Rear-end collision pushing steering control method and system and vehicle

Abstract

The invention discloses a rear-end steering control method which comprises the following steps: judging whether a vehicle is subjected to rear-end collision and moves forwards or not, and when the vehicle is subjected to rear-end collision and is pushed to move forwards, controlling a steering wheel of the vehicle to steer towards a first side direction of the vehicle and releasing pressure of a brake fluid of a wheel at a second side direction of the vehicle so as to relieve braking. The invention further discloses a system for implementing the method, which comprises a control module used for judging whether the vehicle is subjected to rear-end collision or not and advancing, and controlling the steering execution module to act to enable the steering wheels of the vehicle to steer towards the first side direction of the vehicle when the vehicle is subjected to rear-end collision and is pushed to advance, and controlling the steering execution module to steer towards the second side direction of the vehicle when the vehicle is not subjected to rear-end collision. The brake execution module is controlled to enable brake fluid of wheels in the second side direction of the vehicle to release pressure so as to relieve braking; the steering execution module is used for steering a steering wheel of the vehicle; and the brake execution module is used for disconnecting or connecting a brake fluid oil path of a wheel. When the vehicle is subjected to rear-end collision and is pushed, the vehicle can be controlled to steer to the maximum extent, the vehicle is prevented from being extruded by front and rear vehicles, and the safety is improved.

Description

Technical Field

[0001] The present invention relates to a rear-end collision steering control method, system and vehicle, and belongs to the technical field of vehicle collision prediction. Background Art

[0002] In a vehicle rear-end collision accident, the vehicle being rear-ended may be pushed by the rear vehicle. When a large vehicle is parked in front, the vehicle being rear-ended may be squeezed from both front and back and severely deformed, resulting in casualties. When being pushed by the rear-end collision, the driver will instinctively hold the steering wheel tightly and brake urgently, and there is no time to take any effective measures to control the vehicle.

[0003] In the prior art, in order to prevent the situation of front-back extrusion after the aforementioned rear-end collision, the adopted solution is to control the steering wheel of the vehicle to rotate a certain angle when it is detected that a rear-end collision will occur, so that the vehicle can deviate from the vehicle in front at a certain angle after being rear-ended. However, this control method is ineffective when the vehicle is driving at a low speed and in a parked state, and if the driver brakes urgently and locks the wheels during the rear-end collision, the vehicle does not have the ability to steer and avoid. Summary of the Invention

[0004] Aiming at the defects of the above-mentioned prior art, the present invention provides a rear-end collision steering control method to solve the problem that it is difficult for a vehicle to effectively steer and avoid when being pushed by a rear-end collision. The present invention provides a rear-end collision steering control system for implementing the method and a vehicle equipped with the system to improve the driving safety of the vehicle.

[0005] The technical solution of the present invention is as follows: A rear-end collision steering control method includes: determining whether the vehicle is rear-ended and moving forward, and when the vehicle is rear-ended and pushed forward, controlling the steering wheel of the vehicle to steer towards the first side of the vehicle and relieving the brake pressure of the wheels on the second side of the vehicle to release the brake, where the first side and the second side are the left and right directions of the vehicle.

[0006] Further, before relieving the brake pressure of the wheels on the second side of the vehicle to release the brake, it is determined whether the vehicle is in a braking state, and when the vehicle is in a braking state, the brake pressure of the wheels on the second side of the vehicle is relieved to release the brake.

[0007] Further, the determination of whether the vehicle is rear-ended and moving forward includes the steps of: first determining whether the vehicle is rear-ended, and after confirming that the vehicle is rear-ended, then determining whether the vehicle moving speed is zero, and when the vehicle moving speed is not zero, it is determined that the vehicle is rear-ended and pushed forward.

[0008] Further, after controlling the steering wheel to steer towards the first side of the vehicle and releasing the brake on the wheels on the second side, it is then determined whether the vehicle moving speed is zero. When the vehicle moving speed is zero, the steering angle of the steering wheel is controlled to return to the angle before being controlled to steer towards the first side.

[0009] Further, when releasing the brake by bleeding the brake fluid of the wheels on the second side of the vehicle, the hydraulic oil circuit between the master cylinder and the wheel cylinder is disconnected. After controlling the steering wheel to steer towards the first side of the vehicle and releasing the brake on the wheels on the second side, it is then determined whether the vehicle moving speed is zero. When the vehicle moving speed is zero, the hydraulic oil circuit between the master cylinder and the wheel cylinder is restored.

[0010] Another technical solution of the present invention is: a rear-end collision steering control system, including:

[0011] A control module: used to determine whether the vehicle is rear-end collided and moving forward. When the vehicle is rear-end collided and pushed forward, it controls the steering execution module to act to steer the steering wheel of the vehicle towards the first side of the vehicle, and controls the brake execution module to bleed the brake fluid of the wheels on the second side of the vehicle to release the brake. The first side and the second side are the left and right directions of the vehicle;

[0012] A steering execution module: used to steer the steering wheel of the vehicle;

[0013] And a brake execution module: used to disconnect or connect the brake fluid oil circuit of the wheels.

[0014] Further, the steering execution module includes a lower steering column and a driving device. The lower steering column is connected to the vehicle steering universal joint, and the driving device is controlled by the control module to rotate the lower steering column.

[0015] Further, the driving device includes a worm and worm gear mechanism, a disc spring I, a pressure plate I, a friction plate I, an electromagnetic coil, a disc spring II, a pressure plate II, and a friction plate II. The worm of the worm and worm gear mechanism is sleeved on the lower steering column. A disc spring I is provided on the worm. A pressure plate I is connected to the disc spring I. The friction plate I is spline-connected to the lower steering column. A disc spring II is provided on the friction plate I. A pressure plate II is connected to the disc spring II. The friction plate II is spline-connected to the upper steering column. The upper steering column is connected to the vehicle steering wheel. The electromagnetic coil is fixedly arranged between the friction plate I and the pressure plate II. When the electromagnetic coil is controlled by the control module to be energized, the pressure plate I and the friction plate I are pressed together, and the pressure plate II and the friction plate II are separated. When the electromagnetic coil is de-energized, the pressure plate I and the friction plate I are separated, and the pressure plate II and the friction plate II are pressed together.

[0016] Furthermore, the braking execution module includes a solenoid valve, which is connected to the hydraulic oil circuit between the master cylinder of the vehicle and the wheel cylinder of one side wheel. The solenoid valve is controlled by the control module to disconnect the hydraulic oil circuit and discharge the oil in the wheel cylinder or to connect the hydraulic oil circuit.

[0017] Another technical solution of the present invention is: a vehicle, including the aforementioned rear-end collision steering control system.

[0018] Compared with the prior art, the advantages of the technical solution provided by the present invention are as follows:

[0019] When a rear-end collision occurs and the vehicle is pushed forward, by steering the steering wheel and combining with the forced release of the brake on one side wheel, it can ensure that the vehicle travels towards the side front after being pushed, thus avoiding being squeezed from the front and back, and improving safety. And after the brake on one side wheel is forcibly released, combined with the driver using emergency braking (in most cases of rear-end collisions, the vehicle itself is in an emergency braking state), when the vehicle is pushed, only the side with normal wheel braking will be subject to braking resistance. Therefore, the vehicle will additionally generate a torque, increasing the degree of vehicle steering, so that the vehicle can turn to the side to the maximum extent to avoid further collision and extrusion with the vehicle in front.

[0020] In the rear-end collision steering control system, the worm gear that drives the lower steering column to rotate is combined with the pressure plate I. By using the electromagnetic coil and the cooperation of two sets of pressure plates and friction plates, the driving device has a compact structure. While the system controls the vehicle to steer, the upper and lower steering columns are disengaged, avoiding the force being transmitted to the driver's arm through the steering wheel and causing accidental injury to the driver's arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the rear-end collision steering control system for the embodiment.

[0022] Figure 2 It is a schematic structural diagram of the steering execution module in the rear-end collision steering control system for the embodiment.

[0023] Figure 3 It is a schematic structural diagram of the worm gear mechanism in the rear-end collision steering control system for the embodiment.

[0024] Figure 4 It is a schematic sectional view of the steering execution module in the rear-end collision steering control system for the embodiment.

[0025] Figure 5 It is a schematic flow diagram of the rear-end collision steering control method for the embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The present invention will be further described below in conjunction with embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. After reading this specification, various equivalent modifications of this specification by those skilled in the art fall within the scope defined by the appended claims of this application.

[0027] Please refer to Figure 1 As shown, the rear-end collision steering control system of this embodiment is installed on a vehicle and is used to perform steering control on the vehicle when a rear-end collision occurs, so as to prevent the vehicle from being pushed and squeezed by the front and rear vehicles.

[0028] Specifically, the rear-end collision steering control system includes a control module, a steering execution module, and a braking execution module.

[0029] The control module includes a wheel speed sensor 2, a braking sensor 3, a collision sensor 4, and a controller 6. The control module is used to determine whether the vehicle is rear-end collided and pushed forward. That is, when the collision sensor 4 detects that the vehicle has been collided, and it is judged to be in an emergency braking state through the braking sensor 3. At this time, if it is judged through the vehicle speed sensor 2 that the vehicle is still moving forward, it is considered that the vehicle is in a state of being rear-end collided and pushed forward. Among them, the vehicle speed sensor 2 is not limited to the wheel speed sensor, and other vehicle state sensors can also be used to comprehensively judge whether the vehicle is moving forward. When the vehicle is in a state of being rear-end collided and pushed forward, it controls the steering execution module to act to steer the steering wheel of the vehicle towards the first side of the vehicle, and controls the braking execution module to relieve the braking of the brake fluid of the wheels on the second side of the vehicle. The first side and the second side are the left and right directions of the vehicle.

[0030] The braking execution module is a two-position three-way solenoid valve 1, which is used to disconnect or connect the brake fluid oil circuit of the wheel. Specifically, the two-position three-way solenoid valve 1 is connected to the hydraulic oil circuit between the brake master cylinder of the vehicle and the wheel cylinder of one side wheel near the wheel brake. In this embodiment, it is connected to the hydraulic oil circuit between the brake master cylinder and the wheel cylinder of the right wheel. Under normal circumstances, the solenoid valve is de-energized, and the pipeline from the brake master cylinder to the wheel cylinder is connected. When the vehicle is rear-ended and pushed, the solenoid valve is energized, and the pipeline from the brake master cylinder to the wheel cylinder is cut off. The brake fluid in the brake wheel cylinder enters the built-in liquid storage cavity of the solenoid valve, and the corresponding brake is released. Due to the unbalanced unilateral braking force on the vehicle, a steering torque is generated, causing the wheel to deflect in a certain direction when it is pushed.

[0031] The steering execution module is a steering column assembly 5, which is used to steer the steering wheel of the vehicle.

[0032] In the above structure, the controller 6 is fixedly connected to the steering column assembly 5 by bolts, and the steering column assembly 5 replaces the original steering column assembly of the vehicle. The wheel speed sensor 2, the braking sensor 3, and the collision sensor 4 are all original sensors of the vehicle.

[0033] The composition of the steering column assembly 5 will be introduced in detail below. Please refer to Figures 2 to 4 as shown.

[0034] The steering column assembly 5 is composed of a lower steering column 501, a lower steering column tube 502, a drive device 503, a drive motor 504, a connecting plate 505, an upper steering column tube 506, and an upper steering column 507, as Figure 2 shown. The lower end of the lower steering column 501 is connected to a steering universal joint (not shown), and the upper end of the upper steering column 507 is connected to a steering wheel (not shown). The lower steering column tube 502 protects the lower steering column 501. Its lower flange surface is connected to the vehicle body, and its upper end is connected to the drive device 503 by bolts. The upper steering column tube 506 protects the upper steering column 207. Its lower flange surface is connected to the drive device 503, and its upper flange surface is connected to a combination switch (not shown). The drive motor 504 is connected to the drive device 503 by bolts. The connecting plate 505 connects the steering column assembly 5 to the vehicle body.

[0035] The drive device 503 is composed of a worm 50301, a worm gear 50302, a shaft 50303, a housing 50304, a pressure plate I 50305, a friction disk I 50306, a friction disk II 50307, a disc spring I 50308, an electromagnetic coil 50309, a disc spring II 50310, a pressure plate II 50311, and an upper cover 50312. The shaft 50303 is supported in the inner hole of the housing 50304 by bearings. Its lower end is connected to the lower steering column 501 by splines to form an extension section of the lower steering column 501, and its upper end is connected to the friction disk I 50306 by splines. The worm gear 50302 is supported in the inner cavity of the housing 50304 by bearings and is sleeved on the shaft 50303. The inner ring of the disc spring I 50308 is connected to the worm gear 50302 by bolts, and the outer ring is connected to the pressure plate I 50305 by bolts. The inner ring of the disc spring II 50310 is connected to the friction disk I 50306 by bolts, and the outer ring is connected to the pressure plate II 50311 by bolts. The lower end of the friction disk II 50307 is supported on the friction disk I 50306 by bearings, and the upper end is supported in the inner hole of the upper cover 50312 by bearings. The upper cover 50312, the electromagnetic coil 50309, and the housing 50304 are connected by bolts, and the electromagnetic coil 50309 is located between the friction disk I 50306 and the pressure plate II 50311.

[0036] When the vehicle is running normally, the controller 6 controls the electromagnetic coil 50309 to lose power, the pressure plate I 50305 and the friction plate I 50306 are separated, and under the spring force of the disc spring II 50310, the pressure plate II 50311 and the friction plate II 50307 are pressed together. The driver's steering power is transmitted to drive the wheels to turn through the upper steering column 507, the friction plate II 50307, the pressure plate II 50311, the disc spring II 50310, the friction plate I 50306, the shaft 50303, and the lower steering column 501. When the vehicle is pushed forward due to a rear-end collision, the controller 6 controls the electromagnetic coil 50309 to be energized, and the generated electromagnetic force overcomes the spring forces of the disc spring I 50308 and the disc spring II 50310, causing the pressure plate I 50305 and the friction plate I 50306 to be pressed together, the pressure plate II 50311 and the friction plate II 50307 to be separated, the steering wheel to be released, and the driving force of the driving motor 504 to drive the wheels to turn through the worm 50301, the worm gear 50302, the disc spring I 50308, the pressure plate I 50305, the friction plate I 50306, the shaft 50303, and the lower steering column 501.

[0037] Please combine Figure 5 As shown, through the rear-end collision push steering control of this embodiment, a rear-end collision push steering control method is realized, which includes the following steps:

[0038] Step 1) The controller 6 collects the signal of the collision sensor 4 to judge whether the vehicle has a rear-end collision. If the vehicle has a rear-end collision, go to step 2;

[0039] Step 2) The controller 6 collects the signal of the wheel speed sensor 2 to judge whether the vehicle is moving forward. If the vehicle continues to move forward after a rear-end collision, go to step 3;

[0040] Step 3) The controller 6 controls the electromagnetic coil 50309 of the steering column assembly 5 to be energized, separates the pressure plate II 50311 and the friction plate II 50307, cuts off the steering wheel, combines the pressure plate I 50305 and the friction plate I 50306, and connects the transmission between the worm gear 50302 and the lower steering column 501. The controller 6 also controls the driving motor 504 to be energized and rotate forward, so that the steering wheel turns to the left side of the vehicle. At the same time, the controller 6 collects the signal of the brake sensor 3 (brake pedal) to judge whether the vehicle brakes. In the vehicle braking state, the controller 6 controls the two-position three-way solenoid valve 1 to be energized to release the brake of the right wheel.

[0041] Step 4) The controller 6 collects the signal of the wheel speed sensor 2 to judge whether the vehicle is moving forward. When the vehicle stops, enter step 5.

[0042] Step 5) The controller 6 controls the driving motor 504 to be energized and reverse, driving the steering wheel to return to the straight position, and then controls the electromagnetic coil 50309 of the steering column assembly 5 to be de-energized, combining the pressure plate II 50311 with the friction plate II 50307, connecting the steering wheel, separating the pressure plate I 50305 from the friction plate I 50306, and separating the rotation of the worm gear 50302 from the lower steering column 501. At the same time, the controller 6 controls the two-position three-way solenoid valve 1 to be de-energized, and the brake resumes braking.

[0043] Through the rear-end push steering control method of this embodiment, when a vehicle undergoes a rear-end collision and is pushed, the vehicle can be steered and moved as much as possible to the left, avoiding being squeezed by the front and rear vehicles and improving safety.

Claims

1. A rear-end collision steering control method, characterized in that Including: Determine whether the vehicle is rear-ended and moving forward. When the vehicle is rear-ended and pushed forward, control the steering wheel of the vehicle to steer towards the first side of the vehicle and relieve the brake fluid pressure of the wheels on the second side of the vehicle to release the brake. The first side and the second side are the left and right directions of the vehicle.

2. The rear-end collision steering control method according to claim 1, characterized in that, Before relieving the brake fluid pressure control of the wheels on the second side of the vehicle to release the brake, determine whether the vehicle is in a braking state. When the vehicle is in a braking state, relieve the brake fluid pressure of the wheels on the second side of the vehicle to release the brake.

3. The rear-end collision steering control method according to claim 1, characterized in that The determination of whether the vehicle is rear-ended and moving forward includes the steps of: first, determine whether the vehicle is rear-ended. After confirming that the vehicle is rear-ended, then determine whether the vehicle moving speed is zero. When the vehicle moving speed is not zero, it is determined that the vehicle is in a state of being rear-ended and pushed forward.

4. The rear-end collision steering control method according to claim 1, wherein After controlling the steering wheel to steer towards the first side of the vehicle and releasing the brake of the wheels on the second side, then determine whether the vehicle moving speed is zero. When the vehicle moving speed is zero, control the steering angle of the steering wheel to return to the angle before being driven to steer towards the first side.

5. The rear-end collision steering control method according to claim 1, wherein The step of relieving the brake fluid pressure of the wheels on the second side of the vehicle to release the brake is to disconnect the hydraulic oil circuit between the brake master cylinder and the wheel cylinder. After controlling the steering wheel to steer towards the first side of the vehicle and releasing the brake of the wheels on the second side, then determine whether the vehicle moving speed is zero. When the vehicle moving speed is zero, reconnect the hydraulic oil circuit between the brake master cylinder and the wheel cylinder.

6. A rear-end collision steering control system, characterized in that, Including: Control module: used to determine whether the vehicle is rear-ended and moving forward. When the vehicle is rear-ended and pushed forward, control the steering execution module to act to make the steering wheel of the vehicle steer towards the first side of the vehicle, and control the brake execution module to relieve the brake fluid pressure of the wheels on the second side of the vehicle to release the brake. The first side and the second side are the left and right directions of the vehicle; Steering execution module: used to steer the steering wheel of the vehicle; And, brake execution module: used to disconnect or connect the brake fluid oil circuit of the wheels.

7. The rear-end collision steering control system according to claim 6, characterized in that, The steering execution module includes a lower steering column and a driving device. The lower steering column is connected to the vehicle steering universal joint. The driving device is controlled by the control module to rotate the lower steering column.

8. The rear-end collision steering control system according to claim 7, wherein The driving device includes a worm and worm gear mechanism, a disc spring I, a pressure plate I, a friction disc I, an electromagnetic coil, a disc spring II, a pressure plate II, and a friction disc II. The worm of the worm and worm gear mechanism is sleeved on the lower steering column. A disc spring I is provided on the worm. The disc spring I is connected to a pressure plate I. The friction disc I is spline-connected to the lower steering column. A disc spring II is provided on the friction disc I. The disc spring II is connected to a pressure plate II. The friction disc II is spline-connected to the upper steering column. The upper steering column is connected to the vehicle's steering wheel. The electromagnetic coil is fixedly arranged between the friction disc I and the pressure plate II. The electromagnetic coil is controlled by the control module. When powered on, the pressure plate I is pressed against the friction disc I, and the pressure plate II is separated from the friction disc II. When the electromagnetic coil is de-energized, the pressure plate I is separated from the friction disc I, and the pressure plate II is pressed against the friction disc II.

9. The rear-end collision steering control system according to claim 6, wherein, The braking execution module includes a solenoid valve. The solenoid valve is connected to the hydraulic oil circuit between the vehicle's brake master cylinder and the wheel cylinder of one side wheel. The solenoid valve is controlled by the control module to disconnect the hydraulic oil circuit and discharge the oil in the wheel cylinder or to connect the hydraulic oil circuit.

10. A vehicle, characterized in that, Comprising the rear-end collision steering control system according to any one of claims 6 to 9.

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