the protection scope of the present application.

[0023] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the terms thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in other than the order illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a list of steps or units need not be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to such processes, methods, products or devices.

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

[0025] The method embodiments can also be executed in an electronic device comprising a memory and a processor, a similar control device or a 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 electronic device can also include a communication device for communication function and a display device. A person of ordinary skill in the art can understand that the above structural description is only schematic, which does not limit the structure of the above electronic device. For example, the electronic device can include more or less components than the above structural description, or have a different configuration from the above structural description.

[0026] The processor can include one or more processing units. For example, the processor can 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, or the like. Different processing units can be independent components or integrated in one or more processors. In some examples, the electronic device can also include one or more processors.

[0027] The memory can be used to store a computer program, for example, a computer program corresponding to the vehicle multi-screen joint display method in the embodiments of the present application. The processor can implement the vehicle multi-screen joint display method described above by running the computer program stored in the memory. The memory can include a high-speed random access memory, and can also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory can further include a memory remotely disposed relative to the processor, which can be connected to the electronic device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0028] The communication device is used to receive or send data via a network. Specific examples of the network can include a wireless network provided by a communication provider of a mobile terminal. In one example, the communication device includes a network adapter (NIC) which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the communication device can be a radio frequency (RF) module used to communicate with the Internet in a wireless manner. In some embodiments of the present application, the communication device is used to connect with mobile devices such as mobile phones and tablets, and can send instructions to the electronic device through the mobile devices.

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

[0030] Figure 1 is a flowchart of a steering assist control method of a vehicle according to an embodiment of the present application, as shown in Figure 1 The method comprises the following steps:

[0031] In step S101, map information of the vehicle in the driving process is obtained, and based on the map information, a curved road section in which the vehicle drives is determined, wherein the map information is used to provide a driving route for the vehicle.

[0032] In step S101 of the embodiment of the present application, the map information of the vehicle in the driving process can be obtained by using a telematics box (T-BOX), and then the curved road section in which the vehicle drives is determined according to the map information. The map information can be referred to as high-precision map information. The curved road section can be represented by D, such as D1, D3, D5.

[0033] For example, the Internet of Vehicles system can obtain high-precision map information 5 kilometers (km) in front of the driving road of the vehicle according to the network platform, and obtain related data of the curved road section based on the high-precision map information. It should be noted that this is only one preferred embodiment for determining the curved road section in which the vehicle drives, and the process and method for determining the curved road section in which the vehicle drives are not limited.

[0034] In step S102, a target steering angle of the curved road section is determined 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 through the curved road section.

[0035] In step S102 of the embodiment of the present application, the target steering angle of the curved road section can be determined according to the plurality of route key points of the curved road section, wherein the target steering angle can be referred to as a fitting steering angle, and can be represented by α. For example, α1, α3, α5, etc.

[0036] It should be noted that the above is only one preferred embodiment of determining the target steering angle of the curved road section, and the process and method of determining the target steering angle of the curved road section are not specifically limited, as long as the process and method of determining the target steering angle of the curved road section according to the plurality of route key points of the curved road section are within the protection scope of the present application, which will not be listed here.

[0037] In step S103, a steering assist level of the vehicle is generated 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.

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

[0039] For example, the function setting required by the driver can be received from the instrument display, and the fitted steering angle of the road can be received from the T-BOX, and the steering assist level required by the driver at this time is determined based on the comprehensive judgment of the two. It can be understood that the above is only one preferred embodiment of generating the steering assist level of the vehicle, and the process and method of generating the steering assist level of the vehicle are not specifically limited.

[0040] In step S104, the steering assist of the vehicle is controlled based on the steering assist level, and a control result of the vehicle is obtained, wherein the control result is used to represent that the steering assist meets the steering assist requirement of the vehicle on the curved road section.

[0041] In step S104 of the embodiment of the present application, the electronic power steering (EPS) subsystem of the vehicle is used to control the steering assist of the vehicle according to the obtained steering assist level, so as to obtain the control result of the vehicle, so that the steering assist at this time meets the steering assist requirement of the vehicle on the curved road section.

[0042] For example, by receiving the level requirement information sent by the VCU, different steering assist levels are determined, and the steering assist of the vehicle is controlled, so that the steering assist at this time can meet the steering assist requirement of the vehicle on the curved road section. It should be noted that the above is only one preferred embodiment of obtaining the control result of the vehicle, and the process and method of obtaining the control result of the vehicle are not specifically limited.

[0043] In the embodiment of the present application, the map information of the vehicle in the driving process is acquired, and based on the map information, the curved road section where the vehicle drives is determined, wherein the map information is used to provide the driving route for the vehicle; based on a plurality of route key points of the curved road section, the target steering angle of the curved road section is determined, wherein 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, the steering assist level of the vehicle is generated, wherein the steering assist level is used to represent the assist degree of the vehicle in the curved road section; based on the steering assist level, the steering assist of the vehicle is controlled to obtain the control result of the vehicle, wherein the control result is used to represent that the steering assist meets the steering assist demand of the vehicle when passing through the curved road section. That is to say, in the embodiment of the present application, after the curved road section where the vehicle drives is determined according to the obtained map information, the target steering angle of the curved road section is determined according to a plurality of route key points of the curved road section, and then the steering assist level of the vehicle can be generated according to the target steering angle, and based on the steering assist level, the steering assist of the vehicle is controlled to obtain the control result of the vehicle, so that the steering assist of the vehicle meets the steering assist demand of the vehicle when passing through the curved road section, thereby solving the technical problem of low stability of the vehicle in the steering process, and achieving the technical effect of improving the stability of the vehicle in the steering process.

[0044] As an optional embodiment, based on a plurality of route key points of the curved road section, the target steering angle of the curved road section is determined, comprising: acquiring the tangent direction of the plurality of route key points on the driving route; based on the plurality of route key points and the tangent direction, the target steering angle is determined.

[0045] In this embodiment, the tangent direction of the plurality of route key points on the driving route can be acquired, and then the target steering angle is determined according to the plurality of road key points and the tangent direction. The route key point can be referred to as a road key point.

[0046] For example, after the curved road section of the vehicle is obtained, the direction of the road key point and the tangent angle Θ1, Θ2, Θ3, …, Θ y of the normal direction thereof can be calculated, and then the curved road section can be segmented and fitted, and the fitting steering angle of the road section is calculated.

[0047] For another example, a road is divided into D1, D2, D3, D4, D5 after calculation, wherein D1, D3 and D5 are determined as curved roads, and then the road fitting steering angles α1, α3 and α5 are obtained, when the vehicle is about to enter D1, α1 is sent to VCU, when the vehicle is about to enter D2 straight road, the default value of the straight line is sent to VCU, and so on.

[0048] As an optional embodiment, the steering assistance level of the vehicle is generated based on the target steering angle, comprising: obtaining function demand 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 demand information, wherein the first control state is used to represent whether the first steering function is in an open 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, wherein the second control state is used to represent whether the second steering function is in an open 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 function demand 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 is determined according to the function demand information. Then, the second control state of the second steering function of the vehicle is obtained directly. Finally, the first control state, the second control state and the target steering angle are used to generate the steering assistance level.

[0050] Optionally, the driving object can be a user object, such as a driver, etc. The function demand information can be referred to as level function demand information. The first steering function can be referred to as a predictive steering function. The second steering function can be referred to as a fixed steering function, which can also be referred to as a fixed steering assistance function.

[0051] For example, after obtaining the function demand information of the driver, it can be determined whether the predictive steering function is open according to the function demand information. Then, it is directly determined whether the fixed steering function of the vehicle is open. According to the open state of the above two functions and the target steering angle obtained in the above step, the steering assistance level required by the vehicle at this time can be determined.

[0052] As an optional embodiment, the steering assistance level is generated based on the first control state, the second control state and the target steering angle, comprising: in response to the first control state being that the first steering function is in an open state, determining the steering assistance level to be a first steering assistance level based on the second control state being that the second steering function is not in an open state and the target steering angle; and in response to the first control state being that the first steering function is not in an open state, determining the steering assistance level to be a second steering assistance level based on the second control state being that the second steering function is not in an open state and the target steering angle, wherein the assistance degree of the second steering assistance level is lower than the assistance degree of the first steering assistance level.

[0053] In this embodiment, after the first control state, the second control state and the target steering angle are obtained, when the first control state is that the first steering function is in the open state, then the open state of the second steering function is automatically closed, that is, the second control state is that the second steering function is not in the open state, then at this time, the steering assistance level can be determined as the first steering assistance level according to the target steering angle.

[0054] Optionally, when the first steering function is in the open state, it can be represented by On. The first steering assistance level can be represented by K1. When the first steering function is not in the open state, it can be represented by Off. The related representation of the second steering function is the same as above, which will not be repeated here.

[0055] For example, when the state of the predictive steering function is On and the state of the fixed steering function is Off, the fitting steering angle obtained at this time is α x , and it can be determined that the steering assistance level at this time is K1.

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

[0057] For example, when the state of the predictive steering function is Off and the state of the fixed steering function at this time is also Off, according to the fitting steering angle obtained at this time α z , it is determined that the steering assistance level at this time is K off2 .

[0058] In this embodiment, the first control state and the second control state are displayed through the instrument (Instrument Cluster, IC for short) 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 can be the terminal assembly of the vehicle-mounted large screen. This system can complete: opening or closing of the predictive steering assistance function; setting or closing of the fixed assistance level; enabling or level setting of the function by the driver through the screen interface of the system.

[0060] Further, the function of the predictive steering assist in the vehicle is enabled, the driver can manually intervene to turn on or turn off the function; the setting of 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 is determined according to the calibration result of the EPS system. In summary, the instrument sends the function mode required by the driver to the vehicle control system, and the following possibilities exist: ① predictive steering assist On; ② predictive steering assist Off + fixed assist level On + assist level X (here, the level can be multiple); ③ predictive steering assist Off + fixed assist level Off.

[0061] As an optional embodiment, the steering assist 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 being that the first steering function is not in the open state, determining a manual assist level of the vehicle based on the second control state being that the second steering function is in the open state and the target steering angle, and determining the manual assist level as the steering assist level, wherein the manual assist level is an artificially selected assist level.

[0062] In this embodiment, when the first control state is that the first steering function is not in the open state, and the second control state at this time is that the second steering function is in the open 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. Wherein the manual assist level can be the assist level selected by the driver, which can be represented by a number, such as 1, 2, etc.

[0063] For example, when the state of the predictive steering function is Off, and the state of the fixed steering function at this time is On, the fitting steering angle obtained at this time is α y , the driver can select the manual assist level of the vehicle to be 2, and determine the manual assist level as the steering assist level K2 at this time.

[0064] Alternatively, when the first control state is that the first steering function is in the open state, and the second control state is that the second steering function is not in the open state, the fitting steering angle of the vehicle is not obtained at this time, and the steering assist level of the vehicle is directly determined as a default assist level, wherein the default assist level can be represented by K off1 .

[0065] For example, when the state of the predictive steering function is On, and the state of the fixed steering function at this time is Off, 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 a steering assist level table, and from Table 1, different steering assist levels can be determined by enabling different steering functions.

[0066] Table 1 Steering assist level table

[0067] Predictive steering function Fixed steering function Manual assist level Fitted steering angle Steering assist level On Off - x ]]> ​ [K1] On Off - - K off1 ]]> Off On 2 y ]]> ​ [K2] Off Off - z ]]> ​ K off2 ]]>

[0068] As an optional embodiment, the method further comprises: acquiring an emergency signal of the vehicle; and determining the steering assist level as the second steering assist level in response to the emergency signal.

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

[0070] For example, when the emergency signal of the vehicle is received, it indicates that the vehicle has an emergency, and the steering assist control of the vehicle is directly performed according to the second steering assist level.

[0071] In the embodiment of the present application, map information of the vehicle in the driving process is acquired, and based on the map information, a curved road section in which the vehicle drives is determined, 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, a target steering angle of the curved road section is determined, wherein the target steering angle is used to represent a 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, wherein the steering assist level is used to represent an assist degree of the vehicle in the curved road section; and 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 represent that the steering assist meets the steering assist demand of the vehicle when passing through the curved road section. That is, in the embodiment of the present application, after the curved road section in which the vehicle drives is determined according to the obtained map information, the target steering angle of the curved road section is determined according to a plurality of route key points of the curved road section, and then the steering assist level of the vehicle can be generated according to the target steering angle, and the steering assist of the vehicle is controlled based on the steering assist level to obtain the control result of the vehicle, so that the steering assist of the vehicle meets the steering assist demand of the vehicle when passing through the curved road section, thereby solving the technical problem of low stability of the vehicle in the steering process and achieving the technical effect of improving the stability of the vehicle in the steering process.

[0072] The technical solutions of the embodiments of the present application will be described below in conjunction with preferred embodiments and taking a commercial vehicle in the vehicle as an example.

[0073] At present, the steering system of the vehicle meets the basic performance requirements of the vehicle, and users also have high demands on the comfort thereof. Modern vehicles are usually equipped with auxiliary systems such as electronic stability programs, and when these systems are faulty or improperly set, the steering assist of the vehicle cannot be effectively controlled, resulting in the technical problem of low stability of the vehicle in the steering process.

[0074] To address the aforementioned issues, this invention proposes a predictive steering assist control method for commercial vehicles. This method utilizes a high-precision map to reconstruct and analyze the curved road sections ahead of the commercial vehicle, based on the existing vehicle networking subsystem and vehicle control system. This allows for the calculation of the road steering angle, which is then determined by the vehicle control system. The steering level requirement is sent to the electronic steering assist subsystem, which analyzes this requirement to achieve dynamic electronic steering assist control based on the road ahead. This improves driver comfort and solves the technical problem of low vehicle stability during steering, thereby enhancing vehicle stability during turns.

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

[0076] In step S201, the driver completes the function settings through the instrument subsystem and uses the instrument subsystem to send the function enable 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 activates the predictive steering function (at which time the fixed steering assist level is set to invalid), the instrument sends the function setting information to the VCU.

[0078] Step S202: Obtain high-precision map information from the connected platform through the vehicle network subsystem, extract curve data based on the high-precision map information to complete sampling and calculation, obtain the fitted steering angle of the segmented road, and based on the vehicle's global positioning system, send the fitted steering angle of the segmented road to the VCU in advance before changing the road segment.

[0079] In this embodiment, the vehicle-to-everything (V2X) system can obtain high-precision map information of the road 5 kilometers ahead of the vehicle based on the network platform, and extract relevant data of the curved road segment based on this high-precision map information. The system samples and calculates the direction of key road points, as well as the tangent angles Θ1, Θ2, Θ3, ..., Θ4 of their normals. y This allows for segmented fitting of curved road sections, and the fitted steering angle of this road section can be calculated.

[0080] For example, a road is divided into D1, D2, D3, D4, D5, a total of five segments after calculation, wherein D1, D3, D5 are determined as curves, and the road fitting turning angle α1, α3, α5 can be obtained by fitting the curves, and when the vehicle is about to enter D1, α1 is sent to VCU, and when it is about to enter D2 straight road, the default value of straight line is sent to VCU, and so on.

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

[0082] Step S203, after VCU receives the driver function setting information from the instrument subsystem and receives the front road fitting turning angle from the T-BOX system, the vehicle system is fault-free, no emergency triggering event, and the integrated vehicle demand steering assist level is sent to EPS; When there are function closing, system failure, emergency triggering event and the like in the vehicle, the default steering assist level is sent to EPS.

[0083] In this embodiment, the vehicle controller receives the driver required function setting from the instrument display and receives the road fitting turning angle from the T-BOX, and determines the steering assist level required by the driver at this time based on the integrated judgment of the two. The road fitting turning angle can be calibrated according to the system performance of the vehicle, that is, the angle difference can be set by the steering assist level in the early performance development, and the specific steering assist level determination result is shown in Table 1, which will not be described here.

[0084] For example, VCU determines the steering assist level based on the road deviation fitting angle (α n ) sent by T-BOX, and determines the steering assist level as K(α n ) in the predictive steering assist working condition and sends it to the EPS system.

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

[0086] In this embodiment, the electronic steering assist system (EPS) receives the level requirement information sent by VCU, and enables different steering assist levels based on the current vehicle running posture and safety requirements. If the steering assist level is inconsistent with the current system working condition, the vehicle needs to run in the default mode; If the steering assist level is within the trusted interval range, the assist effect is changed after smoothing filtering.

[0087] Optionally, the assistance level filtering is to ensure the basic performance of the system in the vehicle during operation, and the system will take a safe steering assistance level in a specific scenario. For example, the user manually selects a lower steering assistance level, which cannot meet the normal driving demand, and the system can amplify the hand force based on the steering assistance level at this time; if the user selects an excessive assistance level in the high-speed working condition, the assistance of the vehicle can be inhibited to ensure the stability of the vehicle.

[0088] Optionally, the assistance level arbitration refers to that when the vehicle is in a normal running scenario and receives an arbitration after the assistance level is raised, the assistance of the vehicle is changed by the hand force change filtering (for example, a high-curvature curve scenario); similarly, when receiving an arbitration after the assistance level is inhibited, the assistance effect of the vehicle is changed by the hand force change filtering (for example, a curve back to straight scenario).

[0089] For example, the EPS system receives a new assistance level K(a n , at this time, the system is filtered by the assistance level itself to change the assistance effect. The assistance level itself can be represented by K(a n-1 ).

[0090] In this embodiment, a steering assistance control system of a vehicle is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, 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, hardware, or a combination of software and hardware is also possible and is contemplated.

[0091] Figure 3 is a schematic diagram of a steering assistance control system of a vehicle according to an embodiment of the present application, as shown in Figure 3 , the steering assistance control system 300 of the vehicle is exemplified, including: a vehicle networking subsystem 301, a vehicle controller 302 and an electronic steering assistance subsystem 303.

[0092] The vehicle networking subsystem 301 is configured to obtain map information of the vehicle during driving, and determine a curved road section on which the vehicle travels based on the map information, wherein the map information is used to provide a driving route for the vehicle; and 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.

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

[0094] The electronic steering assist subsystem 303 is configured to control the steering assist of the vehicle based on the steering assist level, and obtain a control result of the vehicle, wherein the control result is used to represent that the steering assist meets the steering assist demand of the vehicle when passing the curved road section.

[0095] Optionally, the instrument subsystem can be used to represent the instrument assembly of the vehicle, or the terminal assembly of the vehicle-mounted large screen. The system can complete the following functions: enabling or disabling the predictive steering assist function; setting or disabling the fixed assist level; and enabling or setting the function level through the screen interface of the system.

[0096] Further, to enable the predictive steering assist function of the vehicle, the driver can manually enable or disable the function; and to set the fixed assist level, the driver can select the assist level from level 1 to level X according to the instrument display, and the assist effect is determined according to the calibration result of the EPS system. In summary, the instrument sends the function mode required by the driver to the vehicle control system, and the following possibilities exist: ① predictive steering assist On; ② predictive steering assist Off + fixed assist level On + assist level X (the level can be multiple); ③ predictive steering assist Off + fixed assist level Off.

[0097] Optionally, the target steering angle of the curved road section is determined based on a plurality of route key points of the curved road section, comprising: obtaining 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.

[0098] Optionally, the steering assist level of the vehicle is generated based on the target steering angle, comprising: obtaining function demand 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 demand information, wherein the first control state is used to represent whether the first steering function is in an enabled state; obtaining a second control state of a second steering function of the vehicle, and generating the steering assist level based on the first control state, the second control state and the target steering angle, wherein the second control state is used to represent whether the second steering function is in an enabled state, and the cost of configuring the first steering function is higher than the cost of configuring the second steering function.

[0099] Optionally, the generating the steering assist level based on the first control state, the second control state and the target steering angle comprises: in response to the first control state being that the first steering function is in the open state, and based on the second control state being that the second steering function is not in the open state and the target steering angle, determining the steering assist level as a first steering assist level; in response to the first control state being that the first steering function is not in the open state, and based on the second control state being that the second steering function is in the open state and the target steering angle, determining the steering assist level as 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.

[0100] Optionally, the generating the steering assist level based on the first control state, the second control state and the target steering angle comprises: in response to the first control state being that the first steering function is not in the open state, and based on the second control state being that the second steering function is in the open 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, wherein the manual assist level is an artificially selected assist level.

[0101] Optionally, the system comprises: acquiring an emergency signal of the vehicle; and in response to the emergency signal, determining the steering assist level as the second steering assist level.

[0102] In this embodiment, the map information of the vehicle in the driving process is acquired through the Internet of Vehicles subsystem, and based on the map information, a curved road section on which the vehicle is driving is determined, wherein the map information is used to provide a driving route for the vehicle; a target steering angle of the curved road section is determined 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 steering assist level of the vehicle is generated based on the target steering angle through the vehicle controller, wherein the steering assist level is used to represent the assist degree of the vehicle in the curved road section; and the steering assist of the vehicle is controlled based on the steering assist level through the electronic steering assist subsystem, to obtain a control result of the vehicle, wherein the control result is used to represent that the steering assist meets the steering assist demand of the vehicle when passing through the curved road section, thereby solving the technical problem of low stability of the vehicle in the steering process, and achieving the technical effect of improving the stability of the vehicle in the steering process.

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

[0104] The first obtaining unit 401 is configured to obtain map information of a vehicle in a driving process, and determine a curved road section on which the vehicle drives based on the map information, wherein the map information is used to provide a driving route for the vehicle.

[0105] The first determining unit 402 is 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 a steering angle of the vehicle when passing through the curved road section.

[0106] The generating unit 403 is 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 an assist degree of the vehicle on the curved road section.

[0107] The control unit 404 is configured to control a 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 a steering assist requirement of the vehicle when passing through the curved road section.

[0108] Optionally, the first determining unit 402 can include a first obtaining module configured to obtain a tangent direction of the plurality of route key points on the driving route, and a first determining module configured to determine the target steering angle based on the plurality of route key points and the tangent direction.

[0109] Optionally, the generating unit 403 can 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, wherein the first control state is used to represent whether the first steering function is in an open state, and a generating module configured to obtain a second control state of a second steering function of the vehicle, and generate the steering assist level based on the first control state, the second control state and the target steering angle, wherein the second control state is used to represent whether the second steering function is in the open state, and a cost of configuring the first steering function is higher than a cost of configuring the second steering function.

[0110] Optionally, the generating module can include a first determining submodule configured to, in response to the first control state being that the first steering function is in the open state, determine the steering assist level as a first steering assist level based on the second control state being that the second steering function is not in the open state and the target steering angle, and a second determining submodule configured to, in response to the first control state being that the first steering function is not in the open state, determine the steering assist level as a second steering assist level based on the second control state being that the second steering function is not in the open state and the target steering angle, wherein an assist degree of the second steering assist level is lower than an assist degree of the first steering assist level.

[0111] Optionally, the generating module further comprises a third determining submodule configured to, in response to the first control state being that the first steering function is not in the open state, determine a manual assistance level of the vehicle based on the second control state being that the second steering function is in the open state and the target steering angle, and determine the manual assistance level as the steering assistance level, wherein the manual assistance level is a manually selected assistance level.

[0112] Optionally, the apparatus further comprises a second obtaining unit configured to obtain an emergency signal of the vehicle, and a second determining unit configured to determine the steering assistance level as the second steering assistance level in response to the emergency signal.

[0113] In this embodiment, the map information of the vehicle in the driving process is obtained by the first obtaining unit, and the target steering angle of the curved road section on which the vehicle is driving is determined based on the map information, wherein the map information is used to provide a driving route for the vehicle; the target steering angle of the curved road section is determined based on a plurality of route key points of the curved road section by the first determining unit, wherein the target steering angle is used to represent the steering angle of the vehicle when passing through the curved road section; the steering assistance level of the vehicle is generated based on the target steering angle by the generating unit, wherein the steering assistance level is used to represent the assistance degree of the vehicle on the curved road section; and the steering assistance of the vehicle is controlled based on the steering assistance level by the control unit to obtain a control result of the vehicle, wherein 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, thereby solving the technical problem of low stability of the vehicle in the steering process and achieving the technical effect of improving the stability of the vehicle in the steering process.

[0114] Embodiments of the present application also provide a non-volatile storage medium having a computer program stored therein, wherein the computer program is configured to execute the vehicle steering assistance 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 can be configured to store a computer program for executing the following steps:

[0116] Step S101: obtaining map information of the vehicle in the driving process, and determining a 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.

[0117] Step S102: 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.

[0118] Step S103: generating a steering assistance level of the vehicle based on the target steering angle, wherein the steering assistance level is used to represent an assistance degree of the vehicle on the curved road section.

[0119] In step S104, the steering assist level is used to control the steering assist of the vehicle, and a control result of the vehicle is obtained, wherein the control result is used to represent that the steering assist meets the steering assist demand of the vehicle on the curved road section.

[0120] Optionally, the target steering angle of the curved road section is determined based on the plurality of route key points, including: obtaining 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.

[0121] Optionally, the steering assist level of the vehicle is generated based on the target steering angle, including: obtaining functional demand 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 demand information, wherein the first control state is used to represent whether the first steering function is in an open state; obtaining a second control state of a second steering function of the vehicle, and generating the steering assist level based on the first control state, the second control state, and the target steering angle, wherein the second control state is used to represent whether the second steering function is in the open 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, the steering assist 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 being that the first steering function is in the open state, determining the steering assist level to be a first steering assist level based on the second control state being that the second steering function is not in the open state and the target steering angle; and in response to the first control state being that the first steering function is not in the open state, determining the steering assist level to be a second steering assist level based on the second control state being that the second steering function is not in the open state and the target steering angle, wherein the assist degree of the second steering assist level is lower than the assist degree of the first steering assist level.

[0123] Optionally, the steering assist 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 being that the first steering function is not in the open state, determining a manual assist level of the vehicle based on the second control state being that the second steering function is in the open state and the target steering angle, and determining the manual assist level as the steering assist level, wherein the manual assist level is a manually selected assist level.

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

[0125] Optionally, specific examples in the present embodiment can refer to examples described in the above embodiments and optional implementation manners, which will not be described herein again.

[0126] Embodiments of the present invention also provide a vehicle, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the vehicle steering assist control method of any of the above embodiments.

[0127] Optionally, in this embodiment, the processor in the vehicle can be configured to run a computer program to perform the following steps:

[0128] Step S101: Obtain map information of the vehicle during its driving process, and determine the curved road segment 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.

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

[0130] Step S103: Based on the target steering angle, generate the vehicle's steering assist level, wherein the steering assist level is used to characterize the degree of assistance the vehicle provides on curved road sections.

[0131] Step S104: Based on the steering assist level, control the vehicle's steering assist to obtain the vehicle's control result, wherein the control result is used to characterize that the steering assist meets the vehicle's steering assist requirements when passing through curved road sections.

[0132] Optionally, the target steering angle of the curved road segment is determined based on multiple route key points, including: obtaining the tangential direction 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 tangential direction.

[0133] Optionally, generating a steering assist level for the vehicle based on a target steering angle includes: acquiring functional requirements information of the vehicle's driving object; determining a first control state of a first steering function based on the functional requirements information, wherein the first control state is used to characterize whether the first steering function is in an active state; acquiring a second control state of a second steering function for the vehicle, and generating a steering assist level 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 active state, and the cost of configuring the first steering function is higher than the cost of configuring the second steering function.

[0134] Optionally, the generating the steering assist level based on the first control state, the second control state and the target steering angle comprises: in response to the first control state being that the first steering function is in the open state, the second control state being that the second steering function is not in the open state and the target steering angle, determining the steering assist level as a first steering assist level; in response to the first control state being that the first steering function is not in the open state, the second control state being that the second steering function is not in the open state and the target steering angle, determining the steering assist level as 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.

[0135] Optionally, the generating the steering assist level based on the first control state, the second control state and the target steering angle comprises: in response to the first control state being that the first steering function is not in the open state, the second control state being that the second steering function is in the open 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, wherein the manual assist level is an artificially selected assist level.

[0136] Optionally, the method further comprises: acquiring an emergency event signal of the vehicle; and in response to the emergency event signal, determining the steering assist level as the second steering assist level.

[0137] Optionally, specific examples in the embodiment can refer to the examples described in the above embodiments and optional implementation manners, and the embodiment will not be described here again.

[0138] Embodiments of the present application also provide a computer program product comprising a computer program which, when executed by a processor, implements the steering assist control method of the vehicle of any of the above embodiments.

[0139] Optionally, in the embodiment, the above computer program, when executed by the processor, implements the following steps:

[0140] Step S101: acquiring map information of the vehicle in a driving process, and determining a curved road section on which the vehicle drives based on the map information, wherein the map information is used to provide a driving route for the vehicle.

[0141] Step S102: 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.

[0142] Step S103: generating a steering assist level of the vehicle based on the target steering angle, wherein the steering assist level is used to represent an assist degree of the vehicle on the curved road section.

[0143] In step S104, the steering assist level is used to control the steering assist of the vehicle, and a control result of the vehicle is obtained, wherein the control result is used to represent that the steering assist meets the steering assist demand of the vehicle on the curved road section.

[0144] Optionally, the target steering angle of the curved road section is determined based on the plurality of route key points, including: obtaining 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.

[0145] Optionally, the steering assist level of the vehicle is generated based on the target steering angle, including: obtaining functional demand 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 demand information, wherein the first control state is used to represent whether the first steering function is in an open state; obtaining a second control state of a second steering function of the vehicle, and generating the steering assist level based on the first control state, the second control state and the target steering angle, wherein the second control state is used to represent whether the second steering function is in the open 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, the steering assist 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 being that the first steering function is in the open state, determining the steering assist level as a first steering assist level based on the second control state being that the second steering function is not in the open state and the target steering angle; and in response to the first control state being that the first steering function is not in the open state, determining the steering assist level as a second steering assist level based on the second control state being that the second steering function is not in the open state and the target steering angle, wherein the assist degree of the second steering assist level is lower than the assist degree of the first steering assist level.

[0147] Optionally, the steering assist 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 being that the first steering function is not in the open state, determining a manual assist level of the vehicle based on the second control state being that the second steering function is in the open state and the target steering angle, and determining the manual assist level as the steering assist level, wherein the manual assist level is a manually selected assist level.

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

[0149] In the above embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0150] In some embodiments of the present application, it should be understood that the disclosed technology can be implemented in other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the modules can be a logical function division, and actual implementation can have another division mode, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between modules or modules, which can be electrical or other forms.

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

[0152] In addition, the functional modules in each embodiment of the present application can be integrated into a processing module, or each module can exist physically, or two or more modules can be integrated into one module. The above integrated module can be realized in the form of hardware or in the form of a software function module.

[0153] The integrated module, if realized in the form of a software function module and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions for causing 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 method described in each embodiment of the present application. The foregoing storage medium includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0154] The above is only the preferred embodiment of the present application. It should be noted that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should be considered as the protection scope of the present application.

Claims

1. A steering assist control method of a vehicle, characterized by, The method comprises: obtaining map information of a vehicle during driving, and determining a curved road section on which the vehicle drives 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 an assist degree of the vehicle on the curved road section, and the steering assist level comprises: a predictive steering assist in an open state; the predictive steering assist not in the open state + a fixed assist level in the open state + other assist levels; the predictive steering assist not in the open state + the fixed assist level not in the open state; controlling a 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 a steering assist requirement of the vehicle when passing through the curved road section.

2. The method of claim 1, wherein, Determining a target steering angle of the curved road section based on a plurality of route key points of the curved road section comprises: obtaining tangent directions of the plurality of route key points on the driving route; determining the target steering angle based on the plurality of route key points and the tangent directions.

3. The method of claim 1, wherein, Generating a steering assist level of the vehicle based on the target steering angle comprises: 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, wherein the first control state is used to represent whether the first steering function is in an open state, and the first steering function is a predictive steering function; obtaining a second control state of a second steering function of the vehicle, and generating the steering assist level based on the first control state, the second control state and the target steering angle, wherein the second control state is used to represent whether the second steering function is in the open state, and the second steering function is a fixed steering function.

4. The method of claim 3, wherein, Generating the steering assist level based on the first control state, the second control state and the target steering angle comprises: in response to the first control state being that the first steering function is in the open state, determining the steering assist level to be a first steering assist level based on the second control state being that the second steering function is not in the open state and the target steering angle; in response to the first control state being that the first steering function is not in the open state, determining the steering assist level to be a second steering assist level based on the second control state being that the second steering function is not in the open state and the target steering angle, wherein an assist degree of the second steering assist level is lower than an assist degree of the first steering assist level.

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

6. The method of claim 4, wherein, The method further comprises: acquiring an emergency signal of the vehicle; in response to the emergency signal, determining the turning assist level as a second turning assist level.

7. A steering assist control system of a vehicle characterized by comprising: Comprise: a vehicle networking subsystem, configured to acquire map information of a vehicle in a driving process, and determine a 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; determine a target turning angle of the curved road section based on a plurality of route key points of the curved road section, wherein the target turning angle is used to represent a turning angle of the vehicle when passing through the curved road section; a vehicle control unit, configured to generate a turning assist level of the vehicle based on the target turning angle, wherein the turning assist level is used to represent an assist degree of the vehicle on the curved road section, and the turning assist level comprises: a predictive turning assist in an open state; the predictive turning assist is not in the open state + a fixed assist level in the open state + other assist levels; the predictive turning assist is not in the open state + the fixed assist level is not in the open state; an electronic turning assist subsystem, configured to control a turning assist of the vehicle based on the turning assist level, to obtain a control result of the vehicle, wherein the control result is used to represent that the turning assist meets a turning assist requirement of the vehicle when passing through the curved road section.

8. A steering assist control device of a vehicle characterized by comprising: Comprise: a first acquisition unit, configured to acquire map information of a vehicle in a driving process, and determine a 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 determination unit, configured to determine a target turning angle of the curved road section based on a plurality of route key points of the curved road section, wherein the target turning angle is used to represent a turning angle of the vehicle when passing through the curved road section; a generation unit, configured to generate a turning assist level of the vehicle based on the target turning angle, wherein the turning assist level is used to represent an assist degree of the vehicle on the curved road section, and the turning assist level comprises: a predictive turning assist in an open state; the predictive turning assist is not in the open state + a fixed assist level in the open state + other assist levels; the predictive turning assist is not in the open state + the fixed assist level is not in the open state; a control unit, configured to control a turning assist of the vehicle based on the turning assist level, to obtain a control result of the vehicle, wherein the control result is used to represent that the turning assist meets a turning assist requirement of the vehicle when passing through the curved road section.

9. A non-volatile storage medium, comprising: The non-volatile storage medium stores a computer program, and the computer program is configured to execute the steering assist control method of the vehicle 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 execute the steering assist control method of the vehicle in any one of claims 1 to 6 by running the computer program.

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