Intelligent auxiliary control device and method for vehicle steering and electronic equipment

Abstract

The invention discloses an intelligent auxiliary control device and method for vehicle steering and electronic equipment. The method comprises the steps of obtaining steering state information such as vehicle wheel speed, vehicle speed, steering wheel angle and vehicle body yaw rate, judging the current steering state, and executing front wheel steering control, rear wheel steering control, driving control and braking control strategies based on the decision. Wherein steering of the front / rear wheels is achieved through a decoupling actuator, driving and braking cooperate to adjust the turning radius, relevant threshold values can be adjusted in a self-adaptive mode according to the driving mode, and a yaw rate strategy is executed preferentially when the steering angle of the steering wheel and the yaw rate are judged to be in conflict. The system comprises an acquisition module, a judgment module, a decision-making module and an execution module, wherein the execution module comprises a front / rear wheel steering actuator and the like. According to the method, through multi-strategy cooperation, the steering flexibility and accuracy of the light passenger car are improved, the driving stability is enhanced, and the method is suitable for various driving scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle steering control, in particular to a vehicle steering intelligent auxiliary control device, method and electronic equipment. BACKGROUND

[0002] In the field of automobiles, light passenger vehicles are important means of transportation, and their steering control performance is crucial. However, current light passenger vehicles have obvious deficiencies in steering control, mainly manifested in insufficient flexibility and lack of precision.

[0003] Specifically, the traditional steering control system has difficulty in achieving precise steering adjustment when facing different driving states and driving scenarios. For example, in the case of vehicle stationary or low-speed parking, the driver needs a large steering wheel angle to complete the steering operation, but the transmission ratio of the traditional system is fixed and cannot be flexibly adjusted according to actual needs, resulting in laborious and inefficient steering operation.

[0004] At the same time, when the vehicle is at high speed or encounters an emergency steering situation, the vehicle body roll rate changes rapidly, and the traditional system cannot timely and accurately control the rear wheel steering direction, driving torque, braking force, etc., making it difficult to effectively maintain the stability of the vehicle body, affecting the controllability and safety of the vehicle.

[0005] In addition, different driving modes have different requirements for steering control, but the traditional system lacks the ability to adaptively adjust related parameters according to driving modes, and cannot meet the diversified driving needs, further exacerbating the problem of inflexible and imprecise steering control of light passenger vehicles.

[0006] To solve the above technical problems, the present application provides a vehicle steering intelligent auxiliary control device, method and electronic equipment, aiming to improve the flexibility and precision of light passenger vehicle steering control. SUMMARY

[0007] The purpose of the present application is to provide a vehicle steering auxiliary control method to solve the problems raised in the background.

[0008] To achieve the above purpose, the present application provides the following technical solutions:

[0009] In a first aspect, the present application provides a vehicle steering auxiliary control method, comprising:

[0010] Obtaining vehicle steering state information, including wheel speed, vehicle speed, steering wheel angle and vehicle body roll rate;

[0011] Judging the current steering state of the vehicle based on the information, including vehicle speed state, steering wheel angle state and vehicle body roll rate state;

[0012] decide and execute at least one steering control strategy based on current steering state, the strategy including:

[0013] front wheel steering control by adjusting steering wheel angle to front wheel angle transmission ratio;

[0014] rear wheel steering control by steering rear wheels out or in;

[0015] drive control by adjusting front / rear axle drive torque based on axle speed difference;

[0016] braking control by applying brake to target wheel based on wheel speed difference;

[0017] wherein front and rear wheel steering control is implemented by decoupled actuators, and drive and brake control cooperatively adjust cornering radius.

[0018] Preferably, the drive control includes:

[0019] determining whether front axle actual speed is greater than predetermined axle speed;

[0020] when greater, determining first torque reduction coefficient (proportional term) and second torque reduction coefficient (integral term) based on axle speed difference;

[0021] calculating target drive torque based on the coefficients and performing torque reduction to make axle speed decrease at predetermined slope and fluctuate within a range.

[0022] Preferably, the braking control includes:

[0023] comparing each wheel actual speed to predetermined wheel speed to determine target wheel with actual speed exceeding the predetermined wheel speed;

[0024] determining first brake coefficient (proportional term) and second brake coefficient (integral term) based on wheel speed difference;

[0025] calculating target brake force based on the coefficients and performing brake to make wheel speed decrease at predetermined slope and fluctuate within a range.

[0026] Preferably, the decision and execution strategy includes:

[0027] when vehicle is stationary and steering wheel angle is greater than first threshold, increasing transmission ratio and / or steering rear wheels out;

[0028] when vehicle speed, steering wheel angle and steering angle increasing rate are all above threshold, increasing transmission ratio and / or steering rear wheels out;

[0029] when ratio of actual to expected yaw rate and yaw rate increasing rate are both above threshold, decreasing transmission ratio and / or steering rear wheels in.

[0030] Preferably, further including:

[0031] The front axle predetermined axle speed, steering wheel angle threshold value or yaw rate ratio threshold value is adaptively adjusted according to the current driving mode of the vehicle.

[0032] In a second aspect, the present application provides a vehicle steering auxiliary control system for implementing the method of the above-mentioned embodiments, comprising:

[0033] An acquisition module configured to acquire wheel speed, vehicle speed, steering wheel angle and vehicle body yaw rate information;

[0034] A judgment module configured to judge the vehicle speed, steering wheel angle and yaw rate state;

[0035] A decision module configured to decide a control strategy based on the steering state and preferentially execute the yaw rate strategy when the steering wheel angle and the yaw rate judgment conditions conflict;

[0036] An execution module, comprising:

[0037] A decoupled front wheel steering actuator (adjusting the transmission ratio) and a rear wheel steering actuator (controlling the steering direction of the rear wheels);

[0038] A drive torque adjustment unit (adjusting the torque based on the axle speed difference) and a brake control unit (executing braking based on the wheel speed difference);

[0039] Wherein, the drive and brake units cooperatively adjust the turning radius.

[0040] Preferably, the drive torque adjustment unit is configured to:

[0041] Judge whether the actual axle speed of the front axle is greater than the predetermined axle speed, calculate the proportional term and integral term torque reduction coefficient based on the axle speed difference, and generate a target drive torque.

[0042] Preferably, the decision module is configured to:

[0043] When the vehicle is stationary and the steering wheel angle exceeds the first threshold value, generate an instruction to increase the transmission ratio and / or the outward turning of the rear wheels;

[0044] When the vehicle speed, steering wheel angle and angle increasing speed all exceed the threshold value, generate an instruction to increase the transmission ratio and / or the outward turning of the rear wheels;

[0045] When the yaw rate ratio and the increasing speed both exceed the threshold value, generate an instruction to decrease the transmission ratio and / or the inward turning of the rear wheels.

[0046] Preferably, it further comprises a mode adjustment module configured to adaptively adjust the front axle predetermined axle speed, steering wheel angle threshold value or yaw rate ratio threshold value according to the driving mode.

[0047] In a third aspect, the present application provides a computer readable storage medium storing executable instructions, which, when executed by a processor, implement the method of any of the above-mentioned embodiments.

[0048] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention improves the steering performance of the vehicle through multi-strategy coordinated control, which has significant beneficial effects. The system obtains steering state information such as wheel speed and vehicle speed, and after judging the current steering state, decides to execute strategies such as front wheel steering control, rear wheel steering control, drive control and braking control. Among them, the front / rear wheel steering is adjusted by decoupling actuators, and the drive and brake coordinate to adjust the turning radius, and the relevant thresholds can be adaptively adjusted according to the driving mode. When the steering wheel angle conflicts with the yaw rate judgment conditions, the yaw rate strategy is executed first to ensure the stability of the vehicle body. This solution improves the handling flexibility through diversified steering control strategies, enhances the control accuracy with the help of dynamic parameter adaptive adjustment, and uses a complete stability control mechanism to ensure driving safety. At the same time, the modular design makes the system highly integrated and adaptable, effectively solving the problem of inflexible and inaccurate steering of light buses. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a flow chart of a method according to an embodiment of the present invention;

[0050] Figure 2 This is a sub-flowchart of step S1 of the method according to an embodiment of the present invention;

[0051] Figure 3 This is a sub-flowchart of step S2 of the method according to an embodiment of the present invention;

[0052] Figure 4 A flow chart of determining the actual front axle speed according to a method according to an embodiment of the present invention; Figure 5 A diagram showing steps of automatic control of a method according to an embodiment of the present invention; Figure 6 A diagram showing the steps for making decisions and executing the method according to an embodiment of the present invention; Figure 7 This is a module diagram of a vehicle steering assistance control system according to an embodiment of the present invention; Figure 8 This is a module diagram of an electronic device according to the present invention. DETAILED DESCRIPTION

[0053] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0054] See also Figures 1 to 8 The present invention provides a technical solution: a vehicle steering assist control method, comprising:

[0055] S1. Acquire vehicle steering state information, including wheel speed, vehicle speed, steering wheel angle, and vehicle body yaw rate.

[0056] In an embodiment of the present invention, specifically, the acquisition method of this step can use a wheel speed sensor, a steering wheel angle sensor, a yaw rate sensor and a vehicle speed fusion calculation module to collect the rotation speed of each wheel, the vehicle speed, the steering wheel rotation angle and the vehicle body yaw angular velocity in real time. The specific steps include: the wheel speed sensor senses the wheel rotation to generate a pulse signal, which is transmitted to the ECU after signal conditioning; the steering wheel angle sensor detects the steering angle through the Hall effect; the yaw rate sensor (gyroscope) measures the yaw motion of the vehicle body; and the vehicle speed is obtained by weighted average of the wheel speeds or by solving the GPS module.

[0057] In an embodiment of the present invention, further, step S1 specifically includes:

[0058] S11. Wheel speed acquisition: The wheel speed sensor generates a pulse signal with a frequency proportional to the wheel speed when the wheel hub ring gear rotates. After the RC filter circuit eliminates interference, the ECU's CAN bus interface samples the signal at a frequency of 100Hz and converts it into a wheel speed value.

[0059] S12. Vehicle speed calculation: Take the weighted average of the four-wheel speeds (front wheel weight 0.6, rear wheel weight 0.4), combined with the tire radius (0.3m) to convert it into vehicle speed; at the same time, perform redundancy check through the roof-mounted GPS module. If the deviation between the two is greater than 5%, the wheel speed data will take precedence.

[0060] S13. Steering wheel angle acquisition: A dual Hall effect sensor is installed in the middle of the steering column. The magnetic field strength changes as the steering wheel turns, outputting a 0-5V voltage signal. The ECU samples this signal at a frequency of 200Hz and interprets it as a steering angle value (resolution 0.5°), while also calculating the steering angle acceleration (dθ / dt).

[0061] S14. Yaw rate measurement: An STMicroelectronics L3G4200D MEMS gyroscope, mounted below the center console (near the center of mass), senses the vehicle's rotational motion about the Z axis and outputs an angular velocity signal with a range of ±250° / s. This signal is converted by a 16-bit ADC and then captured by the ECU.

[0062] S2. Determine the current steering state of the vehicle based on the information, including the vehicle speed, steering wheel angle, and vehicle body yaw rate.

[0063] In the embodiments of the present application, specifically, the collected vehicle speed, steering wheel angle and yaw rate data are preprocessed, parameter calculated and compared with threshold value by ECU to judge the current steering state of the vehicle, including: calculating the vehicle speed based on wheel speed fusion and classifying low speed / medium speed / high speed state; judging ordinary steering / quick steering state through steering wheel angle and speed increase; judging vehicle body stability state based on the ratio of actual and expected yaw rate and speed increase.

[0064] In the embodiments of the present application, further:

[0065] Vehicle speed state judgment:

[0066] S21, vehicle speed calculation: taking the weighted average of four wheel speeds (front wheel weight 0.6, rear wheel weight 0.4), converting to vehicle speed through the formula v=(0.6(n_fl+n_fr)+0.4(n_rl+n_rr))×60×10-3 / (2πr), wherein r=0.3m tire radius, n_fl etc. Wheel speed (rpm);

[0067] S22, state classification: ECU judges v≤10km / h as low speed (parking), 10km / h<v≤60km / h as medium speed, and v>60km / h as high speed;

[0068] Steering wheel angle state judgment:

[0069] S23, steering angle speed increase calculation: obtaining θ and dθ / dt=(θ_t-θ_{t-5ms}) / 5ms through the sensor, when |θ|>30° and dθ / dt>50° / s, it is judged as quick steering state, the device includes 12-bit ADC sampling module and low-pass filter circuit;

[0070] Yaw rate state judgment:

[0071] S24, expected yaw rate calculation: based on the formula γ_desired=vθ / [L(1+Kv 2 )](L=2.7m wheelbase, K=0.0025kg / N·m), obtaining γ_actual through the gyroscope, when γ_actual / γ_desired>1.2 and dγ / dt>5° / s 2 , it is judged as instability state, and the ECU performs ratio calculation in real time.

[0072] S3, decision and execution of at least one steering control strategy based on the current steering state, the strategy including:

[0073] Front wheel steering control realized by adjusting the transmission ratio of steering wheel angle and front wheel angle;

[0074] Rear wheel steering control by controlling the rear wheel to turn outward or inward to the steering side.

[0075] S4, driving control of adjusting front axle / rear axle driving torque based on the axle speed difference;

[0076] braking control of braking target wheels based on the wheel speed difference;

[0077] Wherein, the front wheel and rear wheel steering control is realized by decoupling actuators, and the driving and braking control cooperatively adjusts the turning radius.

[0078] In the embodiments of the present application, the step of driving control further comprises:

[0079] S110, judging whether the front axle actual axle speed is greater than the predetermined axle speed;

[0080] S120, when greater, determining a first torque reduction coefficient (proportional term) and a second torque reduction coefficient (integral term) based on the axle speed difference;

[0081] S130, calculating target driving torque based on the coefficients and performing torque reduction, so that the axle speed decreases at a predetermined slope and the fluctuation is controlled within a range.

[0082] In the embodiments of the present application, the step of braking control further comprises:

[0083] S210, comparing the actual wheel speed of each wheel with the predetermined wheel speed to determine the target wheel with the actual wheel speed exceeding the standard;

[0084] S220, determining a first braking coefficient (proportional term) and a second braking coefficient (integral term) based on the wheel speed difference;

[0085] S230, calculating target braking force based on the coefficients and performing braking, so that the wheel speed decreases at a predetermined slope and the fluctuation is controlled within a range.

[0086] In the embodiments of the present application, the decision and execution of the strategy further comprises:

[0087] S310, when the vehicle is stationary and the steering wheel angle is greater than a first threshold value, increasing the transmission ratio and / or the rear wheel outward turning is executed;

[0088] S320, when the vehicle speed, the steering wheel angle and the steering angle increasing rate all exceed the threshold value, increasing the transmission ratio and / or the rear wheel outward turning is executed;

[0089] S330, when the ratio of the actual and expected yaw rate and the yaw rate increasing rate both exceed the threshold value, decreasing the transmission ratio and / or the rear wheel inward turning is executed.

[0090] In the embodiments of the present application, further comprising:

[0091] According to the current driving mode of the vehicle, the front axle predetermined axle speed, the steering wheel angle threshold value or the yaw rate ratio threshold value is adaptively adjusted.

[0092] Further, the embodiment of the present application also provides a vehicle steering auxiliary control system for implementing the above-mentioned method, comprising:

[0093] The acquisition module 100 is configured to acquire wheel speed, vehicle speed, steering wheel angle and body roll rate information;

[0094] The judgment module 200 is configured to judge the vehicle speed, steering wheel angle and roll rate state;

[0095] The decision module 300 is configured to decide the control strategy based on the steering state, and preferentially execute the roll rate strategy when the steering wheel angle and the roll rate judgment condition conflict;

[0096] The execution module 400 comprises:

[0097] The decoupled front wheel steering actuator (adjusting the transmission ratio) and the rear wheel steering actuator (controlling the rear wheel steering direction);

[0098] The drive torque adjustment unit (adjusting the torque based on the shaft speed difference) and the brake control unit (executing the brake based on the wheel speed difference);

[0099] Wherein, the drive and brake units cooperatively adjust the turning radius.

[0100] In the embodiment of the present application, the drive torque adjustment unit is configured to:

[0101] Judge whether the front axle actual shaft speed is greater than the predetermined shaft speed, calculate the proportional term and integral term torque reduction coefficient based on the shaft speed difference, and generate the target drive torque.

[0102] In the embodiment of the present application, the decision module is configured to:

[0103] When the vehicle is stationary and the steering wheel angle exceeds the first threshold value, generate an instruction to increase the transmission ratio and / or the rear wheel outward turning;

[0104] When the vehicle speed, steering wheel angle and angle increasing speed all exceed the threshold value, generate an instruction to increase the transmission ratio and / or the rear wheel outward turning;

[0105] When the roll rate ratio and the increasing speed both exceed the threshold value, generate an instruction to reduce the transmission ratio and / or the rear wheel inward turning.

[0106] In the embodiment of the present application, the system of the present application further comprises a mode adjustment module configured to adaptively adjust the front axle predetermined shaft speed, the steering wheel angle threshold value or the roll rate ratio threshold value according to the driving mode.

[0107] Please refer to Figure 8 , Figure 8An architectural diagram of an electronic device 20 in which embodiments of the present application can be implemented is shown, which is intended to represent a control device in various forms. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed herein.

[0108] The electronic device 20 includes at least one processor 21, and a memory, such as a read-only memory (ROM) 22, a random access memory (RAM) 23, etc., communicatively connected to the at least one processor 21, wherein the memory stores a computer program executable by the at least one processor 21, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 22 or loaded into the random access memory (RAM) 13 from the storage unit 28. In the RAM 23, various programs and data required for the operation of the electronic device 20 can also be stored. The processor 21, the ROM 22, and the RAM 23 are connected to each other through a bus 24. An input / output (I / O) interface 25 is also connected to the bus 24.

[0109] A plurality of components in the electronic device 20 are connected to the I / O interface 25, including: an input unit 26, such as a keyboard, a mouse, etc.; an output unit 27, such as various types of displays, a speaker, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 29, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 29 allows the electronic device 20 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0110] The processor 21 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 21 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 21 performs the various methods and processes described above.

[0111] In some embodiments, the methods of the above-described embodiments can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 28. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 20 via the ROM 22 and / or the communication unit 29. When the computer program is loaded onto the RAM 23 and executed by the processor 21, one or more steps of the above-described methods can be performed. Alternatively, in other embodiments, the processor 21 can be configured to perform the methods of the above-described embodiments by any other appropriate means, such as by means of firmware.

[0112] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0113] Computer programs implementing methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0114] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0115] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0116] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), blockchain network, and the Internet.

[0117] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0118] While embodiments of the application have been shown and described, it is to be understood that various other modifications can be made of the embodiments without departing from the spirit and scope of the present application, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A vehicle steering assist control method, characterized in that: include: Obtaining vehicle steering state information, including wheel speed, vehicle speed, steering wheel angle, and vehicle yaw rate; Determining the current steering state of the vehicle based on the information, including vehicle speed, steering wheel angle, and vehicle body yaw rate; At least one steering control strategy is determined and executed based on the current steering state, the strategy comprising: Front wheel steering control achieved by adjusting the transmission ratio between the steering wheel angle and the front wheel angle; Rear wheel steering control by controlling the rear wheels to turn to the outside or inside of the steering wheel; Drive control that adjusts front / rear axle drive torque based on axle speed differential; Braking control for braking a target wheel based on a wheel speed difference; Among them, the front and rear wheel steering control is achieved through decoupling actuators, and the drive and braking control coordinately adjust the turning radius.

2. The method according to claim 1, characterized in that The drive control includes: Determining whether the actual shaft speed of the front shaft is greater than the predetermined shaft speed; When it is greater than, a first torque reduction coefficient (proportional term) and a second torque reduction coefficient (integral term) are determined based on the shaft speed difference; The target driving torque is calculated based on the coefficient and torque reduction is performed so that the shaft speed decreases at a predetermined slope and the fluctuation is controlled within a range.

3. The method according to claim 1, characterized in that The braking control includes: Compare the actual wheel speed of each wheel with the predetermined wheel speed, and determine the target wheel whose actual wheel speed exceeds the predetermined speed; determining a first braking coefficient (proportional term) and a second braking coefficient (integral term) based on the wheel speed difference; The target braking force is calculated based on the coefficient and braking is performed so that the wheel speed decreases at a predetermined slope and the fluctuation is controlled within a range.

4. The method according to claim 1, wherein The decision-making and execution strategies include: When the vehicle is stationary and the steering wheel angle is greater than a first threshold, increasing the gear ratio and / or turning the rear wheels outward; When the vehicle speed, steering wheel angle and steering angle increase rate all exceed thresholds, the transmission ratio is increased and / or the rear wheels are turned outward; When the ratio of the actual to desired yaw rate and the rate of increase of the yaw rate both exceed a threshold, a gear ratio reduction and / or a rear wheel inward turn is performed.

5. The method according to claim 1, wherein Also includes: According to the vehicle's current driving mode, the front axle predetermined shaft speed, steering wheel angle threshold or yaw rate ratio threshold are adaptively adjusted.

6. A vehicle steering assist control system, characterized in that: include: an acquisition module configured to acquire wheel speed, vehicle speed, steering wheel angle, and vehicle body yaw rate information; a judgment module configured to judge vehicle speed, steering wheel angle, and yaw rate status; a decision module configured to determine a control strategy based on a steering state and prioritize executing a yaw rate strategy when a steering wheel angle and a yaw rate determination condition conflict; Execution module, including: Decoupled front-wheel steering actuator (adjusts the transmission ratio) and rear-wheel steering actuator (controls the rear-wheel steering direction); a drive torque adjustment unit (which adjusts torque based on axle speed differences) and a brake control unit (which performs braking based on wheel speed differences); The driving and braking units coordinate to adjust the turning radius.

7. The system according to claim 6, characterized in that The driving torque adjustment unit is configured as follows: Determine whether the actual front axle speed is greater than the predetermined speed, calculate the proportional and integral torque reduction coefficients based on the speed difference, and generate the target drive torque.

8. The system according to claim 6, wherein: The decision module is configured as follows: When the vehicle is stationary and the steering wheel angle exceeds a first threshold, generating a command to increase the transmission ratio and / or turn the rear wheels outward; When the vehicle speed, steering wheel angle, and steering angle acceleration all exceed thresholds, a command to increase the transmission ratio and / or turn the rear wheels outward is generated; When both the yaw rate ratio and the speed increase exceed a threshold value, a command to reduce the gear ratio and / or to turn the rear wheels inward is generated.

9. The system according to claim 6, wherein: The system also includes a mode adjustment module configured to adaptively adjust a predetermined front axle speed, a steering wheel angle threshold, or a yaw rate ratio threshold according to a driving mode.

10. A computer-readable storage medium storing executable instructions, wherein the instructions, when executed by a processor, implement the method according to any one of claims 1 to 5.

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