CN101350137A - Dynamic detection method for preventing wagon from turning towards one side on bending road and pre-warning apparatus - Google Patents

Dynamic detection method for preventing wagon from turning towards one side on bending road and pre-warning apparatus Download PDF

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Publication number
CN101350137A
CN101350137A CNA2008101196589A CN200810119658A CN101350137A CN 101350137 A CN101350137 A CN 101350137A CN A2008101196589 A CNA2008101196589 A CN A2008101196589A CN 200810119658 A CN200810119658 A CN 200810119658A CN 101350137 A CN101350137 A CN 101350137A
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CN
China
Prior art keywords
lorry
rollover
acceleration
wagon
height
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CNA2008101196589A
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Chinese (zh)
Inventor
王建强
李克强
张德兆
李升波
连小珉
罗禹贡
郑四发
杨殿阁
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清华大学
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Priority to CNA2008101196589A priority Critical patent/CN101350137A/en
Publication of CN101350137A publication Critical patent/CN101350137A/en

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Abstract

The invention relates to a rollover prevention dynamic detection method for a wagon on a curved conduit and a warning device. The method comprises the following steps: 1, installing a rollover prevention dynamic detection method for a wagon on a curved conduit which comprises a steering wheel rotation angle measuring device, a yaw angle velocity measuring device, an inclination angle measuring device and an electronic control unit which comprises a single chip microcomputer, wherein a solidification program of the single chip microcomputer is equipped with a centroid height dynamic detection algorithm module and a rollover prevention warning algorithm module, and a rollover alarming range is arranged in the rollover prevention warning algorithm module. 2, collecting steering wheel rotation angle singles, vertical yaw angle velocity measuring singles of the wagon, side-tipping angle singles of a carriage of the wagon, the side-tipping angle singles of a rear shaft of the wagon and vertical speed singles of the wagon. 3, a lateral acceleration and a centroid height of the wagon is counted through the centroid height dynamic detection algorithm module. 4, counting a rollover acceleration threshold value through the rollover prevention warning algorithm module according to the centroid height. 5, sending a corresponding alarm command according to a difference value of the lateral acceleration and the rollover acceleration threshold value of the wagon and the reset rollover alarm range.

Description

Dynamic detection method for preventing wagon from turning towards one side on bending road and prior-warning device
Technical field
The present invention relates to a kind of lorry method for safety monitoring and device, particularly about a kind of dynamic detection method for preventing wagon from turning towards one side on bending road and prior-warning device.
Background technology
Lorry is when shipping goods, and because of the kind of its lade with vary in weight, its height of center of mass changes often.If height of center of mass is higher, the speed of a motor vehicle is very fast, lorry is easy to take place the rollover accident when negotiation of bends, cause great casualties and property loss.Thus, actively developing the security of operation and the monitoring technique of research lorry both at home and abroad, for example the intelligent vehicle speed system promptly realizes the control automatically of car speed ground according to road conditions and vehicle performance parameter, thereby makes vehicle can pass through bend safely; Again such as the safety control technology of coordinating based on bus or train route, by bus or train route communication information, trailer-mounted radar information, state of motion of vehicle information etc., the security of operation state of real-time judge vehicle utilizes on-vehicle safety actuating unit such as electronics complemental brake system that vehicle can be moved with the speed of safety.For these safety techniques, vehicle self performance parameter is to set up the basis of correct security control algorithm, and the height of center of mass of vehicle is one of of paramount importance parameter in these parameters, can the identification to the vehicle height of center of mass then be the key that finally realize vehicle safety control, so significant to the dynamic monitoring of vehicle height of center of mass.
Detection technique to barycenter height of truck mainly is to utilize instruments such as weighing instrument, tape measure, inclinometer that barycenter height of truck is carried out static measurement at present, promptly must when lorry is still on the instrument of weighing, could measure, and when truckload and type of merchandize variation, also must repeat said process and just can obtain its new height of center of mass its height of center of mass.Therefore, for the detection technique of present barycenter height of truck, mainly there is following problem: the first, because the type of merchandize and the weight of charge of trucks change often, so existing detection technique does not have specific aim, when changing, the goods that loads just is difficult to know its actual height of center of mass; The second, the detected barycenter height of truck of prior art be difficult to guarantee its real-time accuracy, thereby causes the vehicle safety control algolithm set up based on this height of center of mass inaccurate, therefore can't effectively ensure lorry on bend safe operation.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of reliability height, be widely used, and the dynamic detection method for preventing wagon from turning towards one side on bending road and the prior-warning device of early warning information can be provided when lorry is turned in time, initiatively, exactly.
For achieving the above object, the present invention takes following technical scheme: a kind of dynamic detection method for preventing wagon from turning towards one side on bending road, it may further comprise the steps: 1) a preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device is set, and it comprises steering wheel angle measurement mechanism, yaw velocity measurement mechanism, dip measuring device and includes the electronic control unit of single-chip microcomputer; Program curing in the described single-chip microcomputer is provided with height of center of mass dynamic detection algorithm module and anti-rollover warning algorithm module; Preset the rollover alarming scope in the described anti-rollover warning algorithm module; 2) gather the steering wheel angle signal, lorry is along vertical yaw velocity signal, the side tilt angle signal of boxcar, the side tilt angle signal of lorry rear axle, vertical vehicle speed signal of lorry; 3) by described height of center of mass dynamic detection algorithm module, calculate lorry side acceleration and height of center of mass; 4),, calculate the rollover acceleration rate threshold by described anti-rollover warning algorithm module according to height of center of mass; 5) according to lorry side acceleration and the difference of rollover acceleration rate threshold and the rollover alarming scope that presets, send corresponding alarm command.
The described rollover alarming scope that presets in the described step 1) is divided into three grades: if a ^ y < 0.5 A y , Alert levels G=0, described electronic control unit sends not alarm command to described alarm device; If 0.5 A y &le; a ^ y < 0.8 A y , Alert levels G=1, described electronic control unit sends elementary alarm command to described alarm device; If a ^ y &GreaterEqual; 0.8 A y , Alert levels G=2, described electronic control unit sends senior alarm command to described alarm device; Wherein, Be lorry side acceleration, A yBe the rollover acceleration rate threshold.
The calculating formula of the described lorry side acceleration in the described step 3) is as follows:
&omega; rs ( k ) = u ( k ) / L 1 + Cu ( k ) 2 &delta; ( k )
&omega; ^ r ( k ) = ( 1 - &lambda; ) &omega; rm ( k ) + &lambda; &omega; rs ( k )
a ^ y ( k ) = u ( k ) &CenterDot; &omega; ^ r ( k )
In the formula, k represents k step sampling instant, Be lorry side acceleration, ω Rs(k) be the theoretical stable state yaw velocity of lorry signal, u (k) is the lorry vehicle speed signal, and L is the lorry wheelbase, and δ (k) is the steering wheel angle signal, and C is the stable factor of lorry, For proofreading and correct the stable state yaw velocity, λ is a weight coefficient, ω Rm(k) be yaw velocity.
The calculating formula of described barycenter height of truck is as follows:
H(k)=H(k-1)+Q(k)e(k)
In the formula, k represents k step sampling instant, and H (k) is a barycenter height of truck, and e (k) is a k-1 evaluated error constantly, Be the roll angular rigidity of lorry suspension, Be the side tilt angle signal of boxcar, Be the side tilt angle signal of lorry rear axle, H (k-1) is described barycenter height of truck, h aBe the height on bottom, boxcar to road surface, m is the lorry quality, Be described lorry side acceleration, g is an acceleration of gravity, and Q (k) is a gain matrix, and P (k-1) is for being poised for battle matrix, and ε is a forgetting factor, and P (k) is for being poised for battle matrix.
Described rollover acceleration rate threshold calculating formula in the described step 4) is as follows:
In the formula, k represents k step sampling instant, A yBe the rollover acceleration rate threshold, B is the wheelspan of lorry, and g is an acceleration of gravity.
Described rollover acceleration rate threshold calculating formula in the described step 4) is as follows:
In the formula, k represents k step sampling instant, A yBe the rollover acceleration rate threshold, B is the wheelspan of lorry, and g is an acceleration of gravity.
Preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device is characterized in that: it comprises a steering wheel angle sensor, and it is installed on the steering column of lorry bearing circle below; One yaw-rate sensor, it is installed in the infall of two axis, bottom, boxcar; One inclinator, it is installed in the place, point of crossing of boxcar bottom longitudinal central axis line and the projection of rear axle on the compartment; Another inclinator, it is installed in the midpoint of rear axle; One alarm device, it is arranged on the console of pilothouse; One electronic control unit includes single-chip microcomputer in it, the program curing in the described single-chip microcomputer is provided with height of center of mass dynamic detection algorithm module and anti-rollover warning algorithm module.
Described electronic control unit also comprises a CAN bus transmission circuit and a serial ports transceiver circuit; One end of described CAN bus transmission circuit connects original vehicle-mounted CAN network on the lorry, and the other end connects described single-chip microcomputer; Described serial ports transceiver circuit one end connects two inclinators, and the other end connects described single-chip microcomputer.
Described alarm device comprises an integrated circuit and light, the auditory tone cues device controlled by described integrated circuit, the integrated circuit that integrated at least four road complex pipes of described integrated circuit drive.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention is by the calculating to the height of center of mass dynamic detection algorithm module that presets in the collection of the various kinetic parameters of lorry and the single-chip microcomputer, can comparatively accurately obtain lorry side acceleration and height of center of mass, the calculating that the possibility of rollover takes place for lorry provides reliable foundation.2, the present invention is by anti-rollover warning algorithm module, can calculate the rollover acceleration rate threshold, and according to the difference of itself and side acceleration, judge whether to carry out rollover alarming, therefore science is accurate as a result to adopt the early warning of the inventive method, prevented the generation of lorry rollover effectively, guaranteed that lorry travels and mental awareness.3, because the present invention has adopted LH3-SX-4300A type rotary angle transmitter, its measuring accuracy height, wide warm area is measured, and is convenient to the reliability height is installed.4, because the present invention has adopted LCG50-00100-100 type sensor, its measuring accuracy height, easy for installation, the reliability height.5, because the LAM-TD-45D type single shaft obliquity sensor that the present invention adopts is built-in with temperature compensation and impacts and suppress module, therefore further improved measuring accuracy.6, the present invention owing to adopted the filtering noise reducing circuit that the lorry dynamics basic parameter information of input is carried out Filtering Processing, has further improved the accuracy of measuring before barycenter height of truck is calculated.7, alarm device of the present invention is light emitting diode and the hummer by three kinds of colors of integrated circuit control, can remind the driver at a glance according to the light emitting diode of the different driving corresponding color of alert levels.The present invention can be fit to various vehicles, and reliability height, vehicle can send early warning information, the generation that avoids traffic accident initiatively, in time, exactly when negotiation of bends.
Description of drawings
Fig. 1 is a structured flowchart of the present invention
Fig. 2 is a dip measuring device of the present invention installation site synoptic diagram
Fig. 3 is the circuit theory diagrams of electronic control unit of the present invention
Fig. 4 is the circuit theory diagrams of alarm device of the present invention
Embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
The inventive method may further comprise the steps:
1) a preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device is set, it comprises steering wheel angle measurement mechanism 1, yaw velocity measurement mechanism 2, dip measuring device 3 and includes the electronic control unit of single-chip microcomputer U1 (Electronic Control Unit) ECU4; Program curing in the single-chip microcomputer U1 is provided with height of center of mass dynamic detection algorithm module and anti-rollover warning algorithm module; Preset the rollover alarming scope in the anti-rollover warning algorithm module.
2) gather the steering wheel angle signal, lorry is along vertical yaw velocity signal, the side tilt angle signal of boxcar, the side tilt angle signal of lorry rear axle, vertical vehicle speed signal of lorry.
3) by the height of center of mass dynamic detection algorithm module, calculate lorry side acceleration and height of center of mass.
4),, calculate the rollover acceleration rate threshold by anti-rollover warning algorithm module according to height of center of mass.
5) according to lorry side acceleration and the difference of rollover acceleration rate threshold and the rollover alarming scope that presets, send corresponding alarm command.
As shown in Figure 1, the present invention includes steering wheel angle measurement mechanism 1, yaw velocity measurement mechanism 2, dip measuring device 3, ECU4 and alarm device 5.
Steering wheel angle measurement mechanism 1 adopts a steering wheel angle sensor, it is fixedly installed on the steering column of lorry bearing circle below, it is used to detect the bearing circle angular signal and flows to ECU4, and the signal that flows to ECU4 is the two-way analog voltage signal, one the tunnel is used to judge the direction and the number of turns that bearing circle rotates, and another road is used to the angle of judging that bearing circle is turned in this circle.In the present embodiment, steering wheel angle sensor is the LH3-SX-4300A type rotary angle transmitter of BI company, maximum input voltage is 16V, range is-900 °~+ 900 °, impulsive force that can anti-10g, be applicable to vehicle environment, steering wheel angle measurement mechanism 1 also can be taked various types of sensors, and its installation site also can change.
Yaw velocity measurement mechanism 2 adopts a yaw-rate sensor, it is installed on the infall of two axis, bottom, boxcar, it is used to detect lorry along vertical yaw velocity signal and flow to ECU4, and the signal that flows to ECU4 is the analog voltage signal that changes between 0~5V.In the present embodiment, yaw-rate sensor adopts the LCG50-00100-100 type sensor of BEI company, and specified input voltage is 5Vdc, and range is ± 100 °/s, satisfies the lorry request for utilization, but the type of yaw velocity measurement mechanism 2 is not limited thereto.
As shown in Figure 2, dip measuring device 3 adopts two inclinators 31,32, wherein inclinator 31 is installed in the place, point of crossing of boxcar bottom longitudinal central axis line and the projection of rear axle on the compartment, and inclinator 32 is installed in the midpoint of rear axle, is respectively applied for the side tilt angle that detects the boxcar Side tilt angle with the lorry rear axle Signal, output signal With Be digital signal, can flow to ECU4 by the serial ports on the inclinator 31,32.In the present embodiment, two inclinators 31,32 adopt the LAM-TD-45D type single shaft obliquity sensor of Lamshine company, it is built-in with temperature compensation and impacts and suppress module, be applicable to vehicle environment, but wherein arbitrary inclinator can adopt also two displacement transducers to replace.
As shown in Figure 3, ECU4 comprises a single-chip microcomputer U1 and related peripheral circuit, single-chip microcomputer U1 has three A/D change-over circuits, and inside is provided with a height of center of mass dynamic detection algorithm module and an anti-rollover warning algorithm module, its analog voltage signal with steering wheel angle measurement mechanism 1 and 2 outputs of yaw velocity measurement mechanism converts digital signal to, receive the digital signal that dip measuring device 3 is carried simultaneously, and according to detected lorry dynamics basic parameter information, and algorithm computation lorry side acceleration and height of center of mass in the theoretical operation of the automobile dynamics barycenter height of truck dynamic detection algorithm module, algorithm computation lorry rollover acceleration rate threshold in the warning decision making algorithm of reruning the on this basis module, ECU4 sends alarm command according to the lorry side acceleration that relatively detects and the difference of rollover acceleration rate threshold and the rollover alarming scope that presets to alarm device 5 then.In the present embodiment, it is the 8-bit microcontroller of MC9S08DZ60 that the single-chip microcomputer U1 among the EUC4 adopts Motorola Inc.'s production, model, also can adopt other similar single-chip microcomputer, does not limit at this.
As shown in Figure 3, ECU4 also comprises three filtering noise reducing circuits of end difference closure 1 liang of output terminal of dish corner measuring apparatus and yaw velocity measurement mechanism 2 output terminals, and its other end connects input end ADIN0, ADIN1 and the ADIN2 of the three A/D change-over circuits of single-chip microcomputer U1 among the ECU4 respectively.First filtering noise reducing circuit input be the bearing circle rotation direction of steering wheel angle sensor 1 output and the signal of the number of turns, this circuit is made up of capacitor C 11, C12 and resistance R 1, capacitor C 12 is with after resistance R 1 is connected, the series arm that obtains is in parallel with capacitor C 11; One termination ground wire of this parallel circuit, the other end connect the input end ADIN0 of an A/D change-over circuit and the anode of a diode D1 simultaneously, and the negative electrode of diode D1 connects supply voltage VCC; What the second filtering noise reducing circuit was imported is the signal of steering wheel angle measurement mechanism 1 outbound course dish angle that turns in this circle, this circuit is made up of capacitor C 13, C14 and resistance R 2, capacitor C 14 is with after resistance R 2 is connected, and the series arm that obtains is in parallel with capacitor C 13; One termination ground wire of this parallel circuit, the other end connect the input end ADIN1 of the 2nd A/D change-over circuit and the anode of a diode D2 simultaneously, and the negative electrode of diode D2 connects supply voltage VCC; The 3rd filtering noise reducing circuit input be the signal of yaw velocity measurement mechanism 2 outputs, this circuit is made up of capacitor C 15, C16 and resistance R 3, capacitor C 16 is with after resistance R 3 is connected, the series arm that obtains is in parallel with capacitor C 15; One termination ground wire of this parallel circuit, the other end connect the input end ADIN2 of the 3rd A/D change-over circuit and the anode of a diode D3 simultaneously, and the negative electrode of diode D3 connects supply voltage VCC.The filtering noise reducing circuit is used for filtering the high frequency noise of simulating signal, to prevent in follow-up A/D sampling process signal aliasing taking place.The filtering noise reducing circuit can also adopt other condenser type filtering circuit except that above-mentioned capacitive filtering circuit, do not limit at this.If when adopting the filtering noise reducing circuit in the present embodiment, capacitor C 11, C12, C13, C14, C15 and C16 are the electrolyte capacitance of 1uF, also can be the electric capacity of other type, when being electrolyte capacitance, the minus earth of above-mentioned electric capacity.Resistance R 1, R2 and R3 are 50k Ω.Diode D1, D2 and D3 are used for guaranteeing that input end ADIN0, the ADIN1 of three A/D change-over circuits of single-chip microcomputer U1 and the input voltage of ADIN2 are no more than supply voltage VCC.
As shown in Figure 3, comprise also among the ECU4 that a CAN bus transmission circuit connects the original vehicle-mounted CAN of a lorry (Controller Area Network) network 6, be used for receiving the vertical vehicle speed signal of lorry from vehicle-mounted CAN network 6.This CAN bus transmission circuit adopts PCA82C250 chip U2 as driver, PCA82C250 is special-purpose CAN chip for driving, be respectively CAN bus and ECU5 differential transmission and differential receiving ability are provided, and finish CANH and CANL and the conversion of CAN bus between sending, receiving.1 pin of U2 links to each other with 30 pin with 29 pin of single-chip microcomputer U1 respectively with 4 pin, and 7 pin of U2 and 6 pin meet the high-end CANH and the low side CANL of vehicle-mounted CAN network 6 respectively, is used to receive the vertical vehicle speed signal of lorry of vehicle-mounted CAN network 6 inputs.Capacitor C 21 and C22 are connected in parallel and constitute the filter regulator circuit of U2, and an end of this filter regulator circuit links to each other with 3 pin of U2, and the other end links to each other with 2 pin of U2, and 3 pin of U2 also link to each other with supply voltage VCC simultaneously, and 2 pin of U2 link to each other with ground wire.
As shown in Figure 3, also comprise a serial ports transceiver circuit among the ECU4, this circuit adopts Max232 chip U3 to receive and dispatch chip for driving as serial ports, and it comprises that No. 2 transmitters, No. 2 receivers and a voltage generator circuit provide TIA/EIA-232-F level, meet the TIA/EIA-232-F standard.Wherein each receiver becomes 5V TTL/CMOS level with the TIA/EIA-232-F level conversion, and each transmitter becomes the TIA/EIA-232-F level with the TTL/CMOS level conversion.In the present embodiment, U3 only adopts that wherein riches all the way send device and No. one receiver.10 pin of U3 link to each other with 15 pin of single-chip microcomputer U1, and 9 pin link to each other with 16 pin of single-chip microcomputer U1, and the transmission line in the Serial Port Line of 7 pin and inclinator 3,4 links to each other, and the reception line in the Serial Port Line of 8 pin and inclinator 3,4 links to each other.Connect the positive pole that a capacitor C 31,1 pin meet C4 between 1 pin of U3 and 3 pin; Connect the positive pole that a capacitor C 32,4 pin meet C32 between 4 pin and 5 pin; Connect the positive pole that a capacitor C 33,2 pin meet C33 between 2 pin and 16 pin, and 16 pin link to each other with supply voltage VCC; 6 pin link to each other with the positive pole of a capacitor C 34, the minus earth line of C34; 15 pin ground wires link to each other with the negative pole of a capacitor C 35 simultaneously, and the positive pole of C35 links to each other with supply voltage VCC; Other pin of U3 is unsettled.In the present embodiment, U2 is the chip of a compatible RS232 standard of Texas Instruments (TI) release, and capacitor C 31, C32, C33, C34 and C35 are the polar capacitor of 1uF, but are not limited thereto.
Now note is that δ (k) and yaw velocity signal are ω through filtering noise reducing circuit and the steering wheel angle signal that undertaken after the AD sampling processing by single-chip microcomputer U1 Rm(k), note by the side tilt angle by the boxcar of inclinator 31,32 output that serial ports receives is With the side tilt angle of rear axle be Note is u (k) by the vertical vehicle speed signal of lorry that receives in the vehicle-mounted CAN network 6, and wherein k represents k step sampling instant.
Then, single-chip microcomputer U1 calculates barycenter height of truck according to the information operation barycenter height of truck dynamic detection algorithm of gathering, and its concrete steps are as follows:
(1) theory of computation stable state lorry yaw velocity ω Rs(k): utilize vehicle stable state steering model, according to the steering wheel angle signal δ (k) of real-time measurement, the vertical vehicle speed signal u of lorry (k) that receives in the vehicle-mounted CAN network 6, its calculation expression is as follows:
&omega; rs ( k ) = u ( k ) / L 1 + Cu ( k ) 2 &delta; ( k )
Wherein, L is the lorry wheelbase, and C is the stable factor of vehicle.In the present embodiment, L=4.5m, C=0.0019s 2/ m 2
(2) calculation correction stable state yaw velocity : read yaw velocity actual measured value ω Rm(k), consider that there is certain error in the actual measurement of yaw velocity, therefore will survey yaw velocity value ω Rm(k) and theoretical stable state yaw velocity value ω Rs(k) be weighted on average, proofread and correct the yaw velocity value thereby obtain one, its calculating formula is as follows:
&omega; ^ r ( k ) = ( 1 - &lambda; ) &omega; rm ( k ) + &lambda; &omega; rs ( k )
Wherein, λ is a weight coefficient, and concrete numerical value is decided according to the precision and the concrete mounting means of yaw velocity measurement mechanism 2, also can be demarcated by experiment.In the present embodiment, get λ=0.5.
(3) calculate the current side acceleration of lorry : according to proofreading and correct yaw velocity With current vertical speed of a motor vehicle u (k), its calculating formula is as follows:
a ^ y ( k ) = u ( k ) &CenterDot; &omega; ^ r ( k )
In the present embodiment, side acceleration Also can directly measure by a side acceleration sensor is installed on lorry.
(4) estimate barycenter height of truck H (k): according to the lorry kinetic parameter ε, h a, m, and current side acceleration And inclination angle Utilize vehicle stable state inclination model, set up the recurrence least-squares estimation algorithm of vehicle height of center of mass H (k), its calculating formula is as follows:
H(k)=H(k-1)+Q(k)e(k)
Wherein, e (k) is a k-1 evaluated error constantly, and Q (k) is a k gain matrix constantly, and P (k) is a k matrix poised for battle constantly, and H (k) is the height of center of mass estimated value, and ε is a forgetting factor, h aBe the height on bottom, boxcar to road surface, Be the roll angular rigidity of lorry suspension, m is the lorry quality, and g is an acceleration of gravity.In the present embodiment, g gets 9.8m/s 2, ε gets 0.99, h aGet 0.536m, Get 6739Nm/deg.
After adopting above-mentioned steps to draw the current height of center of mass H (k) of lorry, single-chip microcomputer U1 continues the algorithm in the operation anti-rollover warning algorithm module, the suffered side acceleration acceleration rate threshold of turning on one's side when calculating lorry and beginning to turn on one's side.According to the quasistatic rollover theory of computation of vehicle, lorry rollover acceleration rate threshold calculating formula is:
Wherein, B is the wheelspan of lorry, and in the present embodiment, B gets 1.865m.
When lorry crosses bend or changes travel direction with a certain speed, the side acceleration that records in the step (3) Approaching more rollover acceleration rate threshold A y, its danger coefficient that rollover takes place is high more.Be preset with the rollover alarming scope in the anti-rollover warning algorithm module, its minute rank give alarm to the driver, alert levels G and the level other division rule as follows:
If a ^ y < 0.5 A y , Alert levels G=0, ECU4 sends not alarm command to alarm device 5;
If 0.5 A y &le; a ^ y < 0.8 A y , Alert levels G=1, ECU4 sends elementary alarm command to alarm device 5;
If a ^ y &GreaterEqual; 0.8 A y , Alert levels G=2, ECU4 sends senior alarm command to alarm device 5.
The division rule of above-mentioned alert levels can not only send warning to the driver before the danger that turning on one's side appears in lorry, pointing out the driver to slow down early goes slowly, can also send the prompt messages of different stage to the driver according to the operating risk degree of lorry, meet most of driver's driving performance.
As shown in table 1, draw according to above-mentioned alarm rule after the size of alert levels, ECU4 will provide early warning information to the driver in a different manner according to the different driving alarm device 5 of alert levels.Alarm device 5 can be realized functions such as light warning and auditory tone cues warning.Corresponding to the size of alert levels G, the type of alarm of alarm device 5 is also to there being three kinds of states.
Table 1
Alert levels G Describe The light form Alarm sound is described
??0 Safety Green light is bright Alarm free
??1 Elementary warning The amber light flicker Frequency is the buzzer of 1Hz
??2 Senior warning Blinking red lamp Frequency is the buzzer of 2Hz
As shown in Figure 4, alarm device 5 comprises light, the auditory tone cues device of an integrated circuit U4 and control thereof, and integrated circuit U4 can directly drive light, auditory tone cues device.Input end 1 pin (IN1) of integrated circuit U4,2 pin (IN2), 3 pin (IN3) and 4 pin (IN4), promptly 43 pin, 45 pin, 47 pin link to each other with 52 pin with 4 output terminals of single-chip microcomputer U1 respectively.Wherein 1 pin is imported height of center of mass detection of dynamic work indicator signal, and 2 pin are imported elementary alerting signal, and 3 pin are imported senior alerting signal, the first or senior alerting signal of 4 pin input, and 9 pin (K) of integrated circuit U4 meet supply voltage VCC, 8 pin (GND) ground wire.Output terminal 16 pin (OUT1) corresponding with 1 pin link to each other with 9 pin by a green LED LED (Light EmittingDiode) 1, one resistance R 4 in regular turn, and LED1 is a green LED; Output terminal 15 pin (OUT2) corresponding with 2 pin link to each other with 9 pin by a red LED 2, a R5 in regular turn, and LED2 is a red light emitting diodes, as elementary alarm lamp; Output terminal 14 pin (OUT3) corresponding with 3 pin link to each other with 9 pin by a yellow led 3, a resistance R 6 in regular turn, and LED3 is a red light emitting diodes, as senior alarm lamp; Output terminal 13 pin (OUT4) corresponding with 4 pin link to each other with 9 pin by a hummer LS1.In addition, a resistance R 7 and LED4 series connection are connected between 9 pin and ground wire, and LED4 is a power light, and whether be used for the indication mechanism power supply normal.In the present embodiment, integrated circuit U4 is that model is that MC1412, integrated 7 tunnel complex pipe drive special IC, also can for other at least integrated 4 tunnel complex pipe drive special IC.R4, R5, R6 and R7 are the current-limiting resistance of 1.2k Ω, are used to prevent that the electric current by each LED is excessive, with protection LED.
Alarm device 5 is like this work: when ECU4 drives alarm device 5 and sends not warning message, 1 human hair combing waste of the integrated circuit U4 of 43 pin of single-chip microcomputer U1 in alarm device 5 goes out high level signal among the ECU4,1 pin of integrated circuit U4 is a high level, 16 pin are communicated with 8 pin, pilot lamp LED1 place circuit closed, this moment, LED1 was bright.When ECU4 driving alarm device 5 sends elementary warning message, be that 45 pin of the single-chip microcomputer U1 among the ECU5 and 2 pin and 4 human hair combing wastes of the integrated circuit U4 of 52 pin in alarm device 5 go out the square-wave signal that frequency is 1HZ, at this moment, 2 pin of integrated circuit U4 and the level of 4 pin are with frequency 1Hz height alternate, 1 pin and 3 pin are low level, 13 pin of integrated circuit U4 and 15 pin and 8 pin replace break-make with frequency 1Hz, 14 pin and 16 pin are unsettled, corresponding LED2 and loop, LS1 place replace break-make with frequency 1Hz, then elementary alarm lamp LED2 lamp is with frequency 1HZ flicker, and hummer LS1 sends frequency 1HZ buzzer; When ECU4 driving alarm device 5 sends senior warning message, be that 47 pin of the single-chip microcomputer U1 among the ECU4 and 3 pin and 4 human hair combing wastes of the integrated circuit U4 of 52 pin in alarm device 5 go out the square-wave signal that frequency is 2HZ, at this moment, 3 pin of integrated circuit U4 and the level of 4 pin are with the low checker of frequency 2Hz height, 1 pin and 2 pin are low level, 13 pin of integrated circuit U4 and 14 pin and 8 pin replace break-make with frequency 2Hz at this moment, 15 pin and 16 pin are unsettled, corresponding LED3 and loop, LS1 place replace break-make with 2Hz, then senior alarm lamp LED3 lamp is with frequency 2HZ flicker, and hummer LS1 sends the buzzer of frequency 2HZ.
The structure of each parts, the position is set and connects and all can change to some extent, on the basis of technical solution of the present invention,, should not get rid of outside protection scope of the present invention improvement and the equivalents that individual component is carried out.

Claims (8)

1, a kind of dynamic detection method for preventing wagon from turning towards one side on bending road, it may further comprise the steps:
1) a preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device is set, it comprises steering wheel angle measurement mechanism, yaw velocity measurement mechanism, dip measuring device and includes the electronic control unit of single-chip microcomputer; Program curing in the described single-chip microcomputer is provided with height of center of mass dynamic detection algorithm module and anti-rollover warning algorithm module; Preset the rollover alarming scope in the described anti-rollover warning algorithm module;
2) gather the steering wheel angle signal, lorry is along vertical yaw velocity signal, the side tilt angle signal of boxcar, the side tilt angle signal of lorry rear axle, vertical vehicle speed signal of lorry;
3) by described height of center of mass dynamic detection algorithm module, calculate lorry side acceleration and height of center of mass;
4),, calculate the rollover acceleration rate threshold by described anti-rollover warning algorithm module according to height of center of mass;
5) according to lorry side acceleration and the difference of rollover acceleration rate threshold and the rollover alarming scope that presets, send corresponding alarm command.
2, dynamic detection method for preventing wagon from turning towards one side on bending road as claimed in claim 1 is characterized in that: the described rollover alarming scope that presets in the described step 1) is divided into three grades:
If a ^ y = 0.5 A y , Alert levels G=0, described electronic control unit sends not alarm command to described alarm device;
If 0.5 A y &le; a ^ y < 0.8 A y , Alert levels G=1, described electronic control unit sends elementary alarm command to described alarm device;
If a ^ y &GreaterEqual; 0.8 A y , Alert levels G=2, described electronic control unit sends senior alarm command to described alarm device;
Wherein, Be lorry side acceleration, A yBe the rollover acceleration rate threshold.
3, dynamic detection method for preventing wagon from turning towards one side on bending road as claimed in claim 1 or 2 is characterized in that: the calculating formula of the described lorry side acceleration in the described step 3) is as follows:
&omega; rs ( k ) = u ( k ) / L 1 + Cu ( k ) 2 &delta; ( k )
&omega; ^ r ( k ) = ( 1 - &lambda; ) &omega; rm ( k ) + &lambda; &omega; rs ( k )
a ^ y ( k ) = u ( k ) &CenterDot; &omega; ^ r ( k )
In the formula, k represents k step sampling instant, Be lorry side acceleration, ω Rs(k) be the theoretical stable state yaw velocity of lorry signal, u (k) is the lorry vehicle speed signal, and L is the lorry wheelbase, and δ (k) is the steering wheel angle signal, and C is the stable factor of lorry, For proofreading and correct the stable state yaw velocity, λ is a weight coefficient, ω Rm(k) be yaw velocity.
The calculating formula of described barycenter height of truck is as follows:
H(k)=H(k-1)+Q(k)e(k)
In the formula, k represents k step sampling instant, and H (k) is a barycenter height of truck, and e (k) is a k-1 evaluated error constantly, Be the roll angular rigidity of lorry suspension, Be the side tilt angle signal of boxcar, Be the side tilt angle signal of lorry rear axle, H (k-1) is described barycenter height of truck, h aBe the height on bottom, boxcar to road surface, m is the lorry quality, Be described lorry side acceleration, g is an acceleration of gravity, and Q (k) is a gain matrix, and P (k-1) is for being poised for battle matrix, and ε is a forgetting factor, and P (k) is for being poised for battle matrix.
4, dynamic detection method for preventing wagon from turning towards one side on bending road as claimed in claim 1 or 2 is characterized in that: the described rollover acceleration rate threshold calculating formula in the described step 4) is as follows:
In the formula, k represents k step sampling instant, A yBe the rollover acceleration rate threshold, B is the wheelspan of lorry, and g is an acceleration of gravity.
5, dynamic detection method for preventing wagon from turning towards one side on bending road as claimed in claim 3 is characterized in that: the described rollover acceleration rate threshold calculating formula in the described step 4) is as follows:
In the formula, k represents k step sampling instant, A yBe the rollover acceleration rate threshold, B is the wheelspan of lorry, and g is an acceleration of gravity.
6, a kind ofly realize that it is characterized in that: it comprises a steering wheel angle sensor as the preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device of method as described in the claim 1~5, it is installed on the steering column of lorry bearing circle below; One yaw-rate sensor, it is installed in the infall of two axis, bottom, boxcar; One inclinator, it is installed in the place, point of crossing of boxcar bottom longitudinal central axis line and the projection of rear axle on the compartment; Another inclinator, it is installed in the midpoint of rear axle; One alarm device, it is arranged on the console of pilothouse; One electronic control unit includes single-chip microcomputer in it, the program curing in the described single-chip microcomputer is provided with height of center of mass dynamic detection algorithm module and anti-rollover warning algorithm module.
7, preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device as claimed in claim 6 is characterized in that: described electronic control unit also comprises a CAN bus transmission circuit and a serial ports transceiver circuit; One end of described CAN bus transmission circuit connects original vehicle-mounted CAN network on the lorry, and the other end connects described single-chip microcomputer; Described serial ports transceiver circuit one end connects two inclinators, and the other end connects described single-chip microcomputer.
8, as claim 6 or 7 described preventing wagon from turning towards one side on bending road detection of dynamic prior-warning devices, it is characterized in that: described alarm device comprises an integrated circuit and light, the auditory tone cues device controlled by described integrated circuit, the integrated circuit that integrated at least four road complex pipes of described integrated circuit drive.
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