901 results about "Turning radius" patented technology

The invention discloses an intelligent suspension control system based on complex road condition recognition, relates to the technical field of automobile damping adjustment, and solves the technical problems that the system is difficult to adapt to complex and changeable road conditions, suspension parameters cannot be accurately adjusted in real time according to actual road conditions, and the performance of a vehicle under the complex road conditions is limited. After the road condition information acquisition module acquires data of various sensors, the road condition comprehensive identification and analysis module deeply analyzes the data and judges that a vehicle is in a curve or straight driving state, and when the vehicle is driven on the curve, the curve intelligent analysis module determines whether the vehicle is in a curve or straight driving state according to information such as the steering angle, the quality, the vehicle speed and the turning radius of the vehicle. The turning centrifugal force and the heeling moment are calculated by means of a vehicle dynamics model, the adaptive heeling rigidity and damping requirements are determined accordingly, current suspension parameters are compared, the hydraulic oil and damping hydraulic oil flow and pressure adjusting amount are calculated, and precise suspension regulation and control, vehicle heeling reduction and curve control stability strengthening are achieved.

A teleoperations system may be used to generate virtual paths of travel for an autonomous vehicle based upon teleoperations system-provided suggestions, and virtual path suggestion constraints, e.g., based upon physical constraints associated with an autonomous vehicle such as minimum turning radius, trailer sweep, and the like, may be used assist in guiding a teleoperations system operator during generation of virtual path suggestions.

The invention belongs to the technical field of path planning, and particularly relates to an unmanned vehicle path planning method and system based on the Internet of Things, and the method comprises the steps: determining all passable paths of a current monorail hoist; determining the passing difficulty of each path according to the length of each passable path, the gradient of each ramp on each path, the turning radius and turning angle of each curve on each path, the number of turnouts required to be wrenched when the current monorail hoist runs on each path and the number of air doors required to be opened; and according to the angle variation and the variation time of each air door, determining the influence degree of the current monorail hoist on the ventilation system when the monorail hoist operates on each path, and determining an optimal path by combining with the passing difficulty. According to the invention, the operation efficiency of the monorail hoist is improved, the operation cost is reduced, the influence on the mine ventilation stability is reduced on the premise of ensuring the safe passing of the monorail hoist, and the safety of the underground operation environment is improved.

The invention discloses a shear forklift steering control method and system based on central point dynamic differential, and the method comprises the following steps: S1, sensor module calibration: collecting the angle values of the right limit and the left limit of a shear forklift steering mechanism, calculating the difference value between the right limit and the left limit, converting the difference value into an actual degree, and carrying out the calibration of a sensor module; calibrating a scale factor and a straight-going intermediate value; s2, real-time steering angle calculation: reading a current measured value of an angle sensor, judging whether a left wheel is an inner side wheel or an outer side wheel, and calculating a current steering angle alpha in combination with a scale factor; s3, dynamic differential ratio calculation: based on the steering angle alpha in the step S2, calculating a central point turning radius R through a central point steering geometric model, and deriving an inner and outer wheel differential ratio K; and S4, adjusting and outputting the target rotating speeds of the inner wheel and the outer wheel according to the differential ratio K to realize dynamic differential control. By dynamically adjusting the rotating speed of the motor, the load difference of the motor can be reduced, the service life is prolonged, and the steering stability is improved.

The invention discloses a self-balancing type light steering wheel for complex terrains. The self-balancing type light steering wheel comprises a wheel carrier, a steering assembly, a driving assembly and a suspension system. The steering assembly drives tires to steer through a motor via a three-stage gear pair. The driving assembly drives tires through a motor and a speed reducer; the suspension system is connected between the driving mounting plate and the wheel carrier and comprises a parallel connecting rod mechanism and symmetrically arranged spring suspension units, self-adaptive buffering is achieved through a compression spring and a fisheye knuckle bearing, and it is ensured that the tire continuously touches the ground on a rugged road surface; the driving speed reducer is integrated in the tire, the driving motor is arranged between the wheel carrier and the tire, and the whole steering assembly does not exceed the turning radius of the tire. The device is compact in structure, has good terrain adaptability and motion stability, and is suitable for an outdoor mobile robot system.

The invention provides a method and a system for predicting idle parking spaces of a parking lot. The method comprises the steps that ramp curvature parameters extracted from topological structure data of the special-shaped parking lot and historical vehicle turning radius data are fused, and a spatial-temporal topological graph of the special-shaped parking lot is generated; aggregating the parking space occupancy state data of all the special-shaped parking lots and the special-shaped parking lot space-time topological graph through a federal transfer learning framework to obtain target feature extraction model parameters; combining the time change characteristics of the channel flow of the special-shaped parking lot in the spatial-temporal topological graph of all the special-shaped parking lots and the target characteristic extraction model parameters, and generating a dynamic parking space distribution strategy; and mapping the dynamic parking space distribution strategy to a real-time navigation path of the special-shaped parking lot space-time topological graph, so that the to-be-parked vehicle arrives at the idle parking space through the real-time navigation path. According to the invention, the dynamic parking space distribution strategy is generated by fusing the topological structure and historical data of the special-shaped parking lot and real-time navigation is carried out, so that the parking space utilization rate and the parking efficiency are optimized.

The invention belongs to the technical field of automobile active safety, and provides a liquid tank type vehicle rollover risk early warning method and device, a medium and equipment. According to the technical scheme, the roll angle and the vehicle speed of a liquid tank type vehicle, position information of the vehicle and the liquid level height in a liquid tank are obtained; determining the total weight of the liquid tank vehicle based on the roll angle of the liquid tank vehicle and the liquid level height in the liquid tank; determining the current turning radius of the vehicle based on the position information of the liquid tank type vehicle; the total weight, the vehicle speed, the roll angle and the current turning radius of the vehicle serve as input variables, the current rollover risk serves as an output variable, the input variables and the output variable are fuzzified, and the current rollover risk of the vehicle is predicted after fuzzy reasoning; determining the current rollover risk level of the vehicle according to the current rollover risk value of the vehicle; and formulating a corresponding rollover early warning scheme based on the rollover risk level of the vehicle, and performing graded early warning. And through a refined grading early warning method, the rollover risk is effectively avoided.

The embodiment of the invention provides a parking method and a related device. The method comprises the steps that a parking instruction is received; a first wheel of the vehicle is locked, rotation of at least one of the remaining wheels of the vehicle is controlled, and steering of at least one of the remaining wheels of the vehicle is controlled. By adopting the embodiment of the invention, the turning radius of the vehicle can be increased and the parking efficiency of the vehicle can be improved by controlling the locking, rotation or steering of the wheels.

The invention relates to the technical field of auxiliary driving, in particular to a parking path generation method and device, equipment and a storage medium, which can improve the search efficiency of child nodes, shorten the time for path planning and improve the planning efficiency. The method comprises the following steps: acquiring a starting pose and a target pose of a vehicle; executing at least one cycle process based on the initial pose and the target pose of the vehicle to generate a parking path: according to the current node, performing expansion to obtain a plurality of child nodes; generating an estimated path according to a target sub-node in the plurality of sub-nodes; the first track is used for indicating the vehicle to start from the child node, travel according to the minimum turning radius, pass through two sections of arcs and a section of straight line and move to the shortest path of the target pose; under the condition that the estimated path passes the collision detection, splicing the estimated path and the first path to obtain a parking path; and under the condition that the estimated path does not pass the collision detection, taking the target child node as the current node, and executing the circulation process again.

The invention discloses a vehicle roll control method, device and equipment and a storage medium, relates to the technical field of vehicle roll control, and discloses a vehicle roll control method which comprises the steps that the current vehicle speed and the preset moment are obtained; when it is detected that the vehicle meets the roll control condition, the road curvature is calculated based on the preset moment, and the turning radius is obtained according to the road curvature; according to the roll control condition, the current vehicle speed and the turning radius, a target damping coefficient and / or a target suspension height are / is obtained; and according to the target damping coefficient and / or the target suspension height, the suspension damping and / or the suspension height of the vehicle are / is adjusted, and heeling control over the vehicle is completed. By calculating the road curvature and adjusting the suspension damping / height, vehicle roll control is achieved, and the driving stability is improved.

The invention discloses an excavation roadway turning construction method and a roadway construction method. According to the method, the turning track is accurately controlled through geological parameter pre-research and surveying and setting-out, and the problems of relaxation and damage caused by track deviation and long surrounding rock exposure time of a traditional turning section are effectively solved in combination with pilot tunnel advanced excavation and dynamic collaborative supporting. Pilot tunnel advanced excavation reserves a space for subsequent expanded excavation, a cutting head of the integrated equipment can horizontally rotate to adapt to curve excavation, and supporting force is dynamically adjusted in cooperation with real-time scanning of surrounding rock deformation data, so that the surrounding rock exposure time in turning section construction is shortened to 5-8 minutes from 40-60 minutes of a traditional process, and the construction efficiency is improved. The wall caving and roof caving risks caused by long-time support-free exposure of the surrounding rock in the turning area are remarkably reduced, meanwhile, it is ensured that the turning radius and the turning angle are matched with the design height through a parameter correction program, and the accuracy and safety of turning section construction are improved.

The invention provides a vehicle control method for vehicle pivot steering, a vehicle controller and a vehicle, and the method is used for realizing pivot steering of the vehicle after a user starts a pivot steering function. The method comprises the steps that when a user turns a steering wheel of the vehicle leftwards by larger than a preset angle, the opening degree of an accelerator pedal of the vehicle operated by the user is larger than zero, the gear of the vehicle operated by the user is a forward gear, a right front wheel and a right rear wheel of the vehicle are driven to rotate forwards, and a left rear wheel of the vehicle is driven to rotate reversely or the left rear wheel is locked so that the vehicle can steer in situ. And in the in-situ steering process, when the opening degree of an accelerator pedal of the vehicle operated by the user is larger than zero and smaller than a preset opening degree threshold value, a left rear wheel is locked, and when the opening degree of the accelerator pedal of the vehicle operated by the user is larger than or equal to the preset opening degree threshold value, the left rear wheel of the vehicle is driven to rotate reversely. By means of the method, in-situ steering with low tire abrasion and small turning radius can be achieved, and the practicability of the in-situ steering function is improved.

The present application provides a control method, device, vehicle and storage medium for vehicle steering. When the automatic U-turn mode is turned on, the vehicle controller obtains the auxiliary parameters of the vehicle according to the pre-activation signal input by the user, and generates the target direction, rotation angle, feedforward torque, target wheel speed, and then sends a steering instruction to the motor controller. The motor controller responds according to the feedforward torque, obtains a response signal, and sends it to the vehicle controller. Based on the response signal, the vehicle controller obtains the swing angle sensor information and the lateral longitudinal acceleration information to calculate the wheel rotation angle and sends it to the motor controller. The motor controller performs self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle and auxiliary parameters to control the vehicle to complete the steering. Automatic U-turn and zero turning radius steering of the vehicle are realized, making the vehicle steering more flexible, accurate and efficient, and reducing the rotation error, achieving millisecond-level drive control.

The invention discloses a high-efficiency automatic parking system and method based on turning radius optimization, and the system comprises a sensor group which is used for obtaining the state information of a vehicle; the ECU is used for carrying out path planning operation based on a variable radius according to the vehicle state information and carrying out path tracking control operation based on preview distance self-adaption according to a planned path; the actuator is used for responding to the control operation of the ECU; according to the method, multiple parking strategies can be fused, rapid and accurate parking is achieved, and based on the R-S curve algorithm with the variable radius, garage rubbing or parking failure caused by the fixed radius is avoided; search is accelerated based on a simulated annealing algorithm, and a pure tracking algorithm is improved, so that the preview distance is adaptive according to the vehicle speed, the tracking precision and the parking stability are improved, and the automatic parking experience is optimized in all directions.

The invention provides an unmanned aerial vehicle flight path tracking control method, system and device and a storage medium. The method comprises the steps that the turning radius of an unmanned aerial vehicle is obtained according to the ground speed of the unmanned aerial vehicle and the target lateral acceleration; acquiring a route included angle between the known flight route and the target flight route through the route information, obtaining an advanced turning distance according to the turning radius and the route included angle, and constructing an inscribed circular arc path according to the turning radius and the circle center; the unmanned aerial vehicle is switched to the target flight route according to the relation between the to-be-flied distance and the advanced turning distance, and route updating is completed; a flight path tracking control mathematical model is established based on the relative position relation between the unmanned aerial vehicle and the arc path, a lateral acceleration instruction is obtained according to an improved variable gain guidance method and converted into a roll angle instruction, and the unmanned aerial vehicle is controlled to roll according to the roll angle instruction. According to the invention, accurate flight path tracking control can be realized, and the flight path tracking control capability and the anti-interference capability of the unmanned aerial vehicle during turning are enhanced.

The invention discloses a small-turning hinged support carrier, and relates to the technical field of carriers, the small-turning hinged support carrier comprises a front frame and a rear frame, the rear end of the front frame is hinged to the front end of the rear frame, the left side of the rear frame is provided with a left swing beam, the left swing beam is provided with a left front wheel and a left rear wheel, the right side of the rear frame is provided with a right swing beam, and the right swing beam is provided with a left rear wheel and a right rear wheel. A front right wheel and a rear right wheel are arranged on the right swing beam, a left steering oil cylinder and a right steering oil cylinder are further hinged between the rear end of the front frame and the front end of the rear frame, a left oil cylinder set is arranged between the left swing beam and the left side of the rear frame and used for adjusting the front-back inclination angle of the left swing beam, and a right oil cylinder set is arranged between the right swing beam and the left side of the rear frame and used for adjusting the front-back inclination angle of the right swing beam. A right oil cylinder set is arranged between the right swing beam and the right side of the rear frame and used for adjusting the front-back inclination angle of the right swing beam. According to the invention, the turning radius can be further reduced, so that the small-turning articulated bracket carrier can pass through a roadway with a smaller turning radius.

A bulldozer includes a control unit for controlling left and right steering clutches and left and right steering brakes, thereby executing a turning control of the vehicle. The control unit switches between a clutch control and a brake control on the basis of a differential between an actual turning radius and a target turning radius.

The invention provides a vehicle and a vehicle steering control system and method, and belongs to the technical field of vehicle control. The vehicle steering control method comprises the steps that the current steering angle of the vehicle is received; when the current steering angle is larger than the preset triggering angle and smaller than the maximum steering angle of the wheels, the target angle difference value is added on the basis of the numerical value of the preset triggering angle, so that a target steering angle is obtained; when the current steering angle is equal to the maximum steering angle, taking the maximum expected steering angle as a target steering angle; obtaining a target differential ratio of the vehicle driving wheel based on the target steering angle, wherein the target differential ratio is a differential ratio when the driving wheel steers to the target steering angle; the differential ratio of the drive wheel is adjusted to a target differential ratio. According to the vehicle steering control method, on the premise that the current steering angle is not increased, the actual turning radius of the vehicle is remarkably reduced, and then the driving experience of the vehicle is effectively improved.

A method and apparatus for planning a vehicle driving path, and an intelligent vehicle and a storage medium, which relate to the field of autonomous driving. The method comprises operations such as acquiring a first pre-planned path, generating a first path on the basis of the first pre-planned path and the turning capability of a vehicle, and controlling the vehicle to travel along the first path, wherein the first pre-planned path is a pre-planned path between a road entrance and a road exit in a target intersection, the first path is a travelling path between the road entrance and the road exit, the first path comprises at least two arc-shaped road sections, and the distance between the road entrance and the road exit is less than twice the turning radius of the vehicle. Therefore, a vehicle can complete a one-time U-turn operation along a first path, thereby achieving the effect of improving the capability of autonomous driving in terms of U-turn scenarios at intersections.

The utility model discloses an automobile suspension system. Comprising an angle module mounting plate, an upper control arm, a lower control arm, an air spring and electronic damper CDC assembly, a steering module and a steering knuckle. The top of the steering knuckle is directly connected with a steering module, the upper portion and the lower portion of the steering knuckle are connected with an angle module mounting plate through an upper control arm and a lower control arm respectively, an air spring and an electronic damper CDC assembly are further connected between the lower control arm and the angle module mounting plate, and the steering knuckle is fixedly mounted on a hub structure. And a tire rim and a brake are mounted on the hub structure. The suspension system supports four-wheel independent driving and four-wheel independent steering, is used for achieving the functions of in-situ steering, horizontal transverse moving and the like of the whole vehicle, and achieves ultra-small turning radius, large turning angle, reliable structure and performance and high expansibility during turning.

The invention discloses a steering control method and system based on motor driving assistance and a vehicle, and belongs to the technical field of vehicle steering control. The method comprises the steps that the vehicle speed, the front wheel turning angle and design parameters of a vehicle are obtained, and the side slip angle speed is calculated according to the vehicle speed and the design parameters of the vehicle; according to the side slip angle speed and design parameters of the vehicle, the yaw velocity is calculated; calculating a stability factor according to the yaw acceleration, the vehicle speed and the design parameters of the vehicle; determining a steering state of the vehicle based on a comparison result of the stability factor and a preset threshold; determining a motor torque distribution strategy according to the steering state; wherein according to the motor torque distribution strategy, torque difference distribution of inner and outer wheels is carried out in combination with the yawing torque requirement, and the torque of the corresponding driving motor is determined so as to adjust the turning radius. The driving safety can be improved, and the problem that correction of insufficient steering and excessive steering is difficult to conduct only through an automobile steering system in the prior art is solved.

An embodiment locking apparatus for a seat includes a side frame rotatably coupled to a rear end of a cushion part and having an arc-shaped slot hole disposed thereon along a turning radius of the cushion part, a locking protrusion disposed on the cushion part, fitted into the slot hole, and configured to move along the slot hole in a state in which the cushion part is rotated to be changed to a seating mode or a tip-up mode, and a latch rotatably coupled to the side frame and configured to be locked and fixed by the locking protrusion in a state in which the cushion part is in the seating mode or the tip-up mode.

The invention discloses a long-distance maneuvering path planning method and system fused with DOP information, and belongs to the technical field of path planning and navigation. The method comprises the following steps: collecting special vehicle information, GNSS DOP information, geographic information and traffic information; based on the DOP value and the traffic condition, the roads are preliminarily screened, and the gradient, the slope direction, the height limit, the load bearing, the turning radius and DOP information are integrated; road condition information is converted into constraint conditions, and DOP information serves as an optimization target and is fused into a heuristic cost function of an improved algorithm; a path with the best navigation effect is obtained through path searching, visual display is carried out on a geographic information system map, and DOP information changes of all key points on the path are displayed in real time. According to the method, a GNSS signal blind area can be effectively avoided, the feasibility and navigation precision of path planning are improved in combination with vehicle dynamics constraints, and the method is suitable for long-distance maneuvering tasks of special vehicles.

The invention relates to the technical field of mechanical control, in particular to a caterpillar tractor turning radius control method and system.The caterpillar tractor turning radius control method comprises the following steps that based on tractor caterpillar size data, behaviors of a tractor caterpillar on various terrains are simulated and analyzed, and the contact effect and stress distribution of the caterpillar on various ground materials are calculated; and generating a track behavior simulation result. According to the method, by analyzing behaviors of the tractor track on various terrains, understanding of the contact effect and stress distribution between the track and the ground materials is optimized, performance prediction of the track on different ground materials is more accurate, compensation parameters needed by turning are calculated in combination with mechanical performance parameters, and the accuracy of the track performance prediction is improved. The torque and the speed of the crawler belt are adjusted according to actual conditions, the adaptive capacity and the operation accuracy of the tractor in complex terrains are improved, turning parameters are monitored and adjusted in real time, the yaw angle and the path deviation are recognized and corrected in time, errors and the adjustment time in operation are reduced, and the operation efficiency and the maneuverability of the tractor are improved.

The invention belongs to the technical field of tunneling equipment, and particularly provides a combined cutter head and a tunneling machine. The combined cutterhead comprises a tunneling cutterhead, a central hole is formed in the center of the tunneling cutterhead, the combined cutterhead further comprises an advanced drilling and digging head and at least two sections of torque transmission components capable of being connected in a front-back rotation stopping mode, one section of torque transmission component is connected with the advanced drilling and digging head in a rotation stopping mode, and the torque transmission component is coaxially matched with the central hole. The excavation diameter of the advance drilling and excavating head is not smaller than the inner diameter of the center hole, a transmission connecting mechanism capable of being connected with and separated from the torque transmission component is arranged on the tunneling cutter head, and when the transmission connecting mechanism is connected with the torque transmission component, circumferential rotation stopping fit is achieved, and the axial position is relatively fixed. The heading machine comprises the combined cutter head. The tunneling cutterhead is equivalent to a power head for driving the advanced drilling and excavating head to excavate forwards, other power heads do not need to be arranged, the structure of the main machine of the tunneling machine can be simplified, the size of the main machine is further shortened, and the tunneling machine is more suitable for tunnel engineering with small turning radius.

The utility model discloses a 16-wheel desert drilling machine integral moving and transporting system capable of steering independently, which comprises a plurality of groups of moving and transporting modules uniformly distributed along the periphery of a drilling machine base, each group of moving and transporting modules comprises a gooseneck frame with a heavy frame structure, the front end of each gooseneck frame is hinged with the end part of the drilling machine base through a pin shaft, and the tail end of each gooseneck frame is hinged with an axle system through a pin shaft; the axle system comprises a middle longitudinal beam which is located in the center of the sub-moving module and arranged in the longitudinal direction, the front end and the rear end of the middle longitudinal beam are each provided with a set of axle steering frames, and steering driving columns penetrating through the middle longitudinal beam are connected to the middles of the axle steering frames in a welded mode; the bottoms of the two ends of the axle bogie are connected with the parallel loading axle through hoops and end plates, and rims and tires are assembled at the two ends of the parallel loading axle. By controlling the steering hydraulic cylinder, the included angle of the tires can be adjusted, and then the turning radius of the moving and transporting system can be accurately controlled to adapt to different road condition requirements.

The invention discloses a turning trajectory optimization method for a trailer, which comprises the following steps: firstly, judging whether a vehicle needs trajectory optimization, secondly, obtaining an initial input boundary of trajectory optimization based on the current position information of the vehicle, and obtaining an input boundary after an obstacle is processed by combining the longitudinal distance of the center of the obstacle in a frenet coordinate system; based on the input boundary, the turning radius of the trailer during turning and the leftmost end face and the rightmost end face of the trailer are combined, the input boundary considering trailer movement is obtained, and the safety distance of the inner side of the trailer and the safety distance of the outer side of the trailer are obtained through calculation; searching the safe distance between the inner side and the outer side calculated in the previous step on the basis of the curvature, and adding the safe distance into an input boundary after the obstacle is processed; and according to the finally obtained boundary, inputting the boundary into a solver to obtain a final collision-free track considering the trailer motion during turning. The stability, safety and trafficability of the automatic driving system can be greatly improved.

The invention discloses a three-axle unmanned vehicle steering control method, a computer readable medium and equipment. A three-axle unmanned vehicle is provided with a first axle, a second axle, a third axle, a steering angle sensor, a steering control module, a self-driving control module and an environment sensing module. According to the three-axle unmanned vehicle steering control method provided by the embodiment of the invention, through the design that the positions of the first axle, the second axle and the third axle, the arrangement of the steering tie rod and the steering arm and the combination of the steering angle sensor, the steering control module, the self-driving control module and the environment sensing module, it can be ensured that the three-axle vehicle steadily runs in an inclined mode when running in an inclined mode, and the steering efficiency is improved. The problem of vehicle body deflection when the three-axle vehicle runs obliquely is solved; in addition, the turning radius is small, and the turning requirement in a narrow space can be met.

The invention relates to a parking method, a medium and a vehicle, and relates to the technical field of vehicles, the parking method comprises the steps that a drivable area corresponding to a target parking space is determined, and the drivable area represents an area which is around the target parking space and does not comprise an obstacle; according to a target reference point, a vehicle is controlled to be parked into the target parking space from the drivable area, the vehicle can steer around the target reference point through four-wheel independent driving, and the turning radius of the vehicle when the vehicle steers around the target reference point is smaller than that of the vehicle when the vehicle steers at the maximum front wheel turning angle. In the embodiment of the invention, when the vehicle steers around the target reference point, the turning radius is smaller than the turning radius when the vehicle steers at the maximum turning angle of the front wheels through four-wheel independent driving, and the vehicle can rotate at a larger angle in a limited space. Therefore, the posture of the vehicle body of the vehicle can be adjusted more easily in a narrow driving area, and the automatic parking efficiency is improved.

The invention provides a steering control method and a control unit for a vehicle. The method includes determining a target driving torque based on a driving torque requested by a driver of the vehicle and a target braking torque in response to a function activation signal or a function exit signal of a steering assist function of the vehicle, such that during activation or exit of the steering assist function, the target driving torque is activated by the driver of the vehicle; the vehicle speed change is smaller than the vehicle speed change threshold value or the acceleration change is smaller than the acceleration change threshold value, so that the smoothness of the vehicle reaches the level that a driver does not sense activation or quit of the steering auxiliary function; wherein the target braking torque is generated by the steering assistance function and is used for assisting the vehicle in achieving the target turning radius and / or the target steering angle.