Vehicle rear-end collision prevention system and vehicle

Abstract

The invention discloses a vehicle rear-end collision prevention system and a vehicle. Belongs to the vehicle field. Comprising an information acquisition unit used for acquiring the state of a front vehicle of a current vehicle and the state of a rear vehicle of the current vehicle; the information processing unit is electrically connected with the information acquisition unit, and the information processing unit is used for acquiring the state of the front vehicle and the state of the rear vehicle, determining whether the rear vehicle is in rear-end collision with the current vehicle or not based on the state of the front vehicle and the state of the rear vehicle, and if it is determined that the rear vehicle is in rear-end collision with the current vehicle, sending information to the information processing unit; if yes, determining a wheel steering angle of the current vehicle, and sending the wheel steering angle of the current vehicle to a steering control unit; and the steering control unit is electrically connected with the information processing unit, and the steering control unit is used for controlling a driving wheel assembly of the vehicle to drive wheels of the current vehicle to rotate to the angle indicated by the wheel steering angle when the wheel steering angle of the current vehicle is received.

Description

Technical Field

[0001] The present application belongs to the field of vehicles, and specifically relates to a vehicle rear-end collision prevention system and a vehicle. Background Art

[0002] With the rapid development of society, vehicles have become an indispensable means of transportation for people's daily travel. When a vehicle is driving on the road, if the vehicle in front of the current vehicle stops, the current vehicle will also stop. If the vehicle behind the current vehicle rear-ends the current vehicle due to improper operation, the current vehicle may be hit and then hit the vehicle in front, so that the current vehicle is sandwiched by the vehicle in front and the vehicle behind, and the safety of the driver in the current vehicle is greatly affected, that is, the safety of the driver in the current vehicle is reduced. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a vehicle rear-end collision prevention system and a vehicle, which at least solves the problem of reduced safety of drivers in current vehicles.

[0004] In a first aspect, an embodiment of the present application provides a vehicle rear-end collision prevention system, the vehicle rear-end collision prevention system comprising:

[0005] An information collection unit, used to collect the status of the vehicle in front of the current vehicle and the status of the vehicle behind the current vehicle;

[0006] an information processing unit, electrically connected to the information acquisition unit, the information processing unit being used to obtain the state of the front vehicle and the state of the rear vehicle, and based on the state of the front vehicle and the state of the rear vehicle, determine whether the rear vehicle will rear-end the current vehicle, and if it is determined that the rear vehicle will rear-end the current vehicle, determine the wheel steering angle of the current vehicle, and send the wheel steering angle of the current vehicle to the steering control unit;

[0007] A steering control unit is electrically connected to the information processing unit. The steering control unit is used to control the vehicle's driving wheel assembly to drive the wheels of the current vehicle to rotate to the angle indicated by the wheel steering angle when receiving the wheel steering angle of the current vehicle, so as to prevent the current vehicle from rear-ending the vehicle in front when the rear vehicle rear-ends the current vehicle.

[0008] Optionally, the information processing unit is also used to determine the position information of the current vehicle and the position information of the front vehicle if it is determined that the rear vehicle will rear-end the current vehicle, and determine the wheel steering angle of the current vehicle based on the position information of the current vehicle and the position information of the front vehicle.

[0009] Optionally, the information processing unit is also used to determine the direction in which the current vehicle is to turn, and determine the position coordinates of a target point on the rear of the current vehicle, the target point being: a point opposite to the wheel located on the inner side of the direction in which the current vehicle is to turn in the direction from the current vehicle to the vehicle in front; determine the turning radius of the current vehicle; and determine the wheel steering angle of the current vehicle based on the turning radius of the current vehicle and the position of the target point.

[0010] Optionally, the information processing unit is used to determine the wheel steering angle of the current vehicle based on the following formula:

[0011]

[0012] Among them, θ represents the wheel steering angle of the current vehicle, L represents the turning radius of the current vehicle, X2 represents the coordinate of the target point in the X-axis direction, Y2 represents the coordinate of the target point in the Y-axis direction, the X-axis direction is parallel to the width direction of the front vehicle, and the Y-axis is parallel to the length direction of the front vehicle.

[0013] Optionally, the steering control unit is used to add the wheel steering angle to the steering margin when receiving the wheel steering angle of the current vehicle to obtain a final wheel steering angle, and control the driving wheel assembly of the vehicle to drive the wheels of the current vehicle to rotate to the angle indicated by the final wheel steering angle.

[0014] Optionally, the information processing unit is further used to obtain the state of the front vehicle and the state of the rear vehicle when the current vehicle and the front vehicle are both stationary.

[0015] Optionally, the information collection unit is further used to collect the type of the rear vehicle and send the type of the rear vehicle to the information processing unit;

[0016] The information processing unit is also used to determine whether the rear vehicle will rear-end the current vehicle based on the state of the front vehicle and the state of the rear vehicle when receiving the type of the rear vehicle and determining that the type of the rear vehicle is one of the preset vehicle types.

[0017] Optionally, the vehicle rear-end collision prevention system further includes an interaction unit, and the interaction unit is electrically connected to the information processing unit;

[0018] The information processing unit is also used to send a first instruction to the interaction unit if it is determined that the rear vehicle will rear-end the current vehicle. The interaction unit is used to output a first prompt message, and the first prompt message is used to prompt the driver that the current vehicle will be rear-ended.

[0019] Optionally, the vehicle rear-end collision prevention system further includes an interaction unit, and the interaction unit is electrically connected to the information processing unit;

[0020] The information processing unit is also used to send a second instruction to the interaction unit if it is determined that the rear vehicle will rear-end the current vehicle. The interaction unit is used to output second prompt information, and the second prompt information is used to prompt the driver that the wheels of the current vehicle will turn.

[0021] In a second aspect, an embodiment of the present application provides a vehicle, the vehicle comprising a vehicle body and the vehicle rear-end collision prevention system described in any one of the first aspects above;

[0022] The vehicle rear-end collision protection system is installed in the vehicle body.

[0023] In the embodiment of the present application, since the information processing unit is electrically connected to the information collection unit, and the steering control unit is electrically connected to the information processing unit, once the information collection unit collects the status of the vehicle in front of the current vehicle and the status of the vehicle behind the current vehicle, the information collection unit can send the status of the vehicle in front of the current vehicle and the status of the vehicle behind the current vehicle to the information processing unit, so that the information processing unit obtains the status of the vehicle in front and the status of the vehicle behind. The information processing unit can determine whether the rear vehicle will rear-end the current vehicle based on the status of the vehicle in front and the status of the vehicle behind. Once it is determined that the rear vehicle will rear-end the current vehicle, the information The processing unit determines the wheel steering angle of the current vehicle and sends the wheel steering angle of the current vehicle to the steering control unit. After the steering control unit receives the wheel steering angle of the current vehicle, the steering control unit can control the vehicle's driving wheel assembly to drive the wheels of the current vehicle to rotate to the angle indicated by the wheel steering angle, so that even if the rear vehicle hits the current vehicle, that is, the rear vehicle rear-ends the current vehicle, the wheels of the current vehicle have been rotated to the angle indicated by the wheel steering angle, so that the current vehicle will be offset relative to the front vehicle, avoiding the current vehicle from rear-ending the front vehicle, thereby avoiding the current vehicle from being sandwiched by the front vehicle and the rear vehicle, resulting in a reduction in the danger caused by the current vehicle to the driver. That is, in the embodiment of the present application, by setting the information collection unit, the information processing unit and the steering control unit, the information processing unit can determine the wheel steering angle of the current vehicle when determining that the rear vehicle of the current vehicle will hit the current vehicle, so that the steering control unit drives the wheel steering of the current vehicle by controlling the vehicle's wheel driving assembly, avoiding the current vehicle from hitting the front vehicle when the current vehicle is hit by the rear vehicle, thereby avoiding the current vehicle from being sandwiched, and improving the safety of the driver of the current vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1A schematic diagram showing a vehicle rear-end collision prevention system provided by an embodiment of the present application;

[0025] Figure 2 A schematic diagram showing the positional relationship between a current vehicle and a preceding vehicle when moving, provided in an embodiment of the present application.

[0026] Reference numerals:

[0027] 10: information collection unit; 20: information processing unit; 30: steering control unit; 40: interaction unit. DETAILED DESCRIPTION

[0028] The term "first" or "second" in the specification and claims of this application may include one or more of the features explicitly or implicitly. In the description of this application, unless otherwise specified, "plurality" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the objects connected before and after are in an "or" relationship.

[0029] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0030] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] like Figure 1 to Figure 2As shown, the vehicle rear-end collision prevention system includes: an information collection unit 10, which is used to collect the status of the vehicle in front of the current vehicle and the status of the vehicle behind the current vehicle; an information processing unit 20, which is electrically connected to the information collection unit 10, and the information processing unit 20 is used to obtain the status of the vehicle in front and the status of the vehicle behind, and based on the status of the vehicle in front and the status of the vehicle behind, determine whether the rear vehicle will rear-end the current vehicle, if it is determined that the rear vehicle will rear-end the current vehicle, then determine the wheel steering angle of the current vehicle, and send the wheel steering angle of the current vehicle to the steering control unit 30; the steering control unit 30 is electrically connected to the information processing unit 20, and the steering control unit 30 is used to control the vehicle's driving wheel assembly to drive the wheels of the current vehicle to rotate to the angle indicated by the wheel steering angle when receiving the wheel steering angle of the current vehicle, so as to prevent the current vehicle from rear-ending the vehicle in front when the rear vehicle rear-ends the current vehicle.

[0032] In the embodiment of the present application, since the information processing unit 20 is electrically connected to the information acquisition unit 10, and the steering control unit 30 is electrically connected to the information processing unit 20, once the information acquisition unit 10 acquires the state of the vehicle in front of the current vehicle and the state of the vehicle behind the current vehicle, the information acquisition unit 10 can send the state of the vehicle in front of the current vehicle and the state of the vehicle behind the current vehicle to the information processing unit 20, so that the information processing unit 20 acquires the state of the vehicle in front and the state of the vehicle behind. The information processing unit 20 can determine whether the rear vehicle will rear-end the current vehicle based on the state of the vehicle in front and the state of the vehicle behind. Once it is determined that the rear vehicle will rear-end the current vehicle, The information processing unit 20 determines the wheel steering angle of the current vehicle and sends the wheel steering angle of the current vehicle to the steering control unit 30. After the steering control unit 30 receives the wheel steering angle of the current vehicle, the steering control unit 30 can control the driving wheel assembly of the vehicle to drive the wheels of the current vehicle to rotate to the angle indicated by the wheel steering angle, so that even if the rear vehicle hits the current vehicle, that is, the rear vehicle rear-ends the current vehicle, the wheels of the current vehicle have been rotated to the angle indicated by the wheel steering angle, so that the current vehicle will be offset relative to the front vehicle, avoiding the current vehicle from rear-ending the front vehicle, thereby avoiding being sandwiched by the front vehicle and the rear vehicle, resulting in a reduction in the danger caused by the current vehicle to the driver. That is, in the embodiment of the present application, by setting up the information collection unit 10, the information processing unit 20 and the steering control unit 30, the information processing unit 20 can determine the wheel steering angle of the current vehicle when it is determined that the rear vehicle of the current vehicle will hit the current vehicle, so that the steering control unit 30 drives the wheel steering of the current vehicle by controlling the wheel driving component of the vehicle, thereby avoiding the current vehicle from hitting the front vehicle when the current vehicle is hit by the rear vehicle, thereby avoiding the current vehicle from being sandwiched, and improving the safety of the driver of the current vehicle.

[0033] It should be noted that, in the embodiment of the present application, the information collection unit 10 may be a millimeter wave radar, a camera, an ultrasonic radar, a laser radar, etc. For example, if the information collection unit 10 is a camera, a forward camera and a rearward camera may be installed on the vehicle, and the state of the vehicle in front may be identified by the forward camera, and the state of the vehicle behind may be identified by the rearward camera; for another example, if the information collection unit 10 is a millimeter wave, a forward millimeter wave radar and a rearward millimeter wave radar may be installed on the vehicle, and the state of the vehicle in front may be identified by the forward millimeter wave radar, and the state of the vehicle behind may be identified by the rear millimeter wave radar.

[0034] In addition, in the embodiment of the present application, the information processing unit 20 may be a controller, for example, the information processing unit 20 is a vehicle controller in a vehicle, and in another example, the information processing unit 20 is an intelligent driving controller in a vehicle. In addition, the steering control unit 30 may be an EPS controller, and of course, the steering control unit 30 may also be other components with control functions.

[0035] In addition, a steering drive assembly is installed in the vehicle. The steering drive assembly may be a drive motor. The drive motor is electrically connected to the steering control unit 30 .

[0036] In addition, in the embodiment of the present application, the wheel steering angle of the current vehicle refers to the steering angle of the front wheels of the current vehicle, and the steering drive component drives the front wheels of the current vehicle to steer.

[0037] In addition, in the embodiment of the present application, the information processing unit 20 can also be used to obtain the state of the front vehicle and the state of the rear vehicle when the current vehicle and the front vehicle are both stationary. Through such a setting, it is equivalent to that the current vehicle and the front vehicle are both stopped on the road. At this time, the wheels of the current vehicle are not deflected, and the driver inside the current vehicle will be more relaxed. Once the information processing unit 20 determines that the rear vehicle of the current vehicle is traveling toward the current vehicle, and determines that the rear vehicle may hit the current vehicle, that is, determines that the rear vehicle may rear-end the current vehicle, the information processing unit 20 will cause the steering drive component to drive the front wheels of the current vehicle to rotate to the angle indicated by the vehicle steering angle according to the wheel steering angle, so that once the rear vehicle rear-ends the current vehicle, when the current vehicle is pushed and moved by the rear vehicle, the front of the current vehicle will also be offset relative to the front vehicle, avoiding the problem that the current vehicle is sandwiched by the front vehicle and the rear vehicle after being rear-ended.

[0038] In addition, in some embodiments, the information processing unit 20 can also be used to determine the position information of the current vehicle and the position information of the front vehicle if it is determined that the rear vehicle will rear-end the current vehicle, and determine the wheel steering angle of the current vehicle based on the position information of the current vehicle and the position information of the front vehicle.

[0039] Among them, by determining the position information of the current vehicle and the position information of the vehicle in front, when the current vehicle is pushed by the vehicle behind, the moving trajectory of the current vehicle can be determined more accurately, avoiding the problem of the current vehicle colliding with the vehicle in front while being moved by the vehicle behind.

[0040] In addition, in some embodiments, the information processing unit 20 can also be used to determine the direction in which the current vehicle is to turn, and determine the position coordinates of a target point on the rear of the current vehicle, the target point being: a point in the direction from the current vehicle to the vehicle in front, opposite to the wheel located on the inner side of the direction in which the current vehicle is to turn; determine the turning radius of the current vehicle; and determine the wheel steering angle of the current vehicle based on the turning radius of the current vehicle and the position of the target point.

[0041] Among them, Figure 2 As shown, the target point can be B in the figure, and the coordinates of point B are determined to be (X2, Y2). The position of the front wheel outside the direction of the current vehicle to be turned can be marked as A, and the coordinates of point A are (X1, Y1). The initial steering angle of the wheel of the current vehicle is set to θ, the center of the turning circle of the current vehicle is O, and the coordinates of point 0 are (0, 0). It can be determined that the angle between the center of the circle and the front wheel and the center of the circle O is θ1, and the turning radius of the current vehicle R = L / tanθ can be determined, wherein L represents the wheelbase of the current vehicle, that is, the distance between the front axle and the rear axle of the current vehicle.

[0042] When the current vehicle turns according to the initial steering angle, that is, when point A moves, the path coordinates of point A are (R*COSθ1, R*SINθ1), θ1∈{3 / 2π, 2}. When the current vehicle is hit, the current vehicle moves along the steering trajectory. When the X-axis of point A coincides with that of point B, at this time, X1=R*COS(θ1)=X2, that is, θ1=Arccos(X2 / R). At this time, the Y coordinate of point A can be expressed by Ay, Ay=R*SIN(θ1)=R*SIN(Arccos(X2 / R)). If the current vehicle does not need to collide with the vehicle in front during movement, Y2>Ay must be satisfied to ensure that the two vehicles do not collide, that is, Y2>R*SIN(Arccos(X2 / R)), R=L / tanθ, that is, Y2>(L / tanθ)*SIN(Arccos(X2 / (L / tanθ))), then it can be determined. When , the current vehicle will not collide on the turning radius. That is, after the turning radius of the current vehicle and the position of the target point are determined, the wheel steering angle of the current vehicle can be determined based on the turning radius of the current vehicle and the position of the target point.

[0043] In addition, in the embodiment of the present application, the information processing unit 20 can be used to determine the wheel steering angle of the current vehicle based on the following formula:

[0044]

[0045] Among them, θ represents the wheel steering angle of the current vehicle, L represents the steering radius of the current vehicle, X2 represents the coordinate of the target point in the X-axis direction, Y2 represents the coordinate of the target point in the Y-axis direction, the X-axis direction is parallel to the width direction of the front vehicle, and the Y-axis direction is parallel to the length direction of the front vehicle. Among them, the width direction of the front vehicle is: the direction from the main driver's seat to the co-driver's seat of the front vehicle, and the length direction of the front vehicle is: the direction from the front of the vehicle to the rear of the front vehicle.

[0046] In addition, in some embodiments, the steering control unit 30 can be used to add the wheel steering angle to the steering margin when receiving the wheel steering angle of the current vehicle to obtain the final wheel steering angle, and control the vehicle's drive wheel assembly to drive the wheels of the current vehicle to rotate to the angle indicated by the final wheel steering angle.

[0047] Through such an arrangement, once the wheels of the current vehicle are turned, it can be ensured that the current vehicle does not collide with the vehicle in front when the current vehicle is moving, and the problem of the current vehicle hitting the vehicle in front and being sandwiched between the vehicle in front and the vehicle behind can be avoided.

[0048] For example, the wheel steering angle is The steering margin is π / 36, so the final wheel angle is

[0049] In addition, in the embodiment of the present application, when the information collection unit 10 collects the information of the braking of the rear vehicle, the information collection unit 10 can send the information of the braking of the rear vehicle to the information processing unit 20. When the information processing unit 20 determines that the rear vehicle will not collide with the current vehicle after braking based on the information of the braking of the rear vehicle, the information processing unit 20 sends a return command to the steering control unit 30. The steering control unit 30 controls the wheel drive component to drive the wheels of the current vehicle to return to the center based on the return command.

[0050] In addition, in some embodiments, the information collection unit 10 can also be used to collect the type of the rear vehicle and send the type of the rear vehicle to the information processing unit 20; the information processing unit 20 is also used to determine whether the rear vehicle will rear-end the current vehicle based on the state of the front vehicle and the state of the rear vehicle when receiving the type of the rear vehicle and determining that the type of the rear vehicle is one of the preset vehicle types.

[0051] Among them, the preset vehicle types include trucks, trains, SUVs, and sedans. Through such a setting, once the information processing unit 20 determines that the type of the rear vehicle is one of the preset vehicle types, if the rear vehicle hits the current vehicle, it will provide a large impact force to the current vehicle, causing the current vehicle to be pushed and moved, and the current vehicle may hit the vehicle in front. If the rear vehicle does not belong to one of the preset vehicle types, for example, the rear vehicle is a motorcycle, at this time, even if the motorcycle hits the current vehicle, the impact force provided by the motorcycle to the current vehicle is small and insufficient to push the current vehicle to move, so that even if the current vehicle is rear-ended, the current vehicle may not hit the vehicle in front, so there is no need for the information processing unit 20 to send instructions to the steering control unit 30, so that the steering control unit 30 controls the wheel drive assembly to drive the wheel to turn.

[0052] In addition, in some embodiments, the vehicle rear-end collision prevention system may further include an interaction unit 40, which is electrically connected to the information processing unit 20; the information processing unit 20 is also used to send a first instruction to the interaction unit 40 if it is determined that the rear vehicle will rear-end the current vehicle, and the interaction unit 40 is used to output a first prompt message, and the first prompt message is used to prompt the driver that the current vehicle will be rear-ended.

[0053] Through such a setting, once it is determined that the rear vehicle will rear-end the current vehicle, the interactive unit 40 will be able to output a first prompt message to remind the driver that the current vehicle will be rear-ended, so that the driver can be mentally prepared in advance to avoid the problem of the driver suddenly panicking when the current vehicle is rear-ended.

[0054] The interactive unit 40 may include but is not limited to the instrument, central control screen, HUD, etc. in the vehicle. In this case, it is equivalent to displaying the information that the current vehicle will be hit through the instrument, central control screen, HUD, etc. to prompt the driver. Of course, the interactive unit 40 can also be other types. For example, the interactive unit 40 is a speaker inside the vehicle. In this case, it is equivalent to broadcasting the information that the current vehicle will be hit through the speaker. The specific type of the interactive unit 40 is not limited in this embodiment of the application.

[0055] In addition, in some embodiments, the vehicle rear-end collision prevention system may further include an interaction unit 40, which is electrically connected to the information processing unit 20; the information processing unit 20 is also used to send a second instruction to the interaction unit 40 if it is determined that the rear vehicle will rear-end the current vehicle, and the interaction unit 40 is used to output a second prompt information, and the second prompt information is used to prompt the driver that the wheels of the current vehicle will turn.

[0056] Through such a setting, once it is determined that the rear vehicle will rear-end the current vehicle, the interactive unit 40 will be able to output a second prompt message to prompt the driver that the wheels of the current vehicle will turn, thereby preventing the driver from thinking that there is a problem with the vehicle when he sees the vehicle steering wheel turning without operating the steering wheel.

[0057] In the embodiment of the present application, since the information processing unit 20 is electrically connected to the information acquisition unit 10, and the steering control unit 30 is electrically connected to the information processing unit 20, once the information acquisition unit 10 acquires the state of the vehicle in front of the current vehicle and the state of the vehicle behind the current vehicle, the information acquisition unit 10 can send the state of the vehicle in front of the current vehicle and the state of the vehicle behind the current vehicle to the information processing unit 20, so that the information processing unit 20 acquires the state of the vehicle in front and the state of the vehicle behind. The information processing unit 20 can determine whether the rear vehicle will rear-end the current vehicle based on the state of the vehicle in front and the state of the vehicle behind. Once it is determined that the rear vehicle will rear-end the current vehicle, The information processing unit 20 determines the wheel steering angle of the current vehicle and sends the wheel steering angle of the current vehicle to the steering control unit 30. After the steering control unit 30 receives the wheel steering angle of the current vehicle, the steering control unit 30 can control the driving wheel assembly of the vehicle to drive the wheels of the current vehicle to rotate to the angle indicated by the wheel steering angle, so that even if the rear vehicle hits the current vehicle, that is, the rear vehicle rear-ends the current vehicle, the wheels of the current vehicle have been rotated to the angle indicated by the wheel steering angle, so that the current vehicle will be offset relative to the front vehicle, avoiding the current vehicle from rear-ending the front vehicle, thereby avoiding being sandwiched by the front vehicle and the rear vehicle, resulting in a reduction in the danger caused by the current vehicle to the driver. That is, in the embodiment of the present application, by setting up the information collection unit 10, the information processing unit 20 and the steering control unit 30, the information processing unit 20 can determine the wheel steering angle of the current vehicle when it is determined that the rear vehicle of the current vehicle will hit the current vehicle, so that the steering control unit 30 drives the wheel steering of the current vehicle by controlling the wheel driving component of the vehicle, thereby avoiding the current vehicle from hitting the front vehicle when the current vehicle is hit by the rear vehicle, thereby avoiding the current vehicle from being sandwiched, and improving the safety of the driver of the current vehicle.

[0058] The embodiment of the present application provides a vehicle, which includes a vehicle body and a vehicle rear-end collision prevention system in any of the above embodiments. The vehicle rear-end collision prevention system is installed in the vehicle body.

[0059] It should be noted that in the embodiments of the present application, the types of vehicles include but are not limited to extended-range vehicles, electric vehicles, fuel-powered vehicles, etc.

[0060] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0061] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A vehicle rear-end collision prevention system, characterized in that: The vehicle rear-end collision prevention system comprises: An information collection unit, used to collect the status of the vehicle in front of the current vehicle and the status of the vehicle behind the current vehicle; an information processing unit, electrically connected to the information acquisition unit, the information processing unit being used to obtain the state of the front vehicle and the state of the rear vehicle, and based on the state of the front vehicle and the state of the rear vehicle, determine whether the rear vehicle will rear-end the current vehicle, and if it is determined that the rear vehicle will rear-end the current vehicle, determine the wheel steering angle of the current vehicle, and send the wheel steering angle of the current vehicle to the steering control unit; A steering control unit is electrically connected to the information processing unit. The steering control unit is used to control the vehicle's driving wheel assembly to drive the wheels of the current vehicle to rotate to the angle indicated by the wheel steering angle when receiving the wheel steering angle of the current vehicle, so as to prevent the current vehicle from rear-ending the vehicle in front when the rear vehicle rear-ends the current vehicle.

2. The vehicle rear-end collision prevention system according to claim 1, characterized in that: The information processing unit is also used to determine the position information of the current vehicle and the position information of the front vehicle if it is determined that the rear vehicle will rear-end the current vehicle, and determine the wheel steering angle of the current vehicle based on the position information of the current vehicle and the position information of the front vehicle.

3. The vehicle rear-end collision prevention system according to claim 2, characterized in that: The information processing unit is also used to determine the direction in which the current vehicle is to turn, and to determine the position coordinates of a target point on the rear of the current vehicle, the target point being: a point opposite to a wheel located on the inner side of the direction in which the current vehicle is to turn in the direction from the current vehicle to the vehicle in front; to determine a turning radius of the current vehicle; and to determine a wheel steering angle of the current vehicle based on the turning radius of the current vehicle and the position of the target point.

4. The vehicle rear-end collision prevention system according to claim 3, characterized in that: The information processing unit is used to determine the wheel steering angle of the current vehicle based on the following formula: Among them, θ represents the wheel steering angle of the current vehicle, L represents the turning radius of the current vehicle, X2 represents the coordinate of the target point in the X-axis direction, Y2 represents the coordinate of the target point in the Y-axis direction, the X-axis direction is parallel to the width direction of the front vehicle, and the Y-axis is parallel to the length direction of the front vehicle.

5. The vehicle rear-end collision prevention system according to claim 4, characterized in that: The steering control unit is used to add the wheel steering angle to the steering margin when receiving the wheel steering angle of the current vehicle to obtain a final wheel steering angle, and control the driving wheel assembly of the vehicle to drive the wheels of the current vehicle to rotate to the angle indicated by the final wheel steering angle.

6. The vehicle rear-end collision prevention system according to claim 1, characterized in that: The information processing unit is further configured to obtain a state of the vehicle in front and a state of the vehicle behind when the current vehicle and the vehicle in front are both stationary.

7. The vehicle rear-end collision prevention system according to claim 1, characterized in that: The information collection unit is also used to collect the type of the rear vehicle and send the type of the rear vehicle to the information processing unit; The information processing unit is also used to determine whether the rear vehicle will rear-end the current vehicle based on the state of the front vehicle and the state of the rear vehicle when receiving the type of the rear vehicle and determining that the type of the rear vehicle is one of the preset vehicle types.

8. The vehicle rear-end collision prevention system according to claim 1, characterized in that: The vehicle rear-end collision prevention system further includes an interaction unit, and the interaction unit is electrically connected to the information processing unit; The information processing unit is also used to send a first instruction to the interaction unit if it is determined that the rear vehicle will rear-end the current vehicle. The interaction unit is used to output a first prompt message, and the first prompt message is used to prompt the driver that the current vehicle will be rear-ended.

9. The vehicle rear-end collision prevention system according to claim 1, characterized in that: The vehicle rear-end collision prevention system further includes an interaction unit, and the interaction unit is electrically connected to the information processing unit; The information processing unit is also used to send a second instruction to the interaction unit if it is determined that the rear vehicle will rear-end the current vehicle. The interaction unit is used to output second prompt information, and the second prompt information is used to prompt the driver that the wheels of the current vehicle will turn.

10. A vehicle, characterized in that: The vehicle comprises a vehicle body and a vehicle rear-end collision prevention system according to any one of claims 1 to 9; The vehicle rear-end collision protection system is installed in the vehicle body.

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