JP2002274214A - Rollover preventer of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rollover preventer of a vehicle for preventing vehicle rollover capable of improving the safety in driving the vehicle by determining the degree of danger of the vehicle rollover, allowing it to be recognized by a driver, and to promote the operation for avoiding any danger. SOLUTION: This rollover preventer comprises a roll angle detecting means 20a for detecting the roll angle of the vehicle, a roll angular velocity detecting means 20b for detecting the roll angular velocity of the vehicle, an emergency degree determining means 20c for determining the emergency degree according to this detected roll angular velocity, a danger determining means 20d for determining the danger of the vehicle rollover based on the absolute value of the detected roll angle and the emergency degree, and warning indicating means 20e and 22 for indicating the detected degree of danger of the vehicle rollover step by step, and warning avoidance of danger to the driver. The safety in driving the vehicle can be improved by determining the degree of danger of the vehicle rollover, allowing it to be recognized by the driver, and promoting the operation for avoiding any danger.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for preventing rollover of a vehicle, which detects a leaning state of the vehicle and displays a warning to a driver to prevent the vehicle from rolling over. The present invention relates to a device for preventing rollover of a vehicle, which improves the safety in vehicle operation by judging the degree of sex and making the driver aware of the danger of the vehicle rollover to encourage the driver to avoid danger.

[0002]

2. Description of the Related Art Conventionally, in order to prevent a vehicle from rolling over,
There is a device that detects the inclination angle of the vehicle and informs the driver,
As such an example, there is a tilt display device for an automobile described in Japanese Patent Application Laid-Open No. 5-96985. With this vehicle inclination display device, the driver can recognize at a glance the state of inclination of the vehicle body due to the inclination of the road and the state of lifting and lowering of the bed, and it is possible to effectively avoid overturning of the vehicle particularly when operating the bed of a dump truck. Was.

[0003]

However, such a conventional tilt display apparatus for a vehicle mainly displays a tilt state of a vehicle body when the vehicle is stopped and a lifting state of a cargo bed. It does not indicate the rollover caused by the centrifugal force received from the user. for that reason,
In some cases, the degree of danger of rollover due to rollover is not effectively displayed, and if the driver makes a mistake in determining the situation, the danger of rollover may not be avoided.

In view of the above, the present invention has been made to address such a problem, and has determined the degree of danger of a vehicle turning in a rollover.
It is an object of the present invention to provide a vehicle rollover prevention device that can improve the safety of vehicle operation by prompting a driver to avoid danger by letting a driver know the danger of this vehicle rollover.

[0005]

To achieve the above object, a vehicle rollover prevention apparatus according to the present invention comprises a roll angle detecting means for detecting a roll angle of a vehicle, and a roll angular velocity for detecting a roll angular velocity of the vehicle. Detecting means, an urgency determining means for determining an urgency corresponding to the detected roll angular velocity, and a risk that the vehicle may roll over based on the absolute value of the detected roll angle and the determined urgency. The vehicle includes danger determining means for determining the degree, and warning display means for displaying the determined degree of danger of rollover in a stepwise manner to warn the driver of danger avoidance.

With this configuration, the roll angle of the vehicle is detected by the roll angle detecting means, the roll angular velocity of the vehicle is detected by the roll angular velocity detecting means, and the degree of urgency corresponding to the detected roll angular velocity is determined by the degree of urgency. Means, a degree of danger of vehicle rollover is determined by danger determination means based on the absolute value of the detected roll angle and the determined urgency, and the determined danger of vehicle rollover is determined. The degree is displayed stepwise by the warning display means to warn the driver of danger avoidance.

Here, the warning display means is configured to display the degree of the danger by changing the size of the display area of the display unit for displaying the degree of the danger of the vehicle rolling over. As a result, the larger the risk of the vehicle rolling over, the larger the display area is displayed, and the driver's attention is drawn.

Further, the display unit keeps displaying the displayed instantaneous maximum value of the risk of the vehicle rollover for a predetermined time. Thus, even after the danger of vehicle rollover is avoided, the instantaneous maximum value of the danger of vehicle rollover is displayed on the display unit.

The warning display means may display a warning on the head-up display for urging the driver to avoid danger when the risk of the vehicle rolling over exceeds a predetermined value. Thus, when the risk of the vehicle rolling over increases, a warning that prompts the driver to avoid danger is displayed on the head-up display.

[0010] The warning display means may be configured to display, on the emergency lamp, a warning prompting the driver to avoid danger when the risk of the vehicle rolling over exceeds a predetermined value. As a result, when the risk of the vehicle rolling over increases, the emergency lamp for displaying a warning prompting the driver to avoid danger is turned on.

Further, the warning display means may be configured such that when the degree of danger of vehicle rollover exceeds a predetermined value, a light emitting unit provided on the steering wheel instructs the driver to perform a danger avoidance operation. As a result, when the risk of the vehicle rolling over increases, the light emitting unit is turned on so that the driver operates the steering in a direction to avoid danger.

[0012]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is an explanatory view showing an embodiment of a vehicle rollover prevention device according to the present invention, and shows an embodiment in which the vehicle rollover prevention device is applied to a semi-tractor. This vehicle rollover prevention device detects the vehicle's tilt state during turning and displays and warns the driver, and the vehicle height sensors 16L and 16R, an alarm timing selection switch 18, an electronic control unit 20, Warning display means 22, alarm device 30, engine controller 32, brake controller 34
And comprising.

The above-mentioned vehicle height sensors 16L and 16R are
The left and right vehicle heights H _L and H _R are detected, as shown in FIG. 1, near the left and right side frames 10L and 10R, the distance between the side frames 10L and 10R and the rear shaft 12 of the axle. It is arranged to measure. In addition,
The left and right side frames 10L and 10R and the rear shaft 12 of the axle are connected to a suspension mechanism 1 using a leaf spring or an air spring interposed therebetween.
4, 14 are connected.

The alarm timing selection switch 1
Numeral 8 is for setting the timing at which the warning display of the vehicle rollover should be output according to the driver's preference, and is provided near the driver's seat. This alarm timing selection switch 1
8, the timing A, the normal timing B, and the late timing C can be selected by rotating the switch member 18a. For example, when the normal B is selected, the roll angle generally regarded as dangerous for the vehicle is selected as the warning roll angle. Also early A
Is selected, an angle smaller by a predetermined angle than the roll angle when the normal B is selected is selected as the roll angle at which the alarm is generated, and when the late C is selected, the roll angle when the normal B is selected is a predetermined angle. The larger angle is selected as the warning roll angle.

The electronic control unit (hereinafter referred to as “E”)
As shown in FIG. 1, a signal 20 from the vehicle height sensors 16L and 16R and a signal from the alarm timing selection switch 18 are input to the ECU 20, and a warning display described later is made based on these signals. It controls the operation of the means 22 and the alarm 30 and transmits control commands to the engine controller 32 and the brake controller 34. As shown in FIG. 2, the ECU 20 includes a roll angle calculation unit 20a, a roll angular velocity calculation unit 20b, a roll urgency determination unit 20c, a rollover danger determination unit 20d,
A warning display control unit 20e, an alarm control unit 20f,
And a deceleration control unit 20g.

[0016] The roll angle calculation unit 20a, the vehicle height sensors 16L, based on the vehicle height H _L and H _R of the left and right of the vehicle body 1 detected by 16R, a roll angle θ in the current shown in FIG. 3 [rad] Is calculated geometrically (the calculation will be described later). The roll angular velocity calculator 20b calculates the current roll angular velocity ω [rad / s] based on the change rate of the roll angle θ calculated by the roll angle calculator 20a. Further, the roll urgency determination unit 20c is provided with the roll angle calculation unit 2
The roll urgency is determined based on the roll angle θ calculated at 0a and the current roll angular speed ω calculated at the roll angular speed calculator 20b. Here, the roll urgency is a scale indicating the danger of the vehicle rolling over, and in this embodiment, at least three levels of high urgency, medium urgency, and low urgency are determined.

The roll danger determining unit 20d rolls over the vehicle based on the roll angle θ calculated by the roll angle calculating unit 20a and the roll urgency determined by the roll urgency determining unit 20c. The degree of danger is determined, and a control signal is transmitted to a warning display unit control unit 20e, an alarm device control unit 20f, and a deceleration control unit 20g described below.

Further, the warning display means control section 20e
Controls the operation of a warning display unit 22 (see FIG. 1), which will be described later, based on the determination result of the degree of the risk of the vehicle rolling over determined by the rollover risk determination unit 20d. Further, the alarm control unit 20f controls the operation of the alarm 30 (see FIG. 1) based on the determination result of the risk of rollover of the vehicle determined by the rollover risk determination unit 20d. . Further, the deceleration control unit 20g reduces the fuel supply amount via the engine controller 32 based on the determination result of the vehicle rollover danger determined by the rollover danger determination unit 20d, and controls the brake controller 34. Activate the brake via the
As a result, the speed of the traveling vehicle decreases, so that the centrifugal force generated by the turning of the vehicle decreases, the roll angle θ decreases, and the danger of vehicle rollover can be reduced.

The warning display means 22 (see FIG. 1)
Is to display the degree of danger of the vehicle rollover determined by the ECU 20 step by step and warn the driver to drive to avoid danger. As shown in FIG. 4, the warning display means 22 displays the degree of the risk stepwise according to the size of the display area of the display unit of the degree-of-risk display device 23 which displays the degree of the risk of the vehicle rolling over. And is provided near the driver's seat. FIG.
(A) As shown in FIG.
4a, a display section 24b having a larger area than the display section 24a on both left and right sides thereof, and a display section 24c having a larger area on both left and right sides of the display section 24b. The display units 24d and 24e having large areas are provided.

If the risk of the vehicle rolling over is low, for example, when the vehicle turns left and rolls to the right, if the risk of the vehicle rolling over is low, the right display portion 24a of the risk display device 23 is provided.
To 24c are sequentially turned on from the center. The outer display portions 24d and 24e having a larger display area are sequentially turned on as the risk of the vehicle rolling over increases. As a result, the risk of the vehicle rolling over is displayed stepwise, and the driver's attention can be drawn as the risk increases.

Here, the danger display device 23 displays, for example, the display units 24a to 24c in blue indicating a safe state, the display unit 24d in yellow indicating a caution state, and the display unit 24e in red indicating a danger state. It is supposed to be. As a result, the driver can view the display unit 2 of the danger display device 23.
The risk of vehicle rollover can also be recognized by the display colors 4a to 24e.

Incidentally, the above-mentioned danger display device 23 is shown in FIG.
The present invention is not limited to the one shown in FIG. 1A, and may be of any type as long as the degree of danger of vehicle rollover can be displayed and warned by a change in the display area. For example, FIG.
As shown in the figure, the lowermost display section 25a having a small display area
, The display area is gradually increased from the display area 25n to the top display area 25n having a large display area, or as shown in FIG. The display area may be gradually increased up to the portion 26d.

As described above, the danger display device 23
Are display units 24a to 24e based on the determination result of the risk of rollover of the vehicle determined by the ECU 20 (see FIG. 5A).
Are lit in a stepwise manner, and the degree of danger of vehicle rollover is displayed in a stepwise manner. Then, the display unit 24a
24e, the displayed instantaneous maximum value of the risk of vehicle rollover is kept displayed for a predetermined time. That is,
It is assumed that the danger of vehicle overturn increases due to, for example, a sudden left turn of the vehicle running at high speed, and the right display unit 24d is turned on. At this moment, it is assumed that the driver reduces the vehicle speed and operates the steering wheel S shown in FIG. 4 in the R direction (rightward direction) to avoid the danger of the vehicle rolling over. Even in such a case, the risk display device 23 keeps lighting the instantaneous maximum value of the risk immediately before (the right display unit 24d in this case) for a predetermined time, for example, about 10 seconds. As a result, even after driving to avoid the danger of the vehicle rolling over, the instantaneous maximum value of the danger of the vehicle rolling over is displayed on the danger display device 23, and this is confirmed after the danger avoidance operation. can do.

The warning display means 22 is provided with the EC
If it is determined in U20 that the risk of vehicle rollover exceeds a predetermined value, a warning urging the driver to avoid danger may be displayed on the head-up display 27 shown in FIG. The head-up display 27 uses a part of the windshield as a display screen. Although not shown, a picture that shows the roll state of the vehicle or a picture of an emergency based on yellow or red is displayed. Has become. As a result, when the danger of the vehicle rolling over increases, a warning of danger avoidance is displayed on the head-up display 27, so that the driver can be surely aware of the danger of the vehicle rolling over, and the danger avoidance can be quickly performed. Driving can be encouraged. Therefore, safety in vehicle operation can be improved.

Further, the warning display means 22 is provided with the EC
If it is determined in U20 that the risk of vehicle rollover exceeds a predetermined value, a warning that prompts the driver to avoid danger may be displayed on the emergency lamp 28 shown in FIG. The emergency lamp 28 displays a warning for avoiding danger. As shown in FIG. 4, the emergency lamp 28 is installed on, for example, an instrument panel so as to be easily seen by a driver. This increases the risk of the vehicle rolling over,
Since the emergency lamp 28 is turned on and a warning is displayed to prompt the driver to avoid danger, it is possible to make the driver surely aware of the danger of overturning the vehicle and improve the safety of the vehicle operation. At the same time, an alarm device 30 (see FIG. 1) formed of, for example, a buzzer may be sounded.

Further, the warning display means 22 is provided with the E
If it is determined in the CU 20 that the degree of danger of the vehicle rollover exceeds a predetermined value, the light emitting units 29, 29,... Provided on the steering wheel S shown in FIG. . As shown in FIG. 4, the light emitting unit 29 is provided in the grip portion of the steering wheel S in the circumferential direction, and lights up so as to instruct the driver to perform a danger avoidance operation. For example, when a vehicle running at high speed turns sharply to the left and the entire vehicle rolls largely to the right, the light emitting units 29, 29,... (R direction in FIG. 4). The driver sets the light emitting units 29, 29,.
By operating the steering wheel S following the lighting direction of, the danger of the vehicle rolling over can be avoided.

As described above, the warning display means 2
2 indicates the degree of danger of vehicle rollover by changing the size of the display area of the display unit 24 of the danger display device 23 shown in FIG. When it is determined that the vehicle speed has exceeded the limit, the driver is made aware of the fact and a warning of danger avoidance is issued. As a result, the driver can reliably and appropriately recognize the danger of the vehicle rolling over, and can be encouraged to perform the danger avoidance operation at an early timing, so that the safety of the vehicle operation can be improved.

Next, the operation of the vehicle rollover prevention device configured as described above will be described with reference to the flowcharts shown in FIGS. FIGS. 6 and 7 show an embodiment of the contents of control executed in the above-described ECU 20. Note that such control is repeatedly executed at predetermined time intervals.

First, in step S1 shown in FIG. 6, at predetermined sampling intervals (for example, several msec to several hundred msec), the vehicle height H _{L on the} left and right sides of the vehicle via the vehicle height sensors 16L and 16R shown in FIG. And H _R are detected.

Next, in step S2, the above step S
The current roll angle θ is calculated based on the vehicle heights H _L and H _R detected in Step 1. When the vehicle is placed, for example turning to the left, as shown in FIG. 3, the inclination entire vehicle on the right side, the left side of the vehicle height H _L is larger than the right vehicle height _{H R (H L> H R} ).
Here, when the vehicle height sensors 16L, the attachment interval 16R and L, and the roll angle theta of the vehicle, approximately _{^{θ ≒ tan -1 [(H L}} -H R) / L] arithmetic expression that ... (1) Is calculated by Note that the roll angle θ calculated here is a relative angle indicating the inclination of the vehicle with respect to the rear shaft 12 shown in FIG. Further, the processing in step S2 corresponds to the roll angle calculation means.

The roll angle θ in step S2
It may contain, in addition to the above arithmetic expression, is also calculated by the arithmetic expression of approximately _{^{θ ≒ sin -1 [(H L}} -H R) / L] ... (2). Furthermore, in order to obtain a more accurate roll angle θ, the roll angle θ is calculated by the following equation (3) derived from the triangle formula, or calculated by the following equation (4) derived from the formula for calculating the area of the triangle. May be.

(Equation 1)

Then, in step S3, the above step
Based on the roll angle calculated in step S2, the average roll
Angle θ_aveIs calculated. That is, the above step S2
Is calculated by the vehicle height sensor 1
Height H via 6L, 16R _LAnd H_RAt the moment of detecting
Is the roll angle at which
The repetition of the fine inclination due to this is also detected. others
Of several to several tens of roll angles θ in a predetermined time.
Moving average calculation to sequentially calculate the average value, average roll angle θ
_aveBy repeating the above fine inclination
It can be eliminated to eliminate the cause of the malfunction. In addition,
The processing in step S3 corresponds to the moving average calculation means
I do. Also, a series of steps S1 to S3
Corresponds to the roll angle detecting means.

Further, in step S4, the above steps
Average roll angle θ calculated in S3 _aveBased on the car
Both roll angular velocities ω are calculated. That is, the above steps
Average roll angle θ of several to several tens obtained in S3_aveTo
And apply the least squares method to calculate the average roll angle θ_avechange of
By calculating the ratio, the roll angular velocity ω is calculated.
It should be noted that the processing in step S4 is performed by detecting the roll angular velocity.
Corresponds to means.

[0034] Furthermore, in step 5, a process of absolute value to determine whether it is greater than the predetermined value theta ₀ average roll angle theta _ave calculated in step S3 is performed.
Here, the predetermined value θ ₀ is a threshold value that prevents a later-described calculation process from being performed when the roll angle of the vehicle is small, and is set, for example, to a value with a very low possibility that the vehicle rolls over. Accordingly, if the absolute value of the average roll angle θ _ave is larger than the predetermined value θ ₀ , the process proceeds to “Yes” and the next calculation process is started (step S6). on the other hand,
If the absolute value of the average roll angle θ _ave is equal to or smaller than the predetermined value θ ₀ , the process proceeds to “No” side, and the control is terminated via the connector 1 (see FIG. 7).

Next, in step S6, the above step S
The absolute value of the the current roll angular velocity omega calculated in 4, process of determining whether greater than predetermined value omega ₂ is performed.
Here, the predetermined value ω ₂ is a threshold value that defines an area where the roll urgency is “large”. For example, if the vehicle continues to turn with the current roll angular velocity, the vehicle rolls over after a predetermined time has elapsed. The roll angle is set to a value that is estimated to be a roll angle at which there is a risk of performing the roll angle. As a result, the current roll angular velocity ω
Is determined to be greater than the predetermined value ω ₂ , the process proceeds to “Yes” in step S6, and the roll urgency is “large”.
Is determined (step S7). Then, the process proceeds to step S11 shown in FIG. On the other hand, if the absolute value of the current roll angular velocity omega in step S6 determines that the predetermined value omega ₂ below, step S6 "No"
Side, and then to step S8.

Next, in step S8, the above step S
The absolute value of the current roll angular velocity omega calculated in 4 process of determining whether it is ₁ or more and predetermined value omega ₂ below a predetermined value omega is performed. Here, the predetermined value omega _1, a threshold value defining the region roll urgency is "small", for example,
If the vehicle keeps turning at the current roll angular velocity, the value is set to a value that is assumed not to be a roll angle at which there is a risk of the vehicle rolling over after a predetermined time has elapsed. Therefore, if the current roll angular velocity absolute value is ₁ or more and predetermined value omega ₂ below a predetermined value omega of omega, step S8 "Yes"
Then, it is determined that the roll urgency is “medium” (step S9). Then, the process proceeds to step S12 shown in FIG. Note that the current roll angular velocity ω
If the absolute value of is larger than the predetermined value ω _2, it is determined in step S6, and therefore need not be considered in step S8.

On the other hand, the absolute value of the current roll angular velocity omega is less than the predetermined value omega _1, step S8 proceeds to "No" side, roll urgency is determined to be "small" (Step S10) . Then, the process proceeds to step S13 shown in FIG. Steps S6 to S1
The process at 0 corresponds to the urgency determination means.

As shown in FIG. 7, if it is determined in step S10 that the roll urgency is "small" and the process proceeds to step S13, the current average roll angle θ
the absolute value of the _ave is determined whether or not greater than the predetermined value theta ₁ is performed. Here, the predetermined value θ ₁ is a threshold value for determining the risk of vehicle rollover during turning,
For example, if the vehicle keeps turning with the current average roll angle and roll angular velocity, the value is set to a value that is estimated to be the roll angle at which the vehicle rolls over after a predetermined time. The same applies to the predetermined value theta ₂ and theta ₃ below. If the absolute value of the average roll angle θ _ave is larger than the predetermined value θ _1, it is determined that the turning vehicle is in danger of rolling over, and the vehicle is turned on or off sequentially according to the average roll angle θ _ave. Display unit 24 with a small display area
In addition to a to 24d (see FIG. 5A), the display unit 24e having a large display area is also turned on (step S14), and the roll state of the vehicle is displayed to make the driver aware of the danger of the vehicle rolling over. To avoid danger.

Also, when the roll urgency is determined to be "medium" in step S9 and the process proceeds to step S12, the same processing as in step S13 is performed. That is, if the absolute value of the average roll angle θ _ave is larger than the predetermined value θ ₂ , it is determined that there is a risk that the turning vehicle will roll over, and the display unit 24 e having a large display area
(See FIG. 5 (a).) The display units 24a to 24d which are sequentially turned on or off according to the average roll angle θ _ave.
(Step S14), the driver is made aware of the danger of the vehicle rolling over, and the driver is urged to avoid danger. FIG.
Is displayed on the head-up display 27, the emergency lamp 28, and the light emitting section 29 provided on the steering wheel S (step S1).
4). At this time, the alarm 30 shown in FIG. 1 may be sounded. This makes it possible for the driver to reliably and appropriately recognize the danger of the vehicle rolling over, to prompt the driver to avoid danger at an early timing, and to improve the safety of the vehicle operation.

Further, even if the roll urgency is determined to be "high" in step S7 and the process proceeds to step S11, the same processing as in steps S12 and S13 is performed. That is, the average roll angle θ
_If the absolute value of _ave is larger than the predetermined value θ ₃ , it is determined that there is a risk that the turning vehicle may roll over, and the display unit 24 e (see FIG. 5A) having a large display area displays the average roll angle θ.
_The display unit 24 which is turned on or off sequentially according to the _ave
The lamp lights up after d to 24d to indicate that it is in a dangerous state, and at the same time, the head-up display 27 and the like operate (step S14).

Next, in step S15, whether the absolute value of the current average roll angle theta _ave is either roll urgency predetermined value theta ₁ corresponding to, greater than the sum of the theta ₂ or theta ₃ and incremental [Delta] [theta] ' Is determined. Here, the increment Δθ ′ is a correction value for determining whether or not to execute the deceleration control to reduce the risk of the vehicle rolling over, and is set to, for example, a predetermined value having a positive value. . The increment Δθ ′ may be changed according to the roll urgency. If the absolute value of the average roll angle θ _ave is larger than the sum of the predetermined value θ ₁ , θ ₂ or θ ₃ and the increment Δθ ′, “Ye
Proceed to the s "side to perform deceleration control (step S16).
On the other hand, if the absolute value of the average roll angle θ _ave is smaller, the process proceeds to “No” and the control ends.

In step S16, a command to reduce the amount of fuel to be supplied is transmitted to the engine controller 32 shown in FIG. Also, a command to operate the brake is transmitted to the brake controller 34 shown in FIG. Thus, deceleration control is performed.

[0043]

The present invention has been configured as described above.
According to the first aspect of the present invention, the roll angle of the vehicle is detected by the roll angle detecting means, the roll angular velocity of the vehicle is detected by the roll angular velocity detecting means, and the urgency corresponding to the detected roll angular velocity is determined as the urgency. The risk determining means determines the degree of the risk of vehicle rollover based on the absolute value of the detected roll angle and the determined urgency, and the determined risk of vehicle rollover is determined by the risk determining means. Can be displayed stepwise by the warning display means to warn the driver of danger avoidance. Thus, when the traveling vehicle turns, it is possible to determine the degree of danger of the vehicle rolling over, to make the driver surely and appropriately recognize the danger, and to prompt the driver to avoid danger at an early timing. it can. Therefore, safety in vehicle operation can be improved.

According to the second aspect of the present invention, the warning display means displays the degree of the risk by changing the display area of the display unit for displaying the degree of the risk of the vehicle rolling over. With this configuration, the larger the risk of the vehicle rolling over, the larger the display area is displayed, and the driver can be alerted.

Further, according to the third aspect of the present invention, the display unit keeps displaying the displayed instantaneous maximum value of the danger of rollover of the vehicle for a predetermined time.
Even after the danger of vehicle rollover has been avoided, the instantaneous maximum value of the risk of vehicle rollover can be displayed on the display unit.

Further, according to the fourth aspect of the present invention, the warning display means displays a warning on the head-up display which urges the driver to avoid danger when the danger of vehicle rollover exceeds a predetermined value. As a result, when the risk of the vehicle rolling over increases, a warning that prompts the driver to avoid danger can be displayed on the head-up display. This makes it possible for the driver to reliably recognize the danger of the vehicle rolling over, and to promptly drive the driver to avoid danger. Therefore, safety in vehicle operation can be improved.

According to the fifth aspect of the present invention, the warning display means is configured to display, on the emergency lamp, a warning for urging the driver to avoid danger when the danger of vehicle rollover exceeds a predetermined value. Accordingly, when the danger of the vehicle rolling over increases, an emergency lamp that displays a warning to avoid danger can be turned on. This makes it possible for the driver to reliably recognize the danger of the vehicle rolling over, and to promptly drive the driver to avoid danger. Therefore, safety in vehicle operation can be improved.

According to the sixth aspect of the present invention, the warning display means instructs the driver to perform a danger avoidance operation by a light emitting unit provided on the steering wheel when the danger of vehicle rollover exceeds a predetermined value. With this configuration, when the danger of the vehicle rolling over increases, the light emitting unit can be turned on so as to operate the steering in a direction to avoid danger. Thus, if the driver operates the steering while following the lighting direction of the light emitting unit, the danger of the vehicle rolling over can be avoided.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram illustrating an embodiment of a vehicle rollover prevention device according to the present invention, and is a diagram illustrating an example in which the vehicle rollover prevention device is applied to a semi-tractor.

FIG. 2 is a block diagram showing an internal configuration of an electronic control unit which is a component of the vehicle rollover prevention device.

FIG. 3 is an explanatory diagram showing a method of calculating a roll angle by the rollover prevention device for a vehicle.

FIG. 4 is an explanatory diagram showing an embodiment of a warning display unit which is a component of the rollover prevention device for a vehicle.

FIG. 5 is an explanatory diagram showing an embodiment of a display unit of the danger display device as the warning display means.

FIG. 6 is a flowchart illustrating an example of control contents executed in the electronic control unit, illustrating steps from detection of a vehicle height to determination of a roll urgency;

FIG. 7 is a flowchart illustrating the operation of the rollover prevention device for a vehicle, illustrating steps from determining a risk of the vehicle rolling over to ending the control.

[Explanation of symbols]

 16L, 16R vehicle height sensor 18 alarm timing selection switch 20 electronic control unit 20a roll angle calculator 20b roll angular speed calculator 20c roll urgency determination unit 20d rollover danger determination unit 20e indicator control unit 20f ... alarm device control unit 20g ... deceleration control unit 22 ... alarm display means 23 ... danger level display device 24, 25, 26 ... display unit 27 ... head-up display 28 ... emergency lamp 29 ... light emitting unit 30 ... alarm device 32 ... engine controller 34 ... Brake controller

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Tatsushi Miyata 1-chome, 1-chome, Ageo-shi, Saitama F-term in Nissan Diesel Industry Co., Ltd. 3D037 FA21 FB01 FB02 FB09 FB10 FB12

Claims (6)

[Claims] 1. A roll angle detecting means for detecting a roll angle of a vehicle, a roll angular velocity detecting means for detecting a roll angular velocity of a vehicle, and an urgency determining means for determining an urgency corresponding to the detected roll angular velocity. Danger determining means for determining the degree of danger of the vehicle rolling over based on the absolute value of the detected roll angle and the determined degree of urgency; And a warning display means for warning the driver of danger avoidance. 2. The apparatus according to claim 1, wherein the warning display means displays the degree of the danger by changing a display area of a display unit for displaying the degree of the danger of the vehicle rolling over. The rollover prevention device for a vehicle according to claim 1. 3. The rollover prevention device for a vehicle according to claim 2, wherein the display unit keeps displaying the displayed instantaneous maximum value of the degree of danger of rollover of the vehicle for a predetermined time. 4. A head-up display according to claim 1, wherein said warning display means displays a warning on a head-up display for urging a driver to avoid danger when the risk of vehicle rollover exceeds a predetermined value. Vehicle rollover prevention device. 5. The vehicle according to claim 1, wherein said warning display means displays, on an emergency lamp, a warning for urging a driver to avoid danger when the danger of vehicle rollover exceeds a predetermined value. Rollover prevention device. 6. The warning display means according to claim 1, wherein a light emitting unit provided on the steering wheel instructs a driver to perform a danger avoidance operation when the danger of vehicle rollover exceeds a predetermined value. The rollover prevention device for a vehicle according to claim 1.