Vehicle reverse rear wheel active steering control system and method
Through the reversing rear wheel active steering control system, the vehicle controller and rear steering drive motor are used to calculate and control the rear wheel steering angle, which solves the problem of squeezing caused by the difference between the rear wheel steering trajectory and the front wheel steering trajectory during reversing, and realizes the reversing Four-wheel steering adaptability and safety.
Patent Information
- Application Number
- CN201911003325.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2019-10-22
- Publication Date
- 2024-12-24
- Estimated Expiration
- 2039-10-22
AI Technical Summary
In the prior art, the steering trajectory of the rear wheel and the steering trajectory of the front wheel when the car is reversed, which makes it difficult for the driver to adapt to the four-wheel steering when parking, and it is easy to cause hang-and-lashing.
A car reversing rear wheel active steering control system is designed, including a vehicle controller, electronic gear shifting, central control assembly, brake switch, front steering assembly, rear steering assembly and reminder device. After reversing, The selection of wheel assisted steering intensity gears and calculate the rear wheel steering angle, the rear wheel steering is controlled by using the rear steering drive motor, providing reverse rear wheel assisted steering intensity gear selection and prompt functions.
By actively selecting the assisted steering intensity gear of the reversing rear wheel, the driver can gradually adapt to four-wheel steering and parking, avoiding misoperation and improving reversing safety.
Smart Images
Figure CN110789608B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to automobile driving safety control, and more specifically to an automobile rear wheel active steering control system and method for reverse driving. Background Art
[0002] Figure 1 A schematic diagram of the wheel steering trajectory of an ordinary vehicle in the prior art is shown, where mark 1 is the steering center without rear-wheel assistance, mark 2 is the steering rotation center with low-intensity rear-wheel assistance, and mark 3 is the steering rotation center with high-intensity rear-wheel assistance. It can be seen that the vehicle instantaneous center and vehicle trajectory of the front-wheel steering and four-wheel steering are quite different. Summary of the invention
[0003] In order to solve the above technical problems existing in the prior art, the object of the present invention is to provide a vehicle rear wheel active steering control system and method for reverse driving.
[0004] The automobile rear wheel active steering control system of the present invention comprises a vehicle controller, an electronic shift, a central control assembly, a brake switch, a front steering gear assembly, a rear steering gear assembly and a reminder device; the output end of the electronic shift and brake switch is connected to the input end of the vehicle controller, the central control assembly is connected to the control end of the vehicle controller, and the control end of the vehicle controller is connected to the reminder device; the front steering gear assembly comprises a front steering machine MCU, a rotation angle sensor, a front gear, a left front tie rod and a right front tie rod, and the power output end of the front rack is respectively connected to the left front tie rod and the right front tie rod; the steering wheel is connected to the front steering gear MCU through the power output end of the steering column assembly The steering column assembly is connected with a rack, and the steering angle sensor is arranged at the output end of the steering column assembly, the signal output end of the steering angle sensor is connected to the input end of the vehicle controller, and the front steering gear MCU is connected to the control end of the vehicle controller; the rear steering gear assembly includes a rear steering gear MCU, a rear steering drive motor, a rear rack, a left rear tie rod and a right rear tie rod, the input end of the rear steering gear MCU is connected to the control end of the vehicle controller, the output end of the rear steering gear MCU is connected to the rear steering drive motor, the power output end of the rear steering drive motor is connected to the rear rack, and the output end of the rear rack is connected to the left rear tie rod and the right rear tie rod.
[0005] Among them, the central control assembly is preferably a central control panel assembly.
[0006] Among them, the central control panel assembly is preset with a reverse rear wheel auxiliary steering strength gear, and the reverse rear wheel auxiliary steering strength gear settings are: strong intervention gear, corresponding gear value d is 1; weak intervention gear, corresponding gear value d is 1 / 2; and no auxiliary gear, corresponding gear value d is 0.
[0007] When the vehicle is reversing, the vehicle controller determines the rear wheel steering angle β by the formula β=δ×di / k. Among them, d is the reverse rear wheel auxiliary steering strength gear value d; i is the reverse rear wheel auxiliary steering intervention strength parameter, which is stored in the VCU, and its value i is defined as βmax / αmax, where βmax is the maximum steering angle of the rear wheel steering, and αmax is the maximum steering angle of the front wheel steering; δ is the steering wheel angle measured by the angle sensor; k is a constant, which is stored in the VCU.
[0008] When the vehicle is reversing, the rear steering machine MCU calculates the rear gear change L by the formula L=β×f, where f is the ratio of the calibrated rack to the rear wheel turning angle.
[0009] The reminder device includes a controller, a left reverse gear position warning light, a right reverse gear position warning light and a buzzer, the input end of the controller is connected to the control end of the vehicle controller, and the output end of the controller is connected to the left reverse gear position warning light, the right reverse gear position warning light and the buzzer. As a specific implementation scheme, the left reverse gear position warning light is installed on the left edge of the left reflector assembly, and the right reverse gear position warning light is installed on the right edge of the right reflector assembly.
[0010] A second aspect of the present invention also relates to a method for controlling active steering of rear wheels of a vehicle when reversing, the method comprising the following steps:
[0011] (1) When the vehicle is in motion, when the vehicle controller detects that the electronic gear shift is engaged in the reverse gear, the vehicle controller sends a reverse rear wheel auxiliary steering intensity gear selection control signal to the central control assembly;
[0012] (2) The driver selects the reverse rear wheel auxiliary steering intensity gear through the central control assembly;
[0013] (3) The vehicle controller calculates the rear wheel steering angle according to the reverse rear wheel auxiliary steering intensity gear, the reverse rear wheel auxiliary steering intervention intensity parameter and the steering wheel angle;
[0014] (4) The rear steering machine MCU calculates the rear gear bar change L according to the rear wheel steering angle, and sends a control signal to the rear steering drive motor, which drives the rear wheel steering and controls its steering angle.
[0015] When the vehicle controller detects that the electronic gear shift exits the reverse gear, the reverse rear wheel auxiliary steering intensity gear is recorded.
[0016] Among them, after the vehicle is started, the vehicle controller resets the reverse rear wheel auxiliary steering intensity gear to the non-assisted gear.
[0017] Compared with the prior art, the vehicle reversing rear wheel active steering control system and method of the present invention has the following beneficial effects:
[0018] By means of the automobile reverse rear wheel active steering control system and method of the present invention, the driver can actively select the reverse rear wheel auxiliary steering strength gear when reversing, and gradually adapt to four-wheel steering reverse parking. The control logic and prompt function of the reverse rear wheel auxiliary steering strength gear are reasonably set to avoid the driver's misoperation. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 The figure is a schematic diagram of the wheel steering trajectory in the prior art.
[0020] Figure 2 The present invention is a structural block diagram of the vehicle rear wheel active steering control system and method for reverse operation.
[0021] Figure 3 The figure is a schematic diagram of the reverse control process of the rear wheel active steering vehicle of the present invention.
[0022] Figure 4 The figure is a schematic diagram of the powertrain structure in the vehicle rear wheel active steering control system and method for reverse driving of the present invention.
[0023] Figure 5 The figure is a schematic diagram of the steering structure in the vehicle reverse rear wheel active steering control system and method of the present invention.
[0024] Figure 6 The figure is a schematic diagram of the central control assembly in the vehicle rear wheel active steering control system and method for reverse operation of the present invention.
[0025] Figure 7 The invention relates to a reverse gear position indicator light in the vehicle reverse rear wheel active steering control system and method. DETAILED DESCRIPTION
[0026] The following will further describe the automobile rear wheel active steering control system and method for reverse driving of the present invention in conjunction with specific embodiments, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.
[0027] Example 1
[0028] In order to avoid the driver's adaptability to the four-wheel steering and avoid the occurrence of scratching when reversing. Figure 2The automobile reverse rear wheel active steering control system shown in the figure includes a VCU80 (VCU is a vehicle control unit), an electronic shifter 100, a central control assembly 90, a brake switch 120, a front steering gear assembly 30, a rear steering gear assembly 40 and a reminder device 150. The output ends of the electronic shifter 100 and the brake switch 120 are connected to the input end of the VCU80, the central control assembly 90 is connected to the control end of the VCU80, and the control end of the VCU80 is connected to the reminder device 150. The reminder device 150 includes a controller 110, a left reverse gear position indicator light 51, a right reverse gear position indicator light 61 and a buzzer 70, the input end of the controller 110 is connected to the control end of the VCU80, and the output end of the controller 110 is connected to the left reverse gear position indicator light 51, the right reverse gear position indicator light 61 and the buzzer 70. Figure 7 As shown, the left reverse gear position indicator light 51 is installed on the left edge of the left reflector assembly 50, and the right reverse gear position indicator light 61 is installed on the right edge of the right reflector assembly 60. Figure 4 As shown, the front steering gear assembly 30 includes a front steering gear MCU31 (MCU, i.e., microcontroller unit), an angle sensor 32, a front gear 35, a left front tie rod 33, and a right front tie rod 34. The power output end of the front rack 35 is connected to the left front tie rod 33 and the right front tie rod 34, respectively. The steering wheel 10 is connected to the front rack 35 through the power output end of the steering column assembly 20, and the angle sensor 32 is arranged at the output end of the steering column assembly 20. The angle sensor 32 is connected to the front steering gear MCU31, and the front steering gear MCU31 is connected to the control end of the VCU80. Figure 5 As shown, the rear steering gear assembly 40 includes a rear steering gear MCU41, a rear steering drive motor 42, a rear rack 45, a left rear tie rod 43 and a right rear tie rod 44. The input end of the rear steering gear MCU41 is connected to the control end of the VCU80, the output end of the rear steering gear MCU41 is connected to the rear steering drive motor 42, the power output end of the rear steering drive motor 42 is connected to the rear rack 45, and the output end of the rear rack 45 is connected to the left rear tie rod 43 and the right rear tie rod 44. In this embodiment, the central control assembly 90 is preferably a central control panel assembly provided with a touch screen control input.
[0029] The central control panel assembly is preset with a reverse rear wheel auxiliary steering strength gear to solve the adaptability problem of the driver when using the rear wheel auxiliary steering for reverse. The reverse rear wheel auxiliary steering strength gear is set to a strong intervention gear (gear value d is 1), a weak intervention gear (gear value d is 1 / 2) and a non-assistance gear (gear value d is 0). When the vehicle is reversed, the VCU80 determines the rear wheel steering angle by the formula β=δ×di / k. Among them, d is the reverse rear wheel auxiliary steering strength gear value d selected by the central control panel assembly 90; i is the reverse rear wheel auxiliary steering intervention strength parameter, and its value i is defined as βmax / αmax, where βmax is the maximum steering angle of the rear wheel steering, αmax is the maximum steering angle of the front wheel steering; δ is the steering wheel angle measured by the angle sensor 32. k is a constant for a specific vehicle, specifically k is the ratio of the calibrated steering wheel angle to the front wheel angle, and is stored in the VCU. The VCU 80 transmits the calculated rear wheel turning angle β to the rear steering machine MCU, and the rear steering machine MCU calculates the rear gear change L by the formula L=β×f, where f is a calibration value, specifically, f is the ratio of the calibrated rack to the rear wheel turning angle. The rear steering machine MCU drives the rear rack 43 through the rear steering motor 42 according to the rear gear change L, and then controls the rear wheel steering through the left rear tie rod 43 and the right rear tie rod 44.
[0030] In this embodiment, the central control assembly 90 is provided with a rear wheel auxiliary steering strength gear selection for reverse driving. Figure 2 The control flow shown in the figure is to solve the adaptability problem of the driver when using the rear-wheel assisted steering for reverse driving. After each vehicle start-up, VCU80 resets the reverse rear-wheel assisted steering intensity gear to the non-assisted gear (gear value d is 0) to ensure that the driver who drives the vehicle for the first time avoids the occurrence of scratching during reverse driving due to driving habits; since the reverse rear-wheel assisted steering intensity gear is kept at the non-assisted gear after each vehicle start-up, the driver can also keep the habit of changing the rear-wheel assisted steering intervention intensity gear for the first reverse driving after each start-up to avoid the influence of the uncertainty of the last reverse gear selection on the current reverse driving.
[0031] When the vehicle is shifted into the "R" gear (reverse gear) through the electronic shift 100, the central control assembly 90 is controlled by VCU80 (select the central control panel assembly with a touch control screen), so that the selection prompt 91, the no auxiliary gear virtual button 92 (which can be represented by Chinese characters), the weak intervention gear virtual button 93 (which can be represented by Chinese characters), and the strong intervention gear virtual button 94 (which can be represented by Chinese characters) are displayed on the central control assembly panel screen, and the virtual button area of the reverse rear wheel auxiliary steering strength gear value d currently stored in VCU80 is highlighted in green on the assembly panel screen, and the other two gear virtual button areas are displayed on a red background. When the driver changes the reverse rear wheel assisted steering strength gear value d through the central control assembly 90, the central control assembly 90 transmits the new rear wheel assisted steering strength gear value d to the VCU80, and the VCU80 stores and re-controls the central control assembly 90, so that the current gear virtual button area on the central control assembly panel screen is highlighted in green, and the remaining gear virtual button areas are displayed on a red background.
[0032] When the vehicle is shifted into the "R" gear (reverse gear) through the electronic shifter 100, the controller 110 is controlled by the VCU80, and the buzzer 70 is used to emit a reverse rear wheel strength gear selection prompt sound (this prompt sound is different from the front and rear radar prompt sounds), and the prompt sound ends after t seconds or after the brake pedal is released to avoid interference with the reversing radar prompt sound. The brake pedal opening signal is transmitted to the VCU80 through the brake switch 120, and the controller 110 is used to control the buzzer 70 prompt sound.
[0033] When the vehicle is shifted into the "R" gear (reverse gear) through the electronic shifter 100, the left reverse gear indicator light 51 and the right reverse gear indicator light 61 on the outer ends of the two side mirrors flash through the VCU80 to prompt the driver to select the rear wheel auxiliary steering intensity gear through the central control assembly 90. When the "R" gear is exited, the electronic shifter 100 transmits a signal to the VCU80, and controls the left reverse gear indicator light 51 and the right reverse gear indicator light 61 to stop flashing through the controller 110.
[0034] When the vehicle is reversing, the steering angle sensor 32 transmits the steering wheel angle δ to the VCU 80 through the front steering gear MCU31. The driver selects the reverse rear wheel auxiliary steering strength gear through the central control assembly 90 and sends the control signal to the VCU80. The VCU 80 determines the rear wheel angle β according to the formula β=δ×i / k, where k is the ratio of the calibrated steering wheel angle to the front wheel angle. The rear steering gear MCU calculates the rear gear change L through the formula L=β×f, where f is the calibration value, specifically, f is the ratio of the calibrated rack to the rear wheel angle. The rear steering gear MCU drives the rear rack 43 according to the rear gear change L through the rear steering motor 42, and then controls the rear wheel steering through the left rear tie rod 43 and the right rear tie rod 44.
[0035] Specifically, if Figure 6 As shown, the reverse rear wheel auxiliary steering strength gear is selected through the central control assembly 90 (select the central control panel assembly with a touch control screen), and the screen displays a selection prompt 91, a virtual button 92 for no auxiliary gear (which can be represented by no Chinese characters), a virtual button 93 for weak intervention gear (which can be represented by weak Chinese characters), and a virtual button 94 for strong intervention gear (which can be represented by strong Chinese characters). The driver can click to select according to needs.
[0036] After the electronic shifter 100 exits the "R" gear, the VCU 80 memory records the reverse rear wheel auxiliary steering strength gear position, so that when the driver shifts into the "R" gear again before the vehicle is turned off, the initial gear position of the reverse rear wheel auxiliary steering strength gear position remains consistent with the previous one, avoiding repeated switching of the front and rear gear positions during parking, resulting in inconsistent rear wheel auxiliary steering strength gear positions when shifting into the "R" gear twice, causing the driver to make short-term habitual misoperation.
[0037] The non-assistant gear virtual button 92, the weak intervention gear virtual button 93, and the strong intervention gear virtual button 94 confirm the currently selected gear according to the records stored in the VCU 80, and display the currently selected gear virtual button area in a green highlighted background, and the other two gear virtual button areas in a red background. The non-assistant gear virtual button 92, the weak intervention gear virtual button 93, and the strong intervention gear virtual button 94 should be set with a color that is obviously different from red and black, such as black.
[0038] By adopting the automobile reverse rear wheel active steering control system and method of this embodiment, the driver can actively select the reverse rear wheel auxiliary steering strength gear when reversing, and gradually adapt to four-wheel steering reverse parking. By reasonably setting the control logic and prompt function of the reverse rear wheel auxiliary steering strength gear, the driver can be prevented from making wrong operations.
[0039] For ordinary technicians in this field, the specific embodiments are only illustrative descriptions of the present invention. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the technical solution of the present invention, they are all within the protection scope of the present invention.
Claims
1. An active steering control system for the rear wheels of a car when reversing, characterized in that include: The vehicle controller VCU, electronic shift, central control assembly, brake switch, front steering gear assembly, rear steering gear assembly and reminder device; the output end of the electronic shift and brake switch is connected to the input end of the vehicle controller, the central control assembly is connected to the control end of the vehicle controller, and the control end of the vehicle controller is connected to the reminder device; the front steering gear assembly includes a front steering machine MCU, an angle sensor, a front rack, a left front tie rod and a right front tie rod, and the power output end of the front rack is respectively connected to the left front tie rod and the right front tie rod; the steering wheel is connected to the front rack through the power output end of the steering column assembly, and The steering angle sensor is arranged at the output end of the steering column assembly, the steering angle sensor is connected to the front steering gear MCU, and the front steering gear MCU is connected to the control end of the vehicle controller; the rear steering gear assembly includes a rear steering gear MCU, a rear steering drive motor, a rear rack, a left rear tie rod and a right rear tie rod, the input end of the rear steering gear MCU is connected to the control end of the vehicle controller, the output end of the rear steering gear MCU is connected to the rear steering drive motor, the power output end of the rear steering drive motor is connected to the rear rack, and the output end of the rear rack is connected to the left rear tie rod and the right rear tie rod; Wherein: the central control assembly is a central control panel assembly, and the central control panel assembly is preset with a reverse rear wheel auxiliary steering strength gear, and the reverse rear wheel auxiliary steering strength gear is set as follows: a strong intervention gear, corresponding to a gear value d of 1; a weak intervention gear, corresponding to a gear value d of 1 / 2; and a no auxiliary gear, corresponding to a gear value d of 0; when the vehicle is reversing, the vehicle controller uses the formula β=δ×d i / k determines the rear wheel steering angle β; where d is the reverse rear wheel auxiliary steering strength gear value d; i is the reverse rear wheel auxiliary steering intervention strength parameter, which is stored in the VCU, and its value i is defined as β max / α max , β max is the maximum steering angle of the rear wheel steering, α max is the maximum steering angle of the front wheel steering; δ is the steering wheel angle measured by the steering angle sensor; k is a constant and is stored in the VCU; when the vehicle is reversing, the rear steering machine MCU calculates the rear gear change L by the formula L=β×f, and f is the ratio of the calibrated rack to the rear wheel angle; the reminder device includes a controller, a left reverse gear prompt light, a right reverse gear prompt light and a buzzer, the input end of the controller is connected to the control end of the vehicle controller, and the output end of the controller is connected to the left reverse gear prompt light, the right reverse gear prompt light and the buzzer; When the vehicle is shifted into the "R" gear through the electronic gear shift, the VCU controls the central control assembly, so that the central control assembly panel screen displays the selection prompt, the virtual button of the non-assistance gear, the virtual button of the weak intervention gear, and the virtual button of the strong intervention gear, and the virtual button area of the reverse rear wheel auxiliary steering strength gear value d currently stored in the VCU is highlighted in green on the assembly panel screen, and the other two gear virtual button areas are displayed on a red background; when the driver changes the reverse rear wheel auxiliary steering strength gear value d through the central control assembly, the central control assembly transmits the new rear wheel auxiliary steering strength gear value d to the VCU, and the VCU stores and re-controls the central control assembly, so that the virtual button area of the current gear on the central control assembly panel screen is highlighted in green, and the other gear virtual button areas are displayed on a red background; When the vehicle is shifted into the "R" gear through the electronic gear shift, the controller is controlled by the VCU, and the buzzer is used to sound the reverse rear wheel strength gear selection prompt sound. The prompt sound ends after the set t seconds or after the brake pedal is released; the brake pedal opening signal is transmitted to the VCU through the brake switch, and the controller is used to control the buzzer prompt sound; When the vehicle is shifted into the "R" gear through the electronic shift, the left and right reverse gear indicator lights on the outer ends of the mirrors on both sides flash through the VCU control controller to remind the driver to select the rear wheel auxiliary steering intensity gear through the central control assembly; when the "R" gear is exited, the electronic shift transmits a signal to the VCU, and controls the left and right reverse gear indicator lights to stop flashing through the controller; When the vehicle is reversing, the steering angle sensor transmits the steering wheel angle δ to the VCU through the front steering gear MCU. The driver selects the reverse rear wheel auxiliary steering intensity gear through the central control assembly and sends the control signal to the VCU. The VCU determines the rear wheel angle β according to the formula β=δ×i / k, where k is the ratio of the calibrated steering wheel angle to the front wheel angle; the rear steering gear MCU calculates the rear gear change L through the formula L=β×f, where f is the calibration value, specifically, f is the ratio of the calibrated rack to the rear wheel angle; the rear steering gear MCU drives the rear rack according to the rear gear change L through the rear steering drive motor, and then controls the rear wheel steering through the left rear tie rod and the right rear tie rod; After the electronic shifter exits the "R" gear, the VCU memory records the reverse rear wheel assist steering strength gear position so that when the driver shifts into the "R" gear again before the vehicle is turned off, the initial gear position of the reverse rear wheel assist steering strength gear position will remain consistent with the previous one.
2. The vehicle rear wheel active steering control system for reverse driving according to claim 1, characterized in that: The left reverse gear position warning light is installed on the left edge of the left reflector assembly, and the right reverse gear position warning light is installed on the right edge of the right reflector assembly.