The invention discloses a method and a system for assisting vehicle steering, a medium and a vehicle. The method comprises the steps: collecting the image information of a vehicle driving road; calculating an actual road track according to the image information; acquiring a running speed value and a steering wheel steering value of the vehicle, and calculating a vehicle pre-running track accordingto the running speed value and the steering wheel steering value; calculating a track deviation value between the pre-running track of the vehicle and the actual road track; outputting a rear wheel steering command and a differential brake command according to the track deviation value; and controlling a rear wheel steering device according to the rear wheel steering command to adjust rear wheelsteering of the vehicle, and controlling an electronic brake according to the differential brake command to adjust a differential brake force of inner and outer wheels. The method can actively adjustthe steering of the vehicle and prevent accidents caused by lane departure of the vehicle due to insufficient steering or excessive steering of the steering wheel when the vehicle goes around a corner.

    本发明公开了一种辅助车辆转向的方法、系统、介质和车辆,其中,方法包括采集车辆行驶道路的图像信息;根据图像信息计算实际道路轨迹;获取车辆的行驶速度值和方向盘转向值,并根据行驶速度值和方向盘转向值计算车辆预行轨迹;计算车辆预行轨迹与实际道路轨迹的轨迹偏差值;根据轨迹偏差值输出后轮转向命令和差动制动命令;根据后轮转向命令控制后轮转向装置以调整车辆的后轮转向,以及根据差动制动命令控制电子制动器以调整内外侧车轮差动制动力。该方法可以主动调整车辆的转向,防止在车辆过弯时方向盘转向不足或转向过度,导致车辆偏离车道而发生事故。


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    Title :

    Method and system for assisting vehicle steering, vehicle comprising system and medium


    Additional title:

    辅助车辆转向的方法和系统及包括该系统的车辆、介质


    Contributors:
    ZHENG XINGHUA (author) / LIN CHAO (author) / LIANG FENGSHOU (author) / CUI XUEZHI (author) / HE RONGHAO (author)

    Publication date :

    2021-03-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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