CN204452581U - The automatically controlled inhibiting device of excessive low damage prevented by automobile - Google Patents

Abstract

The utility model discloses an electric control limiting device for preventing excessive self-steering of automobiles, which comprises a limiting device, a sensor and a controller. The limit device is arranged between the steering wheel and the wheels, selectively limiting the steering angle of the steering wheel; the sensor is used to obtain the steering angle of the steering wheel and the torque transmitted between the wheel and the steering wheel; the controller is configured to control the steering angle and torque obtained by the sensor The limit device limits the turning of the steering wheel. The utility model realizes the purpose of preventing accidental large-angle deflection of the wheels by the impact of the ground and improving the driving safety of the vehicle by adding an electric control limiting device on the steering shaft. The technical solution of the utility model is relatively rapid in judgment and low in cost, avoiding the phenomenon of large-angle self-steering of the car caused by road disturbance when the driver negligently reduces the torque of the steering wheel, and when the driver can or resumes control of the steering , the device actively exits and intervenes to avoid interfering with the driver's steering control.

Description

Automobile anti-excessive self-steering electronic control limit device

technical field

The utility model relates to the technical field of automobile steering control, in particular to an electronic control limiting device for preventing excessive self-steering of automobiles caused by road surface interference.

Background technique

Along with the popularity of automobiles, the traffic accidents caused by the out-of-control steering of automobiles are increasing year by year. The main reasons for the loss of control of the steering of the car are as follows: 1. The mechanical structure of the steering system of the car is aging; 2. The tire burst;

For the first and second cases, it can generally be avoided as much as possible through reasonable maintenance of the car, while the third case is often caused by the steering system of the car being suddenly disturbed by the road surface, for example, the car deviates from the road and the tire hits the shoulder of the road. Sudden steering caused by the accident, the sudden steering caused by the car driving into the snow-packed rut, the sudden steering caused by the serious roughness of the road when the car is driving on the non-highway road, etc. At this time, due to the sudden accident, the driver has no time to control Steering eventually leads to traffic accidents such as collisions with oncoming vehicles, driving into roadside ravines, sideslips and flicks. This situation is more likely to occur for vehicles with higher pseudo-efficiency steering systems.

Most of the existing vehicle assisted driving technologies are based on electric power steering systems, which use advanced visual perception or radar technology to avoid potential accidents caused by road trajectory deviation through steering intervention. This kind of technical system is complicated, the cost is high, and the sudden self-steering caused by the road surface disturbance when the driver is negligent and loosens the grip of the steering wheel, the control effect is not ideal due to the long judgment and processing time.

Utility model content

The utility model designs and develops an automobile anti-excessive self-steering electric control limiting device, which avoids accidental large-angle deflection due to the impact of the wheels on the ground, and improves the driving safety of the automobile.

The technical scheme provided by the utility model is:

An electronic control limit device for preventing excessive self-steering of automobiles, comprising:

A limiting device, which is arranged between the steering wheel and the wheels, selectively limits the steering angle of the steering wheel;

Sensors for obtaining the steering angle of the steering wheel and the torque transmitted between the wheels and the steering wheel;

The controller is configured to control the limiting device to limit the steering angle of the steering wheel according to the steering angle and torque acquired by the sensor.

Preferably, the limiting device includes:

Steering shaft, which is arranged between the steering wheel and the wheels, is used to transmit the steering force between the steering wheel and the wheels, and the steering shaft is provided with a limit groove in the circumferential direction;

a limit pin, which can selectively cooperate with the limit groove to limit the rotation angle of the steering shaft;

The moving mechanism is connected with the limit pin and drives the limit pin to move up and down to complete the matching or separation with the limit groove.

Preferably, the moving mechanism includes:

case;

An electromagnet, the magnetic force generated after it is energized pushes the limit pin to move forward, so that the limit pin is inserted into the limit slot;

A return spring is connected with the limit pin and the housing, and the return spring causes the limit pin to be pulled out from the limit slot by spring force after the electromagnet is de-energized.

Preferably, a buffer spring is provided between the housing and the limiting pin, and the buffering spring is used to reduce the collision force between the limiting pin and the housing.

Preferably, the limiting groove is arranged on the cylindrical boss provided along the circumference of the steering shaft, and the depth of the limiting groove is smaller than the difference between the radius of the cylindrical boss and the steering shaft .

Preferably, the length of the limiting groove is not greater than a quarter of the circumference of the cylindrical boss.

Preferably, the matching portion of the limiting pin and the limiting groove is a cylinder, and the front end of the limiting pin is provided with rounded corners.

Preferably, it is characterized in that it also includes a steering column, the steering shaft passes through the steering column, the housing is fixed on the steering column, and the steering column moves when the limit pin moves A through hole is opened on the path to allow the limiting pin to pass through.

An automobile, comprising the above-mentioned electric control limiting device for preventing excessive self-steering of the automobile.

The beneficial effects described in the utility model: the utility model realizes the purpose of preventing unexpected large-angle deflection of the wheel by the impact of the ground and improving the driving safety of the vehicle by installing an electronic control limit device on the steering shaft. The structure is simple and reliable, reducing the difficulty of development and modification; using the signal measured by the steering wheel angle torque sensor commonly equipped with today's automobiles to judge the sudden self-steering caused by the road surface, compared with the vehicle driving trajectory widely used in the active safety technology field The changing advanced passive measurement method, the technical solution of the utility model is relatively rapid in judgment and low in cost, and avoids the large-angle self-steering phenomenon caused by road interference when the driver negligently reduces the torque of the steering wheel. When the driver can or regains control of the steering, the device actively withdraws from intervention to avoid interfering with the driver's steering control.

Description of drawings

Fig. 1 is a schematic diagram of the installation position of the limit action mechanism of the electric control limit device for preventing excessive self-steering of the automobile described in the present invention.

Fig. 2 is an exploded view of the structure of the automobile excessive self-steering prevention electric control limiting device described in the utility model.

Fig. 3 is a schematic diagram of the limit groove of the electric control limit device for preventing excessive self-steering of the automobile according to the utility model.

Fig. 4 is a cross-sectional view of the moving mechanism of the electric control limiting device for preventing excessive self-steering of the automobile according to the present invention.

Fig. 5 is an electrical schematic diagram of the control system of the electric control limiting device for preventing excessive self-steering of the automobile according to the utility model.

Fig. 6 is a flow chart of the anti-excessive self-steering control of the automobile described in the utility model.

Detailed ways

The utility model will be described in further detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it by referring to the description.

The utility model provides an electric control limiting device for preventing excessive self-steering of automobiles, which can limit the rotation angle of the steering wheel to control the driving direction of the vehicle when the wheels are unexpectedly deflected at a large angle by the impact of the ground to avoid safety accidents.

The utility model comprises a limit device, a sensor and a controller. The limit device is arranged between the steering wheel and the wheels, selectively limiting the steering angle of the steering wheel; the sensor is used to obtain the steering angle of the steering wheel and the torque transmitted between the wheel and the steering wheel; the controller is configured to control the steering angle and torque obtained by the sensor The limit device limits the turning of the steering wheel. The utility model uses a sensor to measure the size, direction and steering torque of the steering wheel, judges the sudden self-steering caused by the road surface, and starts the limit device to limit the steering wheel angle, thereby improving driving stability and avoiding accidents.

As shown in Fig. 1 and Fig. 2, the limiting device includes a steering shaft 11, a limiting pin 6, and a moving mechanism. The steering shaft 11 is connected between the steering wheel and the wheels for transmitting the steering force between the steering wheel and the wheels. The steering shaft 11 is provided with a cylindrical boss along its circumference, the diameter of the cylindrical boss is larger than the diameter of the steering shaft 11 , and a limiting groove 10 is arranged in the circumferential direction of the cylindrical boss. The width of the limiting groove 10 is slightly larger than the diameter of the limiting pin 6, and the head of the limiting pin 6 is rounded with 2 mm. The moving mechanism can drive the limiting pin 6 to be inserted into the limiting groove 10 , so as to limit the rotation angle of the steering shaft 11 . Referring to FIG. 3 together, the depth of the limiting groove 10 is smaller than the radius difference between the cylindrical boss and the steering shaft 11 , so that the limiting groove 10 does not affect the strength of the steering shaft 11 . The length of the limiting groove 10 accounts for 1/4 of the circumference of the boss of the steering shaft 11, so that the range of motion of the steering shaft is limited within 90°.

Referring to FIG. 4 together, the upper part of the housing 2 is a hollow cylinder, the inner wall of the top through hole is processed with threads, and the housing end cap 12 is fixed on the housing 2 through threads. The middle part of the housing 2 is a stepped light hole, and its upper and lower holes are respectively clearance-fitted with the upper and lower rods of the stop pin 6 to limit the maximum downstroke of the stop pin 6 at the variable diameter. There is a small through hole at the bottom of the housing 2, and the lower rod part of the limit pin 6 passes through this hole. The housing 2 is made of cast aluminum, and the limit pin 6 is a magnetically permeable iron material.

The middle part of the housing 2 is a cylinder with a thinner diameter, and an electromagnetic coil 3 is wound on its outer surface. A coil shield 13 made of non-metallic material is installed outside the electromagnetic coil 3, which seals the electromagnetic coil 3 therein and plays the role of insulation and sealing. The limiting pin 6 is embedded in the casing 2, and after the electromagnetic coil 3 outside the casing 2 is energized, it can generate electromagnetic force to push the limiting pin 6 to move downward in the casing. A return spring 7 is installed in the housing 2, which acts between the housing 2 and the circular baffle above the limit pin 6, and its upper end contacts the lower surface of the circular baffle of the limit pin 6. The lower part of the limit pin 6 passes through the return spring 7, and the lower end of the return spring 7 is fixedly connected with the surface in contact with the inside of the housing 2 using metal glue to prevent the impact vibration of the two surfaces. A buffer spring 5 is arranged between the limit pin 6 and the housing end cover 12 , and the buffer spring 5 is a spring with relatively high rigidity, which is used to reduce impact on the housing end cover 12 when the limit pin 6 is reset. The buffer spring 5 is arranged in the inner hole of the lower surface of the housing end cover 12, and the upper end is fixedly connected with the bottom of the inner hole of the lower surface of the housing end cover 12 by using metal glue. When the limit pin 6 returns, the buffer spring 5 restricts it movement, to avoid impacting the shell end cover 12 to cause vibration noise.

The utility model also includes a steering column 9, the steering shaft 11 passes through the steering column 9, and the corresponding part of the steering column 9 and the boss of the steering shaft 11 is also provided with a larger circumferential groove, so that it can ensure a limited Position pin 6 is inserted in the through groove. Two rectangular fixed tabletops 8 are arranged symmetrically on both sides of the channel of the steering column 9, and threaded holes are provided at both ends of the fixed tabletops 8. The lower end of the housing 2 is provided with a mounting flange surface 4, which is matched with the threaded holes. Through holes, the housing 2 and the steering column 9 are fixed together by screws 1 .

The sensor used in the utility model is a rotation angle torque sensor, which can measure the rotation angle of the steering wheel and the torque transmitted between the steering wheel and the wheels.

As shown in FIG. 5 , the controller of the present invention includes a single-chip microcomputer 17 , an electromagnetic coil driving amplifier circuit and a power supply module 16 , and uses a vehicle-mounted 12V power supply 15 to supply power to the controller.

The Vcc, VOUT, GND, A1, A2, and A3 pins of the steering wheel angle torque sensor 14 are connected with the Vcc, P3.2, GND, P3.4, P3.1, and P3.0 pins of the microcontroller respectively, and the control The electromagnetic coil driving amplifying circuit in the device is an existing commonly used triode driving amplifying circuit, which is composed of a photocoupler, a triode amplifying circuit and a freewheeling diode. The optocoupler can choose the model TIL117, and the triode amplifier circuit is composed of a transistor and two resistors. The transistor VT can choose the model 9013, and the freewheeling diode VD can choose IN4001. The input terminals of the optocoupler of the electromagnet drive amplifier circuit are respectively connected to the Vcc and P1.5 pins of the microcontroller, and the output terminals of the freewheeling diode VD of the electromagnet drive amplifier circuit are connected with the 12V terminal of the power supply module and the input terminal of the electromagnetic coil connected. The collector terminal of the triode VT of the electromagnet drive amplifier circuit is connected with the input terminal of the freewheeling diode VD and the output terminal of the electromagnetic coil. Finally, the Vcc terminal and the GND terminal of the single-chip microcomputer are connected to the 5V terminal and the GND terminal of the power supply module 15 . The positive and negative terminals of the 16 batteries of the vehicle-mounted 12V power supply are respectively connected with the positive and negative input terminals of the power supply module of the controller to supply power. The controller of the electric control system described in the utility model is stored in the control program of the electric control limit device for preventing excessive self-steering of the automobile compiled in advance.

As shown in Figure 6, the control flow of the controller to the device is as follows:

1. Program initialization, the controller reads the pre-stored torque threshold M ₀ , rotation angle threshold α ₀ , angle change rate threshold ω ₀ and cycle waiting times i;

2. The single-chip microcomputer reads the steering wheel angle α measured by the steering wheel angle torque sensor, the sampling period is 0.05s, and according to the formula Calculate the absolute value |ω| of the angular change rate ω;

3. Determine whether the signal |ω| is greater than the threshold ω ₀ ;

"No" returns to the program initialization step and re-samples;

"Yes" indicates that the wheels turn rapidly, and at this time the single-chip microcomputer reads the steering wheel torque M measured by the steering wheel angle torque sensor;

4. Determine whether the signal |M| is smaller than M ₀ ;

"Yes" will proceed to the next step, the controller controls the electromagnetic coil to be energized, the limit pin is stretched out, and the steering wheel is limited and locked;

"No" returns to the program initialization step.

5. The single-chip microcomputer reads the steering wheel angle α measured by the steering wheel angle torque sensor again;

6. Determine whether α is less than α ₀ ;

"No" means i=i+1 when i is less than 100. Read α in a loop; when i is greater than 100, the single-chip microcomputer controls the electromagnetic coil 3 to power off, and the limit pin 10 returns to the initial state under the action of the return spring 7, and the limit function is canceled, that is, beyond a certain period of time, preventing excessive self-steering electronic control The limit device automatically exits, and the steering control power is handed over to the driver, so as to prevent the system failure from causing the steering to be out of control.

"Yes" means that the wheel has gone out of the abnormal area, and the wheel is in the state of returning to normal. Then the single-chip microcomputer controls the power-off of the electromagnetic coil 3, and the limit pin 10 returns to the initial state under the action of the return spring 7, and the position-limiting effect is canceled.

7. The working cycle ends.

The working process of the automobile anti-excessive self-steering electric control limiting device provided by the utility model is as follows: in the normal driving process of the automobile, the forward direction of the wheel is basically consistent with the driver's expected direction, and the controller measures the steering wheel angle torque sensor through the steering wheel. The steering wheel angle signal and the steering wheel torque signal can judge that the driver is currently operating the vehicle normally. The judgment basis is: when the driver steers the vehicle in a straight line, the general steering wheel angle does not exceed ±30°, and the torque on the steering shaft is close to 0. ; and when the driver steers the vehicle at a normal large angle, the steering wheel torque must exceed the set threshold at this time.

The anti-excessive self-steering electronic control limit device sets the torque threshold of the steering wheel angle torque sensor to M ₀ , M ₀ is the maximum torque generated on the steering shaft when the wheel is subjected to a sudden ground impact when there is no external force on the steering wheel. When turning, the driver generally holds the steering wheel with a small torque, so the measured torque is generally small. And when the car is turning manually, the torque on the steering shaft must be greater than the threshold M ₀ . At this time, the limit pin 6 does not pop out from the casing 2 under the action of the return spring 7, so that the steering shaft 11 can rotate freely.

When the wheels are unexpectedly deflected due to the influence of the ground height, etc., the forward direction of the wheels is inconsistent with the driver's expected direction. At this time, the driver's hands may be in a relatively relaxed state, so that the driver does not have enough time to grasp the steering wheel to control the vehicle. After the wheel is impacted, a non-human deflection occurs. This deflection is transmitted to the steering shaft through the steering mechanism, and drives the steering wheel to turn away from the driver's hand. At this time _, the steering wheel angle torque sensor detects the steering wheel angle α and calculates the value of the steering wheel angle change rate _ω . It is judged that accidental deflection of the automobile may occur at this time, so the single-chip microcomputer controls the driving current to flow into the electromagnetic coil 3, and the limit pin 6 is attracted by the magnetic force generated by the electromagnetic coil 3, and the limit pin 6 extends into the limit groove 10 on the steering shaft, and locks The continued rotation of the steering wheel acts as a limit to avoid instability. The limit groove 10 controls the maximum rotation angle of the steering column to be 90°. Set the rotation angle threshold of the sensor to α ₀ =±60°. When the rotation angle α of the steering wheel enters this range, it means that the driver has steered the car to turn back to the right wheel. The limit pin 6 returns to the non-limit position under the action of the return spring, and the impact between the limit pin 6 and the housing 2 is reduced under the action of the buffer spring 5, so as to prolong the service life of the product and reduce noise. In addition, in order to prevent the faulty measurement of the system sensor failure, which causes the limit action mechanism to always limit the failure caused by the steering wheel, after 5s, the device automatically controls the power-off of the electromagnetic coil, and the limit pin 6 withdraws from the limit groove 10. Return steering control to the driver.

Although the embodiment of the present utility model has been disclosed as above, it is not limited to the use listed in the description and the implementation, and it can be applied to various fields suitable for the present utility model. For those familiar with the art, Further modifications can be readily effected, so the invention is not limited to the specific details and examples shown and described herein without departing from the general concept defined by the claims and their equivalents.

Claims (9)

1. An automobile anti-excessive self-steering electronic control limiting device, is characterized in that, comprising: A limiting device, which is arranged between the steering wheel and the wheels, selectively limits the steering angle of the steering wheel; Sensors for obtaining the steering angle of the steering wheel and the torque transmitted between the wheels and the steering wheel; The controller is configured to control the limiting device to limit the steering angle of the steering wheel according to the steering angle and torque acquired by the sensor. 2. The automobile anti-excessive self-steering electronically controlled limiting device according to claim 1, wherein the limiting device comprises: Steering shaft, which is arranged between the steering wheel and the wheels, is used to transmit the steering force between the steering wheel and the wheels, and the steering shaft is provided with limiting grooves in the circumferential direction; a limit pin, which can selectively cooperate with the limit groove to limit the rotation angle of the steering shaft; The moving mechanism is connected with the limit pin and drives the limit pin to move up and down to complete the matching or separation with the limit groove. 3. The automobile anti-excessive self-steering electronic control limiting device according to claim 2, characterized in that, The moving mechanism includes: case; An electromagnet, the magnetic force generated after it is energized pushes the limit pin to move forward, so that the limit pin is inserted into the limit slot; A return spring is connected with the limit pin and the housing, and the return spring causes the limit pin to be pulled out from the limit slot by spring force after the electromagnet is de-energized. 4. The electronically controlled limiting device for preventing excessive self-steering of automobiles according to claim 3, wherein a buffer spring is arranged between the housing and the limiting pin, and the buffer spring is used to lower the limiting pin. Collision force between bit pin and housing. 5. The electronically controlled limiting device for preventing excessive self-steering of an automobile according to any one of claims 2-4, wherein the limiting groove is arranged on a cylindrical protrusion arranged along the circumference of the steering shaft. On the platform, the depth of the limiting groove is smaller than the difference between the radius of the cylindrical boss and the steering shaft. 6 . The electronically controlled limiting device for preventing excessive self-steering of automobiles according to claim 5 , wherein the length of the limiting groove is not greater than a quarter of the circumference of the cylindrical boss. 7 . 7. The electronically controlled limiting device for preventing excessive self-steering of automobiles according to claim 6, wherein the matching portion of the limiting pin and the limiting groove is a cylinder, and the front end of the limiting pin is set have rounded corners. 8. The electronically controlled limiting device for preventing excessive self-steering of an automobile according to any one of claims 2-4, 6, 7, further comprising a steering column through which the steering shaft passes. However, the housing is fixed on the steering column, and the steering column is provided with a through hole on the moving path of the limiting pin to allow the limiting pin to pass through. 9. An automobile, characterized in that it comprises an electric control limiting device for preventing excessive self-steering of the automobile according to any one of claims 1-8.