CN115009265A - Vehicle steering driving safety warning method and device based on steering characteristics - Google Patents

Abstract

The invention discloses a steering operation characteristic-based automobile steering driving safety early warning method and device, wherein the method comprises the following steps: s1, acquiring a front wheel side deflection angle, a rear wheel side deflection angle, a steering wheel steering angle and a target azimuth angle of the automobile in the steering driving process; s2, identifying the steering control characteristic delta alpha of the automobile in the steering driving process; s3, calculating steering wheel steering angle deviation delta _s (ii) a S4, carrying out risk identification on the steering control characteristics, specifically: delta alpha<0, the steering control characteristic is over-steering, and the risk level is high; delta alpha>0, the steering handling characteristic is understeer, and the risk level is high; the delta alpha is 0, the steering control characteristic is neutral steering, and the risk level is low; s5, aiming at the identified risk level, utilizing the steering wheel steering angle deviation delta obtained by calculation _s And controlling the driving risk. The invention avoids the steering control characteristic of the automobile by monitoring the steering driving safety state of the automobileA source of sexual risk causes a safety hazard.

Description

Vehicle steering driving safety warning method and device based on steering characteristics

technical field

The invention belongs to the technical field of automobile safety warning, and particularly relates to a steering driving safety warning method and device based on steering control characteristics.

Background technique

Car steering system is to ensure that the car can drive in a straight line or steer according to the driver's wishes, and the loss of steering control of the car is one of the most important factors in the occurrence of traffic accidents. The steering characteristics of the car include neutral steering, understeering and oversteering. Neutral steering means that the actual steering angle of the vehicle during the steering process is equal to the rotation angle of the front wheels; Small, the front wheel slides to the outside (push head); oversteer means that the actual steering angle of the vehicle is larger than the rotation angle of the front wheel during the steering process, and the rear wheel slides to the outside (tail flick).

The drive train is a vehicle with front engine front drive, the center of gravity is on the front axle, and the front wheel is both a steering wheel and a driving wheel. When steering, the front wheel is subjected to centrifugal force to increase the outward slippage, resulting in insufficient steering; the drive train is in the form of a front engine For vehicles with rear-wheel drive or mid-wheel drive, the center of gravity is in the center, the front wheels are responsible for steering, and the rear wheels are responsible for driving, which is a neutral steering; the vehicle with rear-engine rear-drive vehicles, the center of gravity is on the rear axle, and the front wheels are responsible for Steering, the rear wheels are responsible for driving, for oversteer.

The steering characteristics of automobiles are related to road adhesion coefficient, turning radius, automobile transmission form, tire cornering stiffness, wheel slip angle, steering speed, steering acceleration, front wheel steering angle, and steering wheel steering angle. When the car steers at low speed, it basically maintains neutral steering; when the steering speed increases, there is a tendency of understeering, and the driver can reduce the degree of understeer by reducing the accelerator and reducing the speed; At the critical speed, the steering is stable, and when the speed exceeds the critical speed, the steering becomes unstable, and oversteer correction is difficult. Generally, a car with proper understeer can make the car have good maneuverability, and oversteer will cause the car to become unstable. GB38900-2020 "Motor Vehicle Safety Technical Inspection Items and Methods" requires "automobiles (except three-wheeled vehicles) should have moderate understeer characteristics"; "Trailer" requires that "understeer should be greater than or equal to 0°/(m/s2) and less than or equal to 1°/(m/s2)".

The reasons for the loss of steering control become the danger of vehicle steering: First, the vehicle is affected by the unbalanced braking force, the change of the road adhesion coefficient and the lateral wind during the steering process, which makes the vehicle steering unstable; When changing lanes or turning sharply when encountering obstacles, understeering or oversteering makes the vehicle laterally unstable; thirdly, when the car is oversteered, the steering wheel is turned too large and the return is slow. After the vehicle reaches the target lane, turn the steering wheel back. The vehicle will shake, and severe oversteering will cause side slip and rollover. Fourth, when the car is understeered, it will not be able to turn, and the steering wheel will lose its grip and cause the car to roll over. Serious understeering will cause drifting. .

As a major safety hazard in the process of steering and driving, we need to safely manage the steering characteristics: first, safety identification, identifying the risks of steering characteristics and determining their characteristics; second, safety control, according to the risks of steering characteristics Provide early warning methods to reduce, eliminate or control risks. This plays a very important role in avoiding traffic accidents caused by the risk of vehicle steering and handling characteristics, and ensuring the steering stability and safety of the vehicle.

At present, the monitoring and alarming of the steering characteristics only involves individual parameters of the steering angle of the steering wheel, but the steering characteristics of the vehicle are not monitored, and there is no safety risk management method such as safety identification and control of the steering characteristics during the steering process of the vehicle, so it is difficult to control the steering characteristics according to the steering. Steering characteristic risk provides the driver with an early warning method to reduce, eliminate or control the steering characteristic risk, and ensure the driving safety of the vehicle steering.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and to provide a vehicle steering driving safety warning method and device based on the steering control characteristics. ACCIDENT.

In order to achieve the above object, the present invention adopts the following technical solutions:

One aspect of the present invention provides a vehicle steering driving safety warning method based on steering control characteristics, comprising the following steps:

S1. Obtain the front wheel side slip angle, rear wheel side slip angle, steering wheel steering angle and target azimuth angle during the steering operation of the car;

S2. Identify the steering control characteristic Δα of the vehicle during the steering driving process, and the steering control characteristic Δα is:

Δα=α _f -α _r

In the formula, α _f represents the front wheel side slip angle, α _r represents the rear wheel side slip angle;

S3. Calculate the steering angle deviation Δδ _s of the steering wheel, and the calculation formula of the steering angle deviation Δδ _s of the steering wheel is as follows:

Δδ _s =δ _sw -δ _s

In the formula, δ _sw is the theoretical value of the steering wheel steering angle, and δ _s is the steering angle of the steering wheel;

S3. Perform risk identification on the steering control characteristics, specifically:

Δα<0, the steering characteristic is oversteering, and the risk level is high;

Δα>0, the steering characteristic is understeer, and the risk level is high;

Δα=0, the steering characteristic is neutral steering, and the risk level is low.

S4. For the identified risk level, use the calculated steering angle deviation _Δδs of the steering wheel to control the driving risk.

As a preferred technical solution, in step S1, the front wheel slip angle and the rear wheel slip angle are sensed by the wheel inertia sensor;

The steering angle of the steering wheel is sensed through the angle sensor;

The azimuth angle of the front target is sensed by millimeter-wave radar.

As a preferred technical solution, in step S3, the calculation of the theoretical value δ _sw of the steering wheel steering angle is as follows:

δ _sw =is _{δ tf} = _is (α _target ±α _f )

In the formula, δ _tf represents the theoretical value of the steering angle of the front wheel, i _s represents the transmission ratio of the steering system, and α _target represents the azimuth angle of the front target.

As a preferred technical solution, in step S2, the calculation of the theoretical value δ _tf of the steering angle of the front wheel is as follows:

δ _tf =α _target ±α _f

In the formula, α _target represents the front target azimuth angle, and α _f represents the front wheel slip angle.

As a preferred technical solution, in step S5, the calculated steering angle deviation _Δδs of the steering wheel is used to control the risk level, specifically:

When the steering control characteristic is oversteering, reduce the speed and acceleration, and control the steering angle deviation _Δδs of the steering wheel to be less than zero;

When the steering control characteristic is understeering, reduce the speed and acceleration, and control the steering angle deviation _Δδs of the steering wheel to be greater than zero;

When the steering steering characteristic is neutral steering, the vehicle is normally operated, the steering angle of the steering wheel is maintained in an appropriate manner, and the steering angle deviation _Δδs of the steering wheel is less than zero.

Another aspect of the present invention provides a steering driving safety warning system based on steering control characteristics, comprising a parameter acquisition module, a steering control characteristic module, a steering wheel steering angle deviation calculation module, a risk identification module and a risk control module;

The parameter acquisition module is used to acquire the front wheel side slip angle, rear wheel side slip angle, steering wheel steering angle and target azimuth angle during the steering driving process of the vehicle;

The steering control characteristic module is used to identify the steering control characteristic Δα during the steering driving process of the vehicle, and the steering control characteristic Δα is:

Δα=α _f -α _r

In the formula, α _f represents the front wheel side slip angle, α _r represents the rear wheel side slip angle;

The steering wheel steering angle deviation calculation module is used to calculate the steering wheel steering angle deviation Δδ _s , and the calculation formula of the steering wheel steering angle deviation Δδ _s is as follows:

Δδ _s =δ _sw -δ _s

In the formula, δ _sw is the theoretical value of the steering wheel steering angle, and δ _s is the steering angle of the steering wheel;

The risk identification module is used for risk identification of the steering control characteristics, specifically:

Δα<0, the steering characteristic is oversteering, and the risk level is high;

Δα>0, the steering characteristic is understeer, and the risk level is high;

Δα=0, the steering characteristic is neutral steering, and the risk level is low.

The risk control module is configured to control the travel risk by using the calculated steering angle deviation _Δδs of the steering wheel according to the identified risk level.

Another aspect of the present invention provides an electronic device, the electronic device comprising:

at least one processor; and,

a memory communicatively coupled to the at least one processor; wherein,

The memory stores computer program instructions executable by the at least one processor to enable the at least one processor to perform the steering-based steering characteristic The vehicle steering driving safety warning method.

Another aspect of the present invention provides a computer-readable storage medium storing a program, and when the program is executed by a processor, the described method for early warning of vehicle steering driving safety based on steering characteristics is implemented.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

1. The present invention has the advantages of avoiding traffic accidents caused by the steering and steering characteristics of the vehicle and ensuring the safety of the steering and driving of the vehicle due to the use of the safety risk management for the steering and steering characteristics of the vehicle during the steering and driving process.

2. The present invention brings the advantage of determining the risk of steering and steering characteristics due to the safe identification of the risk source of the steering and steering characteristics during the steering and driving of the vehicle.

3. The present invention brings the advantages of reducing, eliminating or controlling risks due to the use of risk control for steering control characteristics during the steering and driving process of the vehicle.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

1 is a flowchart of a vehicle steering driving safety warning method based on steering control characteristics according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of steering control characteristics during steering driving according to an embodiment of the present invention;

FIG. 3 is a block diagram of a vehicle steering driving safety warning system based on steering control characteristics according to an embodiment of the present invention.

FIG. 4 is a structural diagram of an electronic device according to an embodiment of the present invention.

Detailed ways

In order to make those skilled in the art better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of this application.

Reference in this application to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

As shown in FIG. 1 and FIG. 2 , the vehicle steering driving safety warning method based on the steering characteristics of the present embodiment includes the following steps:

S1. Obtain the front wheel side slip angle, rear wheel side slip angle, steering wheel steering angle and target azimuth angle during the steering operation of the car;

Further, the front wheel slip angle and the rear wheel slip angle are sensed through the wheel inertia sensor;

The steering angle of the steering wheel is sensed by the angle sensor;

The azimuth angle of the front target is sensed by millimeter-wave radar.

S2. Identify the steering control characteristic Δα of the vehicle during the steering driving process,

The steering characteristic Δα is:

Δα=α _f -α _r

In the formula, α _f represents the front wheel side slip angle, α _r represents the rear wheel side slip angle;

S3. Calculate the steering angle deviation Δδ _s of the steering wheel, and the calculation formula of the steering angle deviation Δδ _s of the steering wheel is as follows:

Δδ _s =δ _sw -δ _s

In the formula, δ _sw is the theoretical value of the steering wheel steering angle, and δ _s is the steering angle of the steering wheel;

Further, the calculation of the theoretical value δ _sw of the steering wheel steering angle is as follows:

δ _sw =is _{δ tf} = _is (α _target ±α _f )

In the formula, δ _tf represents the theoretical value of the steering angle of the front wheel, i _s represents the transmission ratio of the steering system, and α _target represents the azimuth angle of the front target.

Further, the calculation of the theoretical value of the front wheel steering angle δ _tf is as follows:

δ _tf =α _target ±α _f

In the formula, α _target represents the front target azimuth angle, α _f represents the front wheel slip angle

S4. Perform risk identification on the steering control characteristics, specifically:

Δα<0, the steering characteristic is oversteering, and the risk level is high;

Δα>0, the steering characteristic is understeer, and the risk level is high;

Δα=0, the steering characteristic is neutral steering, and the risk level is low.

S5. According to the risk of steering and maneuvering characteristics during the steering and driving process of the vehicle, the driver shall take corresponding safety control measures to reduce, eliminate or control the risk, specifically:

The understeer risk control is to reduce the speed and acceleration, and control the steering angle deviation _Δδs of the steering wheel to be greater than zero;

For the oversteering risk control, the speed and acceleration are reduced, and the steering angle deviation _Δδs of the steering wheel is controlled to be less than zero;

In the normal driving risk control, the steering angle of the steering wheel is controlled to maintain an appropriate understeering characteristic, and the steering angle deviation _Δδs of the steering wheel is less than zero.

It should be noted that, for the convenience of description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because Certain steps may be performed in other orders or simultaneously in accordance with the present invention.

Based on the same idea as the vehicle steering and driving safety warning method based on steering characteristics in the above-mentioned embodiments, the present invention also provides a steering and steering characteristics-based vehicle steering and driving safety warning system, which can be used to execute the above-mentioned steering characteristics-based safety warning system. Car steering safety warning method. For the convenience of description, in the structural schematic diagram of the embodiment of the vehicle steering driving safety warning system based on the steering control characteristics, only the part related to the embodiment of the present invention is shown, and those skilled in the art can understand that the illustrated structure does not constitute a corresponding device. may include more or fewer components than shown, or combine certain components, or arrange different components.

Referring to FIG. 3 , in another embodiment of the present application, a steering driving safety warning system 100 based on steering steering characteristics is provided. The system includes a parameter acquisition module 101 , a steering steering characteristic module 102 , a steering wheel steering angle deviation a calculation module 103, a risk identification module 104 and a risk control module 105;

The parameter acquisition module 101 is used to acquire the front wheel side slip angle, rear wheel side slip angle, steering wheel steering angle and target azimuth angle during the steering operation of the vehicle;

The steering control characteristic module 102 is used to identify the steering control characteristic Δα during the steering driving process of the vehicle, and the steering control characteristic Δα is:

Δα=α _f -α _r

In the formula, α _f represents the front wheel side slip angle, α _r represents the rear wheel side slip angle;

The steering wheel steering angle deviation calculation module 103 is used to calculate the steering wheel steering angle deviation Δδ _s , and the calculation formula of the steering wheel steering angle deviation Δδ _s is as follows:

Δδ _s =δ _sw -δ _s

In the formula, δ _sw is the theoretical value of the steering wheel steering angle, and δ _s is the steering angle of the steering wheel;

The risk identification module 104 is used for risk identification of the steering maneuvering characteristics, specifically:

Δα<0, the steering characteristic is oversteering, and the risk level is high;

Δα>0, the steering characteristic is understeer, and the risk level is high;

Δα=0, the steering characteristic is neutral steering, and the risk level is low.

The risk control module 105 is configured to control the travel risk by using the calculated steering wheel steering angle deviation _Δδs for the identified risk level.

It should be noted that the vehicle steering driving safety warning system based on the steering control characteristics of the present invention corresponds to the vehicle steering driving safety warning method based on the steering control characteristics of the present invention. The technical features and their beneficial effects described in the embodiments of the method are all applicable to the embodiments of the steering driving safety warning based on the steering characteristics. For details, please refer to the descriptions in the method embodiments of the present invention, which will not be repeated here. statement.

In addition, in the implementation of the vehicle steering driving safety warning system based on the steering control characteristics of the above-mentioned embodiments, the logical division of each program module is only an example, and in practical applications, it can be used as required, for example, due to the configuration requirements of the corresponding hardware or software. Considering the convenience of realization, the above-mentioned function distribution is completed by different program modules, that is, the internal structure of the vehicle steering driving safety warning system based on steering characteristics is divided into different program modules to complete all or part of the functions described above. .

Referring to FIG. 4 , in one embodiment, an electronic device for implementing a vehicle steering driving safety warning method based on steering characteristics is provided. The electronic device 200 may include a first processor 201 , a first memory 202 and a bus , and may also include a computer program stored in the first memory 202 and executable on the first processor 201 , such as a steering driving safety warning program 203 based on steering characteristics.

Wherein, the first memory 202 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (for example: SD or DX memory, etc.), magnetic memory, Disks, CDs, etc. The first memory 202 may be an internal storage unit of the electronic device 200 in some embodiments, such as a mobile hard disk of the electronic device 200 . In other embodiments, the first memory 202 may also be an external storage device of the electronic device 200, such as a pluggable mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital) device equipped on the electronic device 200. SecureDigital, SD) card, flash memory card (Flash Card), etc. Further, the first memory 202 may also include both an internal storage unit of the electronic device 200 and an external storage device. The first memory 202 can not only be used to store application software and various data installed in the electronic device 200, such as the code of the vehicle steering driving safety warning program 203 based on the steering characteristics, but also can be used to temporarily store the output data that has been output. or the data to be output.

The first processor 201 may be composed of integrated circuits in some embodiments, for example, may be composed of a single packaged integrated circuit, or may be composed of multiple integrated circuits packaged with the same function or different functions, including one or A combination of multiple central processing units (Central Processing Units, CPUs), microprocessors, digital processing chips, graphics processors, and various control chips, etc. The first processor 201 is the control core (Control Unit) of the electronic device, uses various interfaces and lines to connect various components of the entire electronic device, and runs or executes the program stored in the first memory 202 or modules, and call data stored in the first memory 202 to perform various functions of the electronic device 200 and process data.

FIG. 4 only shows an electronic device with components. Those skilled in the art can understand that the structure shown in FIG. 4 does not constitute a limitation on the electronic device 200, and may include fewer or more components than those shown in the drawings. components, or a combination of certain components, or a different arrangement of components.

The vehicle steering driving safety warning program 203 based on steering characteristics stored in the first memory 202 in the electronic device 200 is a combination of multiple instructions. When running in the first processor 201, it can realize:

S1. Obtain the front wheel side slip angle, rear wheel side slip angle, steering wheel steering angle and target azimuth angle during the steering operation of the car;

S2. Identify the steering control characteristic Δα of the vehicle during the steering driving process, and the steering control characteristic Δα is:

Δα=α _f -α _r

In the formula, α _f represents the front wheel side slip angle, α _r represents the rear wheel side slip angle;

S3. Calculate the steering angle deviation Δδ _s of the steering wheel, and the calculation formula of the steering angle deviation Δδ _s of the steering wheel is as follows:

Δδ _s =δ _sw -δ _s

In the formula, δ _sw is the theoretical value of the steering wheel steering angle, and δ _s is the steering angle of the steering wheel;

S4. Perform risk identification on the steering control characteristics, specifically:

Δα<0, the steering characteristic is oversteering, and the risk level is high;

Δα>0, the steering characteristic is understeer, and the risk level is high;

Δα=0, the steering characteristic is neutral steering, and the risk level is low;

S5. For the identified risk level, use the calculated steering angle deviation _Δδs of the steering wheel to control the driving risk.

Further, if the modules/units integrated in the electronic device 200 are implemented in the form of software functional units and sold or used as independent products, they may be stored in a non-volatile computer-readable storage medium. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory) .

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium , when the program is executed, it may include the flow of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other medium used in the various embodiments provided in this application may include non-volatile and/or volatile memory. Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, The simplification should be equivalent replacement manners, which are all included in the protection scope of the present invention.

Claims (8)

1. the vehicle steering driving safety warning method based on steering characteristics, is characterized in that, comprises the following steps: S1. Obtain the front wheel side slip angle, rear wheel side slip angle, steering wheel steering angle and target azimuth angle during the steering operation of the car; S2. Identify the steering control characteristic Δα of the vehicle during the steering driving process, and the steering control characteristic Δα is: Δα=α _f -α _r In the formula, α _f represents the front wheel side slip angle, α _r represents the rear wheel side slip angle; S3. Calculate the steering angle deviation Δδ _s of the steering wheel, and the calculation formula of the steering angle deviation Δδ _s of the steering wheel is as follows: Δδ _s =δ _sw -δ _s In the formula, δ _sw is the theoretical value of the steering wheel steering angle, and δ _s is the steering angle of the steering wheel; S4. Perform risk identification on the steering control characteristics, specifically: Δα<0, the steering characteristic is oversteering, and the risk level is high; Δα>0, the steering characteristic is understeer, and the risk level is high; Δα=0, the steering characteristic is neutral steering, and the risk level is low; S5. For the identified risk level, use the calculated steering wheel steering angle deviation _Δδs to control the driving risk. 2. The vehicle steering driving safety warning method based on steering control characteristics according to claim 1, wherein in step S1, front wheel slip angle and rear wheel slip angle are sensed by wheel inertial sensors; The steering angle of the steering wheel is sensed through the angle sensor; The azimuth angle of the front target is sensed by millimeter-wave radar. 3. the vehicle steering driving safety warning method based on steering control characteristic according to claim 1, is characterized in that, in step S3, the calculation of steering wheel steering angle theoretical value δ _sw is as follows: δ _sw =is _{δ tf} = _is (α _target ±α _f ) In the formula, δ _tf represents the theoretical value of the steering angle of the front wheel, i _s represents the transmission ratio of the steering system, and α _target represents the azimuth angle of the front target. 4. the vehicle steering driving safety warning method based on steering control characteristic according to claim 3, is characterized in that, the calculation of described front wheel steering angle theoretical value δ _tf is as follows: δ _tf =α _target ±α _f In the formula, α _target represents the front target azimuth angle, and α _f represents the front wheel slip angle. 5. the vehicle steering driving safety warning method based on steering steering characteristic according to claim 1, is characterized in that, in step S5, utilizes the steering wheel steering angle deviation Δδ _s obtained to control the risk level, specifically: When the steering control characteristic is oversteering, reduce the speed and acceleration, and control the steering angle deviation _Δδs of the steering wheel to be less than zero; When the steering control characteristic is understeering, reduce the speed and acceleration, and control the steering angle deviation _Δδs of the steering wheel to be greater than zero; When the steering steering characteristic is neutral steering, the vehicle is normally operated, the steering angle of the steering wheel is maintained in an appropriate manner, and the steering angle deviation _Δδs of the steering wheel is less than zero. 6. An automobile steering driving safety warning system based on steering control characteristics, characterized in that it comprises a parameter acquisition module, a steering control characteristic module, a steering wheel steering angle deviation calculation module, a risk identification module and a risk control module; The parameter acquisition module is used to acquire the front wheel side slip angle, rear wheel side slip angle, steering wheel steering angle and target azimuth angle during the steering driving process of the vehicle; The steering control characteristic module is used to identify the steering control characteristic Δα during the steering driving process of the vehicle, and the steering control characteristic Δα is: Δα=α _f -α _r In the formula, α _f represents the front wheel side slip angle, α _r represents the rear wheel side slip angle; The steering wheel steering angle deviation calculation module is used to calculate the steering wheel steering angle deviation Δδ _s , and the calculation formula of the steering wheel steering angle deviation Δδ _s is as follows: Δδ _s =δ _sw -δ _s In the formula, δ _sw is the theoretical value of the steering wheel steering angle, and δ _s is the steering angle of the steering wheel; The risk identification module is used for risk identification of the steering control characteristics, specifically: Δα<0, the steering characteristic is oversteering, and the risk level is high; Δα>0, the steering characteristic is understeer, and the risk level is high; Δα=0, the steering characteristic is neutral steering, and the risk level is low. The risk control module is configured to control the travel risk by using the calculated steering angle deviation _Δδs of the steering wheel according to the identified risk level. 7. An electronic device, characterized in that the electronic device comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; wherein, The memory stores computer program instructions executable by the at least one processor, the computer program instructions being executed by the at least one processor to enable the at least one processor to perform the functions of claims 1-5 Any one of the vehicle steering and driving safety warning methods based on steering characteristics. 8. A computer-readable storage medium storing a program, wherein when the program is executed by a processor, the vehicle steering driving safety warning method based on the steering characteristic of any one of claims 1-5 is realized .

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