Steering control device and method during truck hard braking

Abstract

The application discloses a kind of steering control device and method in truck sudden deceleration process, the device includes control unit and steering inhibition mechanism;Steering inhibition mechanism is installed on the steering tie rod of front axle assembly, it includes mechanism body, cylinder and V wedge-shaped slider, mechanism body is set on steering tie rod, and steering tie rod is equipped with the taper boss of coaxial arrangement;Cylinder is arranged at the outside of mechanism body, and the piston rod of cylinder is connected with push plate, and multiple guide rods are arranged on push plate, guide rod extends to the inside of mechanism body, and is connected with V wedge-shaped slider, and the side of V wedge-shaped slider facing taper boss is equipped with V type slot, and V type slot and taper boss are mutually matched.The application can automatically ensure that vehicle steering wheel does not run off in the case of truck high-speed driving sudden deceleration, avoid serious accidents such as sideslip, overturning and collision, can reduce the operation difficulty of driver, meet the control demand of high-level automatic driving system, improve driving safety.

Description

Technical Field

[0001] This invention relates to the field of truck driving safety technology, and more specifically, to a steering control device and method for a truck during rapid deceleration. Background Technology

[0002] Heavy-duty trucks, as the main means of transportation in high-speed logistics, generally have a full load weight exceeding 35 tons and a trailer width exceeding 2.5 meters. Such massive vehicles, when braking at high speeds, are prone to veering due to various factors such as uneven braking force distribution, vehicle center of gravity shift, insufficient tire pressure, or leaf spring deformation. Once this veer occurs, the vehicle may drift into the adjacent lane, and in severe cases, the veering can lead to a rollover.

[0003] In such cases of vehicle drift, the steering wheel in the driver's cab usually doesn't turn significantly, and the driver typically needs to counter-steer in time to correct the vehicle's course. While drivers can react quickly under manual driving conditions, they are unable to do so with Level 3 and higher autonomous driving systems.

[0004] Therefore, how to provide a steering control device and method to deal with the problem of deviation that easily occurs during rapid deceleration has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] The purpose of this invention is to provide a steering control device and method for a truck during rapid deceleration, in order to solve the problems mentioned in the background art.

[0006] According to one aspect of the present invention, a steering control device for a truck during rapid deceleration is provided, comprising a control unit and a steering inhibition mechanism;

[0007] The steering restraint mechanism is mounted on the steering tie rod of the front axle assembly. It includes a mechanism body, a cylinder, and a V-shaped slider. The mechanism body is sleeved on the steering tie rod, and the steering tie rod is provided with a coaxially arranged tapered boss.

[0008] The cylinder is located on the outside of the mechanism body, and the piston rod of the cylinder is connected to a push plate. The push plate is provided with multiple guide rods, which extend into the interior of the mechanism body and are connected to the V-shaped slider. The V-shaped slider has a V-shaped groove on the side facing the conical boss, and the V-shaped groove cooperates with the conical boss.

[0009] The control unit is electrically connected to the cylinder so that the cylinder can drive the V-shaped slider to press against or move away from the conical boss, thereby locking or releasing the steering tie rod.

[0010] Optionally, in the steering control device for rapid deceleration of a truck according to the present invention, grooves are provided on the two inner sidewalls opposite to each other of the mechanism body, and guide rails that cooperate with the grooves are provided at both ends of the V-shaped slider.

[0011] Optionally, in the steering control device for rapid deceleration of a truck according to the present invention, the number of guide rods is four, which are respectively arranged at the four corners of the push plate with the cylinder as the center.

[0012] According to a second aspect of the present invention, a steering control method for a truck during rapid deceleration is also provided, employing the steering control device described in any of the above embodiments and the following steps:

[0013] Step 1: The steering control device is activated, and the control unit collects signals in real time;

[0014] Step 2: When the vehicle speed exceeds the predetermined speed, the steering control device enters the recognition state;

[0015] Step 3: Continuously monitor the status signals of the braking system. When the braking system is activated, enter the deceleration monitoring state.

[0016] Step 4: Continuously monitor the vehicle's braking deceleration. When the deceleration is greater than the predetermined deceleration, it indicates that the vehicle's braking force is large and there is an emergency braking indicator. Proceed to Step 5; otherwise, return to Step 1.

[0017] Step 5: When it is determined that the vehicle has entered an emergency braking state, the steering gear is returned to the zero position by the drive-by-wire command to ensure that the vehicle is straight. At this time, proceed to step 6; otherwise, return to step 1.

[0018] Step 6: When the vehicle is under emergency braking and the steering returns to the zero position, the control unit activates the steering restraint mechanism, locks the steering tie rod, and provides a status indication through the instrument panel.

[0019] Step 7: Continuously monitor the steering wheel torque to identify whether the driver needs to manually steer. If the steering torque is greater than the predetermined torque value, proceed to step 2; otherwise, return to step 1 and perform continuous cyclic monitoring until the emergency braking state is exited. Then, the steering inhibition mechanism releases the steering tie rod, cancels the active steering intervention, and restores normal driving state.

[0020] Optionally, in the steering control method for truck rapid deceleration according to the present invention, in step 1, the signals collected by the control unit include vehicle speed V, brake pedal state, braking deceleration, steering wheel angle, and steering wheel torque.

[0021] Optionally, in the steering control method for a truck during rapid deceleration according to the present invention, the predetermined vehicle speed in step 2 is 40 km / h.

[0022] Optionally, in the steering control method for a truck during rapid deceleration according to the present invention, in step 4, the predetermined deceleration is -2 m / s². 2 .

[0023] Optionally, in the steering control method for a truck during rapid deceleration according to the present invention, the predetermined torque value in step 7 is 5 N·m.

[0024] Optionally, according to the steering control method for truck deceleration according to the present invention, in step 5, when the steering wheel angle is less than 3°, the steering gear returns to zero and the vehicle direction is straightened.

[0025] This invention, through its device and method, can automatically ensure that the steering wheels of a truck do not veer off course during rapid deceleration at high speeds, preventing serious accidents such as skidding, rollover, and collisions. It reduces the driver's workload, meets the control requirements of advanced autonomous driving systems, and improves driving safety. The steering restraint mechanism is installed in the middle of the front axle of the front axle assembly, ensuring the steering tie rod is locked and controlling the front wheel velocity from below the leaf springs, keeping the vehicle traveling in a straight line until it comes to a stop.

[0026] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0028] Figure 1 This is a schematic diagram of the steering control device disclosed in this invention;

[0029] Figure 2 This is a schematic diagram of the steering suppression mechanism disclosed in this invention;

[0030] Figure 3 This is a schematic diagram of the structure of the mechanism body disclosed in this invention;

[0031] Figure 4 This is a schematic diagram of the structure of the V-shaped slider disclosed in this invention;

[0032] Figure 5 This is a control logic diagram of the steering control method disclosed in this invention.

[0033] Explanation of reference numerals in the attached drawings: 1-Steering tie rod; 11-Conical boss; 2-Steering restraint mechanism; 21-Mechanism body; 22-Cylinder; 23-Push plate; 24-Guide rod; 25-V-wedge slider; 26-Slide groove; 27-Guide rail; 28-V-shaped groove; 3-Front axle; 4-Steering knuckle arm; 5-Steering wheel axle. Detailed Implementation

[0034] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0035] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0036] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0037] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0038] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0039] according to Figures 1 to 4 As shown, the present invention provides a steering control device for a truck during rapid deceleration, including a control unit and a steering inhibition mechanism 2.

[0040] The steering restraint mechanism 2 is mounted on the steering tie rod 1 of the front axle assembly. Its main function is to lock the steering tie rod 1, controlling the front wheel deviation angle from below the leaf spring, so that the vehicle keeps traveling in a straight line until it stops. The steering system consists of the steering tie rod 1, the front axle 3, the steering knuckle arm 4, and the steering wheel axle 5. The steering restraint mechanism 2 includes a mechanism body 21, a cylinder 22, and a V-wedge slider 25. The bottom end of the mechanism body 21 is fixed to the front axle 3. The steering tie rod 1 passes through the opposite sides of the mechanism body 21, and the steering tie rod 1 is provided with a coaxially arranged tapered boss 11.

[0041] The cylinder 22 is located on the outside of the mechanism body 21, and the piston rod of the cylinder 22 is connected to the push plate 23. The push plate 23 is provided with multiple guide rods 24, which extend into the interior of the mechanism body 21 and are connected to the V-wedge slider 25. The V-wedge slider 25 has a V-shaped groove 28 on the side facing the conical boss 11, and the V-shaped groove 28 cooperates with the conical boss 11. The V-wedge slider 25 is used to fix the position of the tie rod. By locking the conical boss 11 of the tie rod through the V-shaped groove 28, the left and right movement of the tie rod is restricted to control the steering, ensuring that it does not veer randomly during emergency braking and thus avoid deviation.

[0042] The control unit is electrically connected to the cylinder 22 so that the cylinder 22 can drive the V-wedge slider 25 to press against or move away from the tapered boss 11, thereby locking or releasing the steering tie rod 1.

[0043] The main function of the control unit is to receive the vehicle's driving status signal, and after comprehensive decision-making, control the cylinder 22 on the main body to move back and forth, thereby driving the V-wedge slider 25 assembly to lock or unlock the tie rod.

[0044] The control unit receives signals including vehicle speed, braking status, braking deceleration, steering wheel angle, and steering force. It makes comprehensive decisions based on these signals and sends the operating status of its own system to the instrument panel via bus signals for display.

[0045] Furthermore, grooves 26 are provided on the two opposing inner sidewalls of the mechanism body 21, and guide rails 27 that cooperate with the grooves 26 are provided at both ends of the V-shaped slider 25. The guide rails 27 can slide back and forth in the grooves 26 of the mechanism body 21 to ensure accurate movement.

[0046] Furthermore, there are four guide rods 24, which are respectively set at the four corners of the push plate 23 with the cylinder 22 as the center. This ensures that the cylinder 22 can drive the V-wedge slider 25 to move as a whole, and ensures a tight fit between the V-wedge slider 25 and the conical boss 11.

[0047] according to Figure 5 As shown, the present invention also provides a steering control method for a truck during rapid deceleration, employing any of the steering control devices and the following steps in the above embodiments:

[0048] Step 1: The steering control device is activated, and the control unit collects signals in real time;

[0049] Step 2: When the vehicle speed exceeds the predetermined speed, the steering control device enters the recognition state;

[0050] Step 3: Continuously monitor the status signals of the braking system. When the braking system is activated, enter the deceleration monitoring state.

[0051] Step 4: Continuously monitor the vehicle's braking deceleration. When the deceleration is greater than the predetermined deceleration, it indicates that the vehicle's braking force is large and there is an emergency braking indicator. Proceed to Step 5; otherwise, return to Step 1.

[0052] Step 5: When it is determined that the vehicle has entered an emergency braking state, the steering gear must first be returned to the zero position by the drive-by-wire command, that is, to ensure that the vehicle is straight and to eliminate the subjective factors of braking deviation. At this time, proceed to step 6; otherwise, return to step 1.

[0053] Step 6: When the vehicle is under emergency braking and the steering returns to the zero position, the control unit activates the steering suppression mechanism 2, locks the steering tie rod 1 to prevent abnormal braking and deviation, and provides a status indication through the instrument panel to ensure that the driver clearly understands the current steering lock status of the vehicle.

[0054] Step 7: Continuously monitor the steering wheel torque to identify whether the driver needs to manually steer. If the steering torque is greater than the predetermined torque value, proceed to step 2; otherwise, return to step 1 and perform continuous cyclic monitoring until the emergency braking state is exited. Then, the steering inhibition mechanism 2 releases the steering tie rod 1, cancels the active steering intervention, and restores normal driving state.

[0055] Furthermore, in step 1, the signals collected by the control unit include vehicle speed V, brake pedal status, braking deceleration, steering wheel angle, and steering wheel torque.

[0056] Furthermore, in step 2, the predetermined vehicle speed is 40 km / h.

[0057] Furthermore, in step 4, the predetermined deceleration is -2 m / s². 2 .

[0058] Furthermore, in step 7, the predetermined torque value is 5 N·m.

[0059] Furthermore, in step 5, when the steering wheel angle is less than 3°, the steering gear returns to zero and the vehicle's direction is straightened.

[0060] This invention, through its device and method, can automatically ensure that the steering wheels of a truck do not deviate from their designated path during rapid deceleration at high speeds, thus preventing serious accidents such as skidding, rollover, and collisions. It reduces the driver's operational difficulty, meets the control requirements of advanced autonomous driving systems, and improves driving safety. The steering restraint mechanism 2 is installed in the middle of the front axle 3 of the front axle assembly, ensuring the steering tie rod 1 is locked and controlling the deflection angle of the front wheels from below the leaf springs, keeping the vehicle traveling in a straight line until it stops.

[0061] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A method of steering control during a truck hard braking process, characterized by, The steering control device comprises a control unit and a steering inhibition mechanism; The steering inhibition mechanism is mounted on a steering tie rod of a front axle assembly, and comprises a mechanism body, a cylinder and a V-shaped sliding block, the mechanism body is sleeved on the steering tie rod, and a conical boss coaxially arranged on the steering tie rod; The cylinder is arranged outside the mechanism body, and a push plate is connected to a piston rod of the cylinder, a plurality of guide rods are arranged on the push plate, the guide rods extend into the mechanism body and are connected to the V-shaped sliding block, a V-shaped clamping groove is arranged on a side of the V-shaped sliding block facing the conical boss, and the V-shaped clamping groove and the conical boss are matched with each other; The control unit is electrically connected to the cylinder, so that the cylinder can drive the V-shaped sliding block to tightly contact or move away from the conical boss, thereby locking or releasing the steering tie rod; The steering control method comprises the following steps: Step 1, the steering control device is started, and the control unit collects signals in real time; Step 2, when the vehicle speed is greater than a predetermined vehicle speed, the steering control device enters an identification state; Step 3, the state signal of the brake system is continuously monitored, and when the brake system is activated, the deceleration monitoring state is entered; Step 4, the vehicle deceleration is continuously monitored, and when the deceleration is greater than a predetermined deceleration, the vehicle braking force is large, the emergency braking index exists, step 5 is entered, otherwise step 1 is returned; Step 5, when the vehicle enters the emergency braking state, the steering machine is returned to zero position through the line control instruction, and the vehicle direction is returned to normal, and step 6 is entered, otherwise step 1 is returned; Step 6, when the vehicle in the emergency braking state is returned to zero position, the control unit starts the steering inhibition mechanism, locks the steering tie rod, and the state is prompted through the instrument; Step 7, the steering torque of the steering wheel is continuously monitored, so as to identify whether the driver has the demand of artificial steering, if the steering torque is greater than a predetermined torque value, step 2 is entered, otherwise step 1 is returned, and the continuous cycle monitoring is carried out, until the emergency braking state is exited, the steering inhibition mechanism releases the steering tie rod, the active steering intervention is released, and the normal driving state is restored.

2. The method of claim 1, wherein, In the step 1, the signals collected by the control unit include the vehicle speed V, the brake pedal state, the brake deceleration, the steering wheel angle and the steering torque.

3. The method of claim 1, wherein, In the step 2, the predetermined vehicle speed is 40km / h.

4. The method of claim 1, wherein, In said step 4, said predetermined deceleration is -2 m / s 2 .

5. The method of claim 1, wherein, In the step 7, the predetermined torque value is 5N·m.

6. The method of claim 1, wherein, In the step 5, when the steering wheel angle is less than 3°, the steering machine is returned to zero position, and the vehicle direction is returned to normal.

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