Vehicle power-assisted steering method and device, vehicle and computer storage medium

Abstract

The invention relates to a vehicle power-assisted steering method and device, a vehicle and a computer storage medium, and belongs to the technical field of electric power steering, and the vehicle power-assisted steering method comprises the steps that rotation angles of a steering wheel within a preset time period after the vehicle is powered on and currents output by an electric power steering system corresponding to the rotation angles are obtained; acquiring the characteristic value of the current and the proportion of the rotation angle to the current, and determining the load state of the vehicle based on the relation between the characteristic value and a preset current characteristic standard and the relation between the proportion and a preset standard proportion; and determining a corresponding power-assisted steering characteristic curve based on the load state, and providing power-assisted steering for the vehicle based on the power-assisted steering characteristic curve. According to the method, different power assisting strategies can be determined according to different load states of the vehicle, better driving experience is provided for a driver, and low-cost self-adaptive adjustment of steering power assisting of the commercial vehicle is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power steering, and in particular to a vehicle power steering method, a device, a vehicle and a computer storage medium. Background Art

[0002] With the continuous development of motor technology, electric power steering systems have gradually begun to be used in commercial vehicle steering systems, which can provide commercial vehicle drivers with a better driving feel.

[0003] However, for the electric power steering system of commercial vehicles, when the commercial vehicle is in different load states, the electric power steering system needs to provide different steering assist forces. The existing technology manually judges the load state of the vehicle, or adds additional modules to collect the load and steering state of the vehicle, and then manually adjusts the corresponding assist mode. The division of load states is not detailed enough to meet the diverse assist needs of commercial vehicles. The system is complex, prone to failure, and costly.

[0004] It can be seen that the existing technology cannot achieve adaptive adjustment of the power steering of commercial vehicles at a low cost. Summary of the Invention

[0005] In view of this, it is necessary to provide a vehicle steering assist method, device, vehicle and computer storage medium to solve the problem that the existing technology cannot achieve adaptive adjustment of commercial vehicle steering assist at low cost.

[0006] In order to solve the above problems, in a first aspect, the present invention provides a vehicle steering assist method. The method comprises: Obtain the steering wheel rotation angle within a preset time period after the vehicle is powered on and the current output by the electric power steering system corresponding to the rotation angle; Obtaining a characteristic value of the current and a ratio of the rotation angle to the current, and determining a load state of the vehicle based on a relationship between the characteristic value and a preset current characteristic standard and a relationship between the ratio and a preset standard ratio; A corresponding steering assist characteristic curve is determined based on the load state, and steering assist is provided to the vehicle based on the steering assist characteristic curve.

[0007] In one possible implementation, obtaining a steering wheel rotation angle within a preset time period after the vehicle is powered on and a current output by the electric power steering system corresponding to the rotation angle includes: Obtain multiple rotation angles of the steering wheel from the neutral position to the left and right extreme positions within a preset time period after the vehicle is powered on, and obtain the current output by the electric power steering system at each rotation angle.

[0008] In one possible implementation, obtaining a characteristic value of the current and a ratio of the rotation angle to the current, and determining a load state of the vehicle based on a relationship between the characteristic value and a preset current characteristic standard and a relationship between the ratio and a preset standard ratio includes: Obtaining a first current average value and a first current peak value of the current output by the electric power steering system at each rotation angle, performing a straight line fitting on each rotation angle and the current output by the electric power steering system at each rotation angle, and calculating a first slope of the fitting line; Obtaining a second average current output by the electric power steering system, a second current peak value, and a second slope of a fitted straight line between a steering wheel rotation angle and a current output by the electric power steering system when the vehicle is in different load states; The second current average value, the second current peak value, and the second slope are used as standard values, and the load state of the vehicle is determined based on the relationship between the first current average value, the first current peak value, the first slope, and the standard values.

[0009] In one possible implementation, determining the load state of the vehicle based on the relationship between the first current average value, the first current peak value, and the first slope and the standard value includes: Using a clustering algorithm to cluster the first current average value, the first current peak value, and the first slope to obtain a first cluster center; Clustering the second current average value, the second current peak value, and the second slope using a clustering algorithm to obtain a second cluster center; The load state corresponding to the second cluster center that is closest to the first cluster center is determined as the load state of the vehicle.

[0010] In one possible implementation, the process of obtaining the power assist characteristic curve when the vehicle is in different load states includes: The steering assistance output by the electric power steering system is calibrated when the vehicle is in different load states, different speed ranges, and different steering wheel rotation angles, and the assistance characteristic curves when the vehicle is in different load states are determined. The assistance characteristic curves are used to represent the steering assistance provided by the electric power steering system in different speed ranges and when the steering wheel is at different steering angles.

[0011] In one possible implementation, determining a corresponding steering assist characteristic curve based on a load state, and providing steering assist for a vehicle based on the steering assist characteristic curve, includes: determining candidate steering assist characteristic curves based on the load state, the candidate steering assist characteristic curves including steering assist characteristic curves at different speed intervals under the current load state; obtaining a current speed of the vehicle, and determining a candidate steering assist characteristic curve corresponding to a speed interval to which the current speed belongs as a target steering assist characteristic curve; The steering wheel rotation angle of the vehicle is obtained, and steering assistance is provided to the vehicle based on the steering assistance corresponding to the steering wheel rotation angle in the target steering assistance characteristic curve.

[0012] In one possible implementation, obtaining the steering wheel rotation angle and the current output by the electric power steering system within a preset time period after the vehicle is powered on includes: After the vehicle is powered on, steering assistance is provided to the vehicle based on a preset initial steering assistance characteristic curve, and the steering wheel rotation angle and the current output by the electric power steering system within a preset time period after the vehicle is powered on are obtained.

[0013] In a second aspect, the present invention further provides a vehicle power steering device, comprising: A data acquisition module is used to obtain the steering wheel rotation angle within a preset time period after the vehicle is powered on and the current output by the electric power steering system corresponding to the rotation angle; a load state determination module, configured to obtain a characteristic value of the current and a ratio of the rotation angle to the current, and determine the load state of the vehicle based on a relationship between the characteristic value and a preset current characteristic standard, and a relationship between the ratio and a preset standard ratio; The steering assist module is configured to determine a corresponding steering assist characteristic curve based on the load state, and provide steering assist to the vehicle based on the steering assist characteristic curve.

[0014] In a third aspect, the present invention further provides a vehicle, comprising a memory, a processor, and an electric power steering system, wherein: The memory is used to store programs; The processor is coupled to the memory and is configured to execute the program stored in the memory to implement the steps of the vehicle steering assist method according to any one of claims 1 to 7; The electric power steering system is used to provide steering assistance for a vehicle.

[0015] In a fourth aspect, the present invention further provides a computer-readable storage medium for storing computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the vehicle steering assist method described in any of the above embodiments.

[0016] The beneficial effects of the present invention are as follows: the vehicle steering assist method provided by the present invention obtains the steering wheel rotation angle and the current output by the electric power steering system at each rotation angle within a preset time period after the vehicle is powered on, obtains the characteristic value of the current, the ratio of the rotation angle to the current, and determines the vehicle load state based on the relationship between the characteristic value and the preset current characteristic standard, and the relationship between the ratio and the preset standard ratio. The vehicle load state can be obtained without adding an additional module, and the vehicle load state can be finely divided. According to different load states, the corresponding steering assist characteristic curve can be determined. Different assist strategies can be determined according to different load states of the vehicle, providing the driver with a better driving experience and realizing low-cost adaptive adjustment of steering assist for commercial vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A schematic flow chart of a vehicle steering assist method provided by an embodiment of the present invention; Figure 2 A schematic flow chart of an implementation method of S102 provided in an embodiment of the present invention; Figure 3 A diagram showing the relationship between current and steering wheel angle of an electric power steering system provided by an embodiment of the present invention; Figure 4 A schematic diagram of a flow chart of an implementation method of S202 provided in an embodiment of the present invention; Figure 5 A schematic flow chart of an implementation method of S103 provided in an embodiment of the present invention; Figure 6 A schematic structural diagram of a vehicle power steering device provided by an embodiment of the present invention; Figure 7 A schematic structural diagram of a vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0020] The terms "first," "second," and so on, used in the embodiments of the present invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, technical features designated as "first" or "second" may explicitly or implicitly include at least one such feature.

[0021] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] A specific embodiment of the present invention, as Figure 1 As shown, a vehicle steering assist method is disclosed, comprising: S101 , obtaining the steering wheel rotation angle within a preset time period after the vehicle is powered on and the current output by the electric power steering system at each rotation angle.

[0023] In an embodiment of the present invention, the provided vehicle steering assist method is suitable for steering assist of vehicles with large load changes, such as commercial vehicles. Since the resistance torque of the vehicle's in-situ steering is greatly affected by the steering axle load, especially for commercial vehicles, the axle load in the empty and fully loaded states is very different, and the in-situ steering resistance torque is proportional to the 1.5 power of the load, the tire pressure is proportional to the 0.5 power of the in-situ steering resistance torque, and the steering resistance torque also has a certain relationship with the wheel angle. Therefore, how to provide accurate steering assistance for the vehicle, which can reduce the torque that the driver needs to apply to the steering wheel and prevent the steering wheel from being too light and causing vehicle instability, is a more complex problem. Based on this, the present invention proposes a vehicle steering assist method that can adaptively adjust the vehicle's steering assist to ensure the driving feel while improving the stability of the vehicle.

[0024] In an embodiment of the present invention, the commercial vehicle to which the provided vehicle steering assistance method is applicable should be equipped with an electric power steering system. The electric power steering system is a power steering system that directly relies on an electric motor to provide auxiliary torque. The electric power steering system mainly consists of a torque sensor, a vehicle speed sensor, an electric motor, a reduction mechanism, and an electronic control unit. The torque sensor is connected to the steering shaft (pinion shaft). When the steering shaft rotates, the torque sensor starts to work and converts the relative rotational angular displacement generated by the input shaft and the output shaft under the action of the torsion bar into an electrical signal and transmits it to the electronic control unit. The electronic control unit determines the rotation direction of the motor and the magnitude of the assist current based on the signals from the vehicle speed sensor and the torque sensor, thereby completing real-time control of the power steering.

[0025] In an embodiment of the present invention, after each power-on of a vehicle, in order to determine the vehicle's load condition, the vehicle's steering wheel angle and the current output by the electric power steering system are continuously acquired within a preset time period after power-on. The current output by the electric power steering system can be acquired by directly acquiring the power assist current determined by the electronic control unit, or by acquiring the current input to the electric motor of the electric power steering system using an ammeter. Specifically, each steering wheel angle should correspond to a corresponding current output by the electric power steering system. Furthermore, different steering wheel rotation trends should correspond to different electric power steering system output currents. For example, when the vehicle's steering wheel is turned 30° to the right from neutral, there is a current output by the electric power steering system at 30°. When the vehicle's steering wheel needs to be returned to the right position from 30°, there is also a corresponding current output by the electric power steering system. Specifically, the steering wheel angle and the current output by the electric power steering system can be acquired by continuously acquiring the current output by the electric power steering system, the steering wheel rotation trend, and the steering wheel angle during the vehicle's steering wheel rotation.

[0026] S102 , obtaining a characteristic value of the current and a ratio of the rotation angle to the current, and determining a load state of the vehicle based on a relationship between the characteristic value and a preset current characteristic standard, and a relationship between the ratio and a preset standard ratio.

[0027] In an embodiment of the present invention, the steering assist provided by the electric power steering system to the steering wheel varies when the vehicle is under different loads, and the current output by the electric power steering system also varies. Therefore, a characteristic value of the current and a ratio of the rotation angle to the current can be obtained. The vehicle's load state can be determined based on the relationship between the characteristic value and a preset current characteristic standard, and the relationship between the ratio and a preset standard ratio. For example, when the vehicle is unloaded, the steering assist provided by the electric power steering system to the steering wheel is relatively small, and the current output by the electric power steering system is also relatively small. When the vehicle is fully loaded, the steering assist provided by the electric power steering system to the steering wheel is relatively large, and the current output by the electric power steering system is also relatively large. Based on this, the vehicle's load state can be determined. Of course, the relationship between the current output by the electric power steering system and the vehicle's load state is not a simple linear relationship. The specific method for determining the relationship between the current output by the electric power steering system and the vehicle's load state will be described in detail later in the present invention. Furthermore, the vehicle's load state is not limited to being categorized as unloaded, half-loaded, and fully loaded. A more detailed classification of the vehicle's load state can be made based on actual conditions to improve the accuracy of the steering assist.

[0028] S103 : determining a corresponding steering assist characteristic curve based on the load state, and providing steering assist for the vehicle based on the steering assist characteristic curve.

[0029] In an embodiment of the present invention, after determining the vehicle load state, a corresponding steering assist characteristic curve can be determined based on the load state. The steering assist characteristic curves corresponding to different load states can be acquired in advance. It should be noted that there is not just one steering assist characteristic curve corresponding to a particular load state. Instead, multiple steering assist characteristic curves can be used to represent the relationship between the steering wheel angle and the assist output by the electric power steering system, based on different speed ranges. In practical applications, corresponding steering assist characteristic curves can be determined for different speed ranges, and based on these steering assist characteristic curves, corresponding steering assist can be provided at different steering wheel angles.

[0030] The vehicle steering assist method provided by the present invention obtains the steering wheel rotation angle and the current output by the electric power steering system within a preset time period after the vehicle is powered on, and determines the vehicle load state based on the relationship between the steering wheel rotation angle and the current and the current output by the electric power steering system. The vehicle load state can be obtained without adding an additional module, and the vehicle load state can be finely divided. According to different load states, corresponding steering assist characteristic curves can be determined. Different assist strategies can be determined according to different vehicle load states, thereby providing a better driving experience for the driver and realizing low-cost adaptive adjustment of steering assist for commercial vehicles.

[0031] In some possible embodiments of the present invention, obtaining the steering wheel rotation angle within a preset time period after the vehicle is powered on and the current output by the electric power steering system corresponding to each rotation angle includes: Obtain multiple rotation angles of the steering wheel from the neutral position to the left and right extreme positions within a preset time period after the vehicle is powered on, and obtain the current output by the electric power steering system at each rotation angle.

[0032] In an embodiment of the present invention, when obtaining the steering wheel rotation angle and the current output by the electric power steering system, it is necessary to consider the rotation direction and rotation trend of the steering wheel. For example, when the steering wheel is rotated from the middle position to the right limit position, the steering wheel rotation angle and the current output by the electric power steering system can be collected every degree. When the steering wheel returns to the right limit position, the steering wheel rotation angle and the current output by the electric power steering system can also be collected every degree. Of course, the steering wheel does not necessarily need to be turned to the extreme position every time, and the interval for collecting the steering wheel rotation angle and the current output by the electric power steering system does not necessarily have to be collected every degree. The specific interval can be set according to actual conditions, and the present invention does not impose any restrictions on this.

[0033] In an embodiment of the present invention, the collected steering wheel rotation angle and the current output by the electric power steering system correspond to multiple discrete points. The first current average value and the first current peak value of the current output by the electric power steering system at each rotation angle can be calculated first, and a straight line fitting can be performed on each rotation angle and the current output by the electric power steering system at each rotation angle, and the first slope of the fitting line can be calculated. The specific straight line fitting method is not limited by the present invention.

[0034] The embodiment of the present invention obtains the steering wheel rotation angle and the current output by the electric power steering system within a period of time after the vehicle is powered on, thereby facilitating the subsequent judgment of the vehicle load state.

[0035] In some possible embodiments of the present invention, as shown in 2, obtaining a characteristic value of the current and a ratio of the rotation angle to the current, and determining the load state of the vehicle based on a relationship between the characteristic value and a preset current characteristic standard and a relationship between the ratio and a preset standard ratio include: S201, obtaining a first current average value and a first current peak value of a current output by the electric power steering system at each rotation angle, performing a straight line fitting on each rotation angle and the current output by the electric power steering system at each rotation angle, and calculating a first slope of the fitted straight line; S202, obtaining a second average current output by the electric power steering system, a second current peak value, and a second slope of a fitted straight line between a steering wheel rotation angle and a current output by the electric power steering system when the vehicle is in different load states; S203 , taking the second current average value, the second current peak value, and the second slope as standard values, and determining the load state of the vehicle based on a relationship between the first current average value, the first current peak value, the first slope, and the standard values.

[0036] In an embodiment of the present invention, before determining the load state of the vehicle based on the relationship between the steering wheel angle and the current of the vehicle and the current output by the electric power steering system, it is necessary to first obtain the second current average value and the second current peak value output by the electric power steering system when the vehicle is in different load states, as well as the second slope of the fitted straight line between the steering wheel angle and the current output by the electric power steering system. Specifically, when the vehicle is under different loads, the vehicle can be kept at different speeds to perform a figure-8 driving test, and data such as vehicle speed, steering wheel angle, and current of the electric power steering system can be collected. The obtained data can be plotted as a scatter plot with the steering wheel angle as the horizontal coordinate and the EPS current as the vertical coordinate, as shown in FIG. Figure 3As shown in the figure, the relationship between the current of the electric power steering system and the steering wheel angle under a load state and a speed range of 30 to 40 kilometers per hour, wherein line a in the figure represents the relationship between the current of the electric power steering system and the steering wheel angle when the steering wheel is turned from the neutral position to the right limit, line b in the figure represents the relationship between the current of the electric power steering system and the steering wheel angle when the steering wheel is turned from the neutral position to the left limit, line c in the figure represents the relationship between the current of the electric power steering system and the steering wheel angle when the steering wheel returns to the right limit, and line d in the figure represents the relationship between the current of the electric power steering system and the steering wheel angle when the steering wheel returns to the left limit.

[0037] In the embodiment of the present invention, Figure 4 As shown, determining the load state of the vehicle based on the relationship between the first current average value, the first current peak value, and the first slope and the standard value includes: S401, clustering the first current average value, the first current peak value, and the first slope using a clustering algorithm to obtain a first cluster center; S402, clustering the second current average value, the second current peak value, and the second slope using a clustering algorithm to obtain a second cluster center; S403: Determine the load state corresponding to the second cluster center that is closest to the first cluster center as the load state of the vehicle.

[0038] In an embodiment of the present invention, since the collected steering wheel angle and electric power steering system current are both discrete points, a clustering algorithm can be used to cluster them, such as a k-means clustering algorithm. The first current average value, the first current peak value, and the first slope are clustered to obtain a first cluster center. The second current average value, the second current peak value, and the second slope are clustered to obtain a second cluster center. The distance between each first cluster center and each second cluster center is then calculated, and the load state corresponding to the second cluster center closest to the first cluster center is determined as the vehicle load state. Specifically, a two-dimensional rectangular coordinate system is constructed with the vehicle steering wheel angle as the horizontal coordinate and the electric power steering system output current as the vertical coordinate. All collected data points are annotated in the two-dimensional rectangular coordinate system. The data points are first clustered using a clustering algorithm to determine the first cluster center and the second cluster center. Then, a straight line fit is performed on the data to obtain a first fitted line and a second fitted line. The first slope of the first fitted line and the second slope of the second fitted line are calculated. The final vehicle load state is then determined based on the slopes.

[0039] The embodiment of the present invention determines the load status of the vehicle through a clustering algorithm, thereby ensuring the accuracy of the determination of the vehicle load status.

[0040] In some possible embodiments of the present invention, the process of obtaining the power assist characteristic curve when the vehicle is in different load states includes: The steering assistance output by the electric power steering system is calibrated when the vehicle is in different load states, different speed ranges, and different steering wheel rotation angles, and the assistance characteristic curves when the vehicle is in different load states are determined. The assistance characteristic curves are used to represent the steering assistance provided by the electric power steering system in different speed ranges and when the steering wheel is at different steering angles.

[0041] In an embodiment of the present invention, in order to obtain the power assist characteristic curve when the vehicle is in different load states, the steering assist output by the electric power steering system can be calibrated when the vehicle is in different load states, different speed ranges, and different steering wheel rotation angles. Specifically, the steering assist output by the electric power steering system can be adjusted when the vehicle is in different load states, different speed ranges, and different steering wheel rotation angles, until the steering force of the steering wheel is within a reasonable range when the vehicle is in different load states, different speed ranges, and different steering wheel rotation angles. The reasonable range can be a pre-set torque range or can be directly set according to the driver's requirements to ensure the driver's driving feel.

[0042] In some possible embodiments of the present invention, Figure 5 As shown, determining a corresponding steering assist characteristic curve based on the load state, and providing steering assist to the vehicle based on the steering assist characteristic curve, includes: S501, determining candidate steering assist characteristic curves based on a load state, where the candidate steering assist characteristic curves include steering assist characteristic curves at different speed intervals under a current load state; S502, obtaining the current speed of the vehicle, and determining a candidate steering assist characteristic curve corresponding to a speed range of the current speed as a target steering assist characteristic curve; S503 , obtaining a steering wheel rotation angle of the vehicle, and providing steering assistance to the vehicle based on a steering assistance corresponding to the steering wheel rotation angle in a target steering assistance characteristic curve.

[0043] In an embodiment of the present invention, after determining the load state of the vehicle, since the steering assist provided by the electric power steering system is different when the vehicle is at different speeds under the same load state, it is necessary to determine a candidate steering assist characteristic curve based on the load state, and the candidate steering assist characteristic curve includes steering assist characteristic curves for different speed intervals under the current load state; then, the real-time speed of the vehicle is obtained, the speed interval in which the real-time speed is located is determined, and the candidate steering assist characteristic curve corresponding to the speed interval is determined as the target steering assist characteristic curve; further, the steering wheel rotation angle of the vehicle is obtained. It should be noted that the steering wheel rotation angle should also include the steering wheel rotation trend, and then steering assist is provided to the vehicle according to the steering assist corresponding to the steering wheel rotation angle in the target steering assist characteristic curve, so as to achieve adaptive adjustment of the steering assist of commercial vehicles.

[0044] The embodiment of the present invention can automatically adjust the steering assistance output by the electric power steering system according to the vehicle load, speed and steering wheel rotation angle, thereby ensuring the accuracy of the steering assistance provided and improving the driver's driving feel.

[0045] In some possible embodiments of the present invention, obtaining the steering wheel rotation angle and the current output by the electric power steering system within a preset time period after the vehicle is powered on includes: After the vehicle is powered on, steering assistance is provided to the vehicle based on a preset initial steering assistance characteristic curve, and the steering wheel rotation angle and the current output by the electric power steering system within a preset time period after the vehicle is powered on are obtained.

[0046] In an embodiment of the present invention, when a vehicle is initially powered on and in a starting state, the steering wheel requires a greater amount of power. In this instance, a pre-set initial steering power characteristic curve can be used to provide steering assistance to the vehicle. The steering wheel rotation angle and the electric power steering system output current are then obtained within a preset time period after power-on, using this initial steering power characteristic curve. It should be noted that when determining the steering power characteristic curves for the vehicle under different load conditions, this initial steering power characteristic curve can also be used to provide steering assistance to ensure the accuracy of subsequent determinations of the steering power characteristic curves.

[0047] In order to better implement the vehicle steering assist method in the embodiment of the present invention, based on the vehicle steering assist method, correspondingly, Figure 6 As shown, an embodiment of the present invention further provides a vehicle power steering device, and the vehicle power steering device 600 includes: The data acquisition module 601 is used to obtain the steering wheel rotation angle within a preset time period after the vehicle is powered on and the current output by the electric power steering system at each rotation angle; A load state determination module 602 is configured to obtain a characteristic value of the current and a ratio of the rotation angle to the current, and determine the load state of the vehicle based on a relationship between the characteristic value and a preset current characteristic standard, and a relationship between the ratio and a preset standard ratio; The steering assist module 603 is configured to determine a corresponding steering assist characteristic curve based on the load state, and provide steering assist to the vehicle based on the steering assist characteristic curve.

[0048] The vehicle steering assist device 600 provided in the above embodiment can implement the technical solution described in the above vehicle steering assist method embodiment. The specific implementation principles of the above modules or units can be found in the corresponding contents in the above vehicle steering assist method embodiment, which will not be repeated here.

[0049] like Figure 7 As shown, the present invention also provides a vehicle 700. The vehicle 700 includes a processor 701, a memory 702 and an electric power steering system 703. Figure 7 Only some of the components of vehicle 700 are shown, but it should be understood that implementing all of the shown components is not a requirement, and more or fewer components may alternatively be implemented.

[0050] In some embodiments, the processor 701 may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program codes or process data stored in the memory 702 , such as the vehicle steering assist method of the present invention.

[0051] In some embodiments, the processor 701 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, the processor 701 may be local or remote. In some embodiments, the processor 701 may be implemented on a cloud platform. In some embodiments, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, multiple clouds, or any combination thereof.

[0052] In some embodiments, the memory 702 may be an internal storage unit of the vehicle 700, such as a hard drive or memory of the vehicle 700. In other embodiments, the memory 702 may be an external storage device of the vehicle 700, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card, etc., equipped in the vehicle 700.

[0053] Furthermore, the memory 702 may include both an internal storage unit of the vehicle 700 and an external storage device. The memory 702 is used to store application software installed in the vehicle 700 and various data.

[0054] In some embodiments, when the processor 701 executes the vehicle steering assist program in the memory 702, the following steps may be implemented: Obtain the steering wheel rotation angle within a preset time period after the vehicle is powered on and the corresponding electric power steering system output current at each rotation angle; Obtaining a characteristic value of the current and a ratio of the rotation angle to the current, and determining a load state of the vehicle based on a relationship between the characteristic value and a preset current characteristic standard and a relationship between the ratio and a preset standard ratio; A corresponding steering assist characteristic curve is determined based on the load state, and steering assist is provided to the vehicle based on the steering assist characteristic curve.

[0055] It should be understood that, when the processor 701 executes the vehicle steering assist program in the memory 702 , in addition to the above functions, it can also implement other functions. For details, please refer to the description of the corresponding method embodiment above.

[0056] In some embodiments, the electric power steering system 703 is a power steering system that directly relies on a motor to provide auxiliary torque, and is mainly composed of a torque sensor, a vehicle speed sensor, an electric motor, a reduction mechanism, and an electronic control unit.

[0057] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the steps or functions in the vehicle steering assist method provided in the above-mentioned method embodiments can be implemented.

[0058] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0059] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A vehicle steering assist method, characterized in that: include: Obtaining a steering wheel rotation angle within a preset time period after the vehicle is powered on and a current output by the electric power steering system corresponding to the steering wheel rotation angle; Obtaining a characteristic value of the current and a ratio of the rotation angle to the current, and determining a load state of the vehicle based on a relationship between the characteristic value and a preset current characteristic standard and a relationship between the ratio and a preset standard ratio; A corresponding steering assist characteristic curve is determined based on the load state, and steering assist is provided to the vehicle based on the steering assist characteristic curve.

2. The vehicle steering assist method according to claim 1, characterized in that: The obtaining of the steering wheel rotation angle within a preset time period after the vehicle is powered on and the current output by the electric power steering system corresponding to the rotation angle includes: Obtain multiple rotation angles of the steering wheel from the neutral position to the left and right extreme positions within a preset time period after the vehicle is powered on, and obtain the current output by the electric power steering system at each rotation angle.

3. The vehicle steering assist method according to claim 2, characterized in that: The obtaining of the characteristic value of the current, the characteristic ratio of the rotation angle to the current, and determining the load state of the vehicle based on a relationship between the characteristic value and a preset current characteristic standard, and a relationship between the ratio and a preset standard ratio, includes: Obtaining a first current average value and a first current peak value of a current output by the electric power steering system at each rotation angle, performing a straight line fitting on each of the rotation angles and the current output by the electric power steering system at each of the rotation angles, and calculating a first slope of the fitting line; Obtaining a second average current output by the electric power steering system, a second current peak value, and a second slope of a fitted straight line between a steering wheel rotation angle and a current output by the electric power steering system when the vehicle is in different load states; The second current average value, the second current peak value, and the second slope are used as standard values, and the load state of the vehicle is determined based on the relationship between the first current average value, the first current peak value, the first slope, and the standard values.

4. The vehicle steering assist method according to claim 3, characterized in that: The determining the load state of the vehicle based on the relationship between the first current average value, the first current peak value, and the first slope and the standard value includes: Using a clustering algorithm to cluster the first current average value, the first current peak value, and the first slope to obtain a first cluster center; clustering the second current average value, the second current peak value, and the second slope using a clustering algorithm to obtain a second cluster center; The load state corresponding to the second cluster center that is closest to the first cluster center is determined as the load state of the vehicle.

5. The vehicle steering assist method according to claim 1, characterized in that: The process of obtaining the power assist characteristic curve when the vehicle is in different load states includes: The steering assistance output by the electric power steering system is calibrated when the vehicle is in different load states, different speed ranges, and different steering wheel rotation angles, and the assistance characteristic curves when the vehicle is in different load states are determined, wherein the assistance characteristic curves are used to represent the steering assistance provided by the electric power steering system in different speed ranges and when the steering wheel is at different steering angles.

6. The vehicle steering assist method according to claim 5, characterized in that: Determining a corresponding steering assist characteristic curve based on the load state, and providing steering assist to the vehicle based on the steering assist characteristic curve, includes: determining candidate steering assist characteristic curves based on the load state, the candidate steering assist characteristic curves including steering assist characteristic curves at different speed intervals under the current load state; obtaining a current speed of the vehicle, and determining a candidate steering assist characteristic curve corresponding to a speed interval to which the current speed belongs as a target steering assist characteristic curve; A steering wheel rotation angle of the vehicle is obtained, and steering assistance is provided to the vehicle based on the steering assistance corresponding to the steering wheel rotation angle in the target steering assistance characteristic curve.

7. The vehicle steering assist method according to claim 1, characterized in that: The obtaining of the steering wheel rotation angle and the current output by the electric power steering system within a preset time period after the vehicle is powered on includes: After the vehicle is powered on, steering assistance is provided to the vehicle based on a preset initial steering assistance characteristic curve, and the steering wheel rotation angle and the current output by the electric power steering system within a preset time period after the vehicle is powered on are obtained.

8. A vehicle power steering device, characterized in that: include: A data acquisition module, configured to acquire the steering wheel rotation angle within a preset time period after the vehicle is powered on and the current output by the electric power steering system corresponding to the rotation angle; a load state determination module, configured to obtain a characteristic value of the current and a ratio of the rotation angle to the current, and determine a load state of the vehicle based on a relationship between the characteristic value and a preset current characteristic standard and a relationship between the ratio and a preset standard ratio; The steering assist module is configured to determine a corresponding steering assist characteristic curve based on the load state, and provide steering assist to the vehicle based on the steering assist characteristic curve.

9. A vehicle, characterized in that: It includes a memory, a processor and an electric power steering system, wherein: The memory is used to store programs; The processor is coupled to the memory and is configured to execute the program stored in the memory to implement the steps of the vehicle steering assist method according to any one of claims 1 to 7; The electric power steering system is used to provide steering assistance for a vehicle.

10. A computer-readable storage medium, characterized in that Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the vehicle steering assist method according to any one of claims 1 to 7.

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