CN101968923A - Automotive lateral safety comprehensive forewarning method and device - Google Patents
Automotive lateral safety comprehensive forewarning method and device Download PDFInfo
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- CN101968923A CN101968923A CN 201010501440 CN201010501440A CN101968923A CN 101968923 A CN101968923 A CN 101968923A CN 201010501440 CN201010501440 CN 201010501440 CN 201010501440 A CN201010501440 A CN 201010501440A CN 101968923 A CN101968923 A CN 101968923A
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Abstract
The invention belongs to the technical field of automobile active safety and in particular relates to an automotive lateral safety comprehensive forewarning method and an automotive lateral safety comprehensive forewarning device. The invention aims to provide the method and the device which have low cost and can forewarn a driver of vehicle sideslip and rollover accidents in advance. The method comprises the following steps of: 1, acquiring vehicle and road parameters; and 2, performing automotive lateral safety comprehensive forewarning. The device comprises an on-vehicle sensor, a forewarning decision making unit and a warning and display device. Based on an on-vehicle limited number and kind of sensor information and by acquiring the vehicle and road parameters and performing the automotive lateral safety comprehensive forewarning, the method realizes the real-time forewarning of automobile sideslip or rollover accidents, and has great significance for reducing traffic accidents.
Description
Technical field
The invention belongs to the automobile active safety technical field, be specifically related to a kind of automobile side angle safety comprehensive pre-warning method and device.
Background technology
In recent years, along with developing rapidly of communications and transportation, vehicle since rollover, the traffic hazard that break away to cause also in continuous increase, especially the dead group of group hinders the frequent generation of especially big traffic hazard, causes numerous casualties and huge property loss.Audi (Audi) company studies show that: along with the increase of automobile speed, the also rapid increase of quantity of automobile generation skidding accident, the speed of a motor vehicle is between 80km/h and 100km/h, it is 40% relevant with the sideslip of automobile that the accident that the personnel that cause injure has, and when the speed of a motor vehicle reached 160km/h, nearly all accident all caused owing to skid.When vehicle tempo turn (mountain pass travels, the urban interchange ring road travels etc.) or avoiding barrier travelled, vehicle easily took place to break away or rollover, causes major traffic accidents.Vehicle rollover is meant that vehicle rotates 90 ° or bigger angle around its longitudinal axis in the process of moving, so that the sideway movement of the contacted a kind of danger of vehicle body and ground.Be meant that generally vehicle tyre side direction adhesion reaches capacity and break away, lateral slip trend appears in vehicle, breaks away except might causing " tripping rollover ", also might make vehicle sail in opposite directions the track into or closes on the track and traffic hazard takes place.
After vehicle produces bigger side acceleration, the rollover accident at first takes place skidding accident still takes place depend on that vehicle centrifugal force and road surface can offer the maximum adhesion power of tire.If the centrifugal force of vehicle can offer the maximum adhesion power of tire greater than the road surface, skidding accident will at first take place in vehicle, otherwise the rollover accident will at first take place vehicle.
Rollover dynamics for car, sports type automobile, lorry etc. all has very deep research in the world.Most at present rollover warning algorithm all are based on side acceleration or side rake angle ultimate value, and the method early warning rollover accident of part scholar based on energy conservation also arranged.
At present, China still is in the junior stage to the research of rollover and sideslip early warning, specially the research of carrying out at the vehicle side turning early warning is less, only have the contour check and correction rollover early warning of Jilin University, BJ University of Aeronautics ﹠ Astronautics, Tsing-Hua University and Shanghai Communications University to do part Study work, vehicle side turning early warning and control are carried out verification experimental verification special use the testing field also seldom.Tsing-Hua University has applied for the relevant patent of " dynamic detection method for preventing wagon from turning towards one side on bending road and prior-warning device (application number: 200810119658) ", and its principle promptly is based on the method for early warning of side acceleration, and the method that this patented claim proposes has the following disadvantages:
(1) the side acceleration stability boundaris that calculates of the method for this patented claim obtains based on level road, does not consider the influence of road cross fall, and the side acceleration early warning threshold value that calculates on the road surface that has the road cross fall is inaccurate.
(2) the side direction method for early warning of this patented claim proposition is not considered the influence of coefficient of road adhesion, has the false alarm situation of rollover accident under wet and slippery road surface.
Research for carrying out the anti-sideslip study of warning aspect of vehicle specially has not yet to see relevant report.
Summary of the invention
The purpose of this invention is to provide a kind of cost is low, can make early warning to defective steering stabilizer and rollover accident in advance automobile side angle safety comprehensive pre-warning method and implement device thereof.
The present invention is achieved in that
A kind of automobile side angle safety comprehensive pre-warning method comprises the steps:
The first step: obtain vehicle and road parameters;
Second step: automobile side angle safety comprehensive pre-warning.
The aforesaid first step is obtained vehicle movement information, and according to vehicle movement information, estimates the road cross fall, the vehicle side acceleration that compensation measures; Specifically comprise the steps:
(1) obtains vehicle movement information;
(2) judge according to steering wheel angle δ whether vehicle turns to;
(3) estimate the speed of a motor vehicle;
(4) the road horizontal wall inscription angle under the calculating steady state conditions;
(5) side acceleration after the calculating compensation;
(6) side acceleration after the compensation is carried out filtering.
Road horizontal wall inscription angle step under the aforesaid calculating steady state conditions according to the vehicle movement information that step (1) measures, is calculated the road horizontal wall inscription angle under the steady state conditions, and computing formula is:
In the formula, a
Y, mBe side acceleration, u is the speed of a motor vehicle, and r is a yaw velocity, and g is the acceleration of gravity of vehicular seat.
Side acceleration step after the aforesaid calculating compensation, the side acceleration after the compensation is calculated at the road horizontal wall inscription angle that obtains according to step (4), and computing formula is:
a
y，c＝a
y，m-φ
Bg；
Meaning of parameters is same as described above in the formula.
Aforesaid second step, the vehicle side acceleration after road horizontal wall inscription angle that obtains according to the first step and the compensation, prediction vehicle movement trend determines that automobile takes place to break away or the probability of rollover accident, to its early warning of turning on one's side or break away, specifically comprises the steps:
(1) the side acceleration stability boundaris value of calculating vehicle generation rollover accident;
(2) calculate the maximum lateral force that ground can offer tire;
(3) can judgement produce the vehicle rollover accident;
(4) the side acceleration stability boundaris value of calculating vehicle generation skidding accident;
(5) can judgement produce the defective steering stabilizer accident.
The side acceleration stability boundaris value step of aforesaid calculating vehicle generation rollover accident, the road horizontal wall inscription angle that obtains according to the first step are calculated the side acceleration stability boundaris value a of vehicle generation rollover accident
y φ, computing formula is:
G is an acceleration of gravity, and T is a wheelbase, h
CgBe height of center of mass, other meaning of parameters is same as described above in the formula.
Can aforesaid judgement produce vehicle rollover accident step, if F
Y, max〉=ma
y φ, vehicle surpasses a in side acceleration
y φThe time, the rollover accident will take place, make the early warning of rollover accident this moment.
The side acceleration stability boundaris value step of aforesaid calculating vehicle generation skidding accident; According to coefficient of road adhesion μ
qWith road horizontal wall inscription angle, calculate the side acceleration stability boundaris value a of vehicle generation skidding accident
y β, computing formula is:
Wherein, each meaning of parameters is the same in the formula.
Can aforesaid judgement produce defective steering stabilizer accident step; When the vehicle side acceleration surpasses a
y β, perhaps ma
y〉=F
Y, maxThe time, skidding accident will take place in vehicle, make the early warning of rollover accident this moment.
A kind of device of method as mentioned above of realizing comprises onboard sensor, early warning decision unit and warning and display device; Described onboard sensor is used to detect the vehicle movable information, and movable information is sent to the early warning decision unit; The early warning decision unit receives the vehicle movement information from onboard sensor, carries out computing according to setting program, obtains above-mentioned automobile side angle safety integrated alarm and early warning result, and this result is sent to display device; Display device shows automobile side angle safety integrated alarm and the early warning result who receives, for driver's reference.
The invention has the beneficial effects as follows:
The present invention is based on the vehicle-mounted limited quantity and the sensor information of kind,, realized skid or rollover accident early warning in real time, be significant reducing traffic hazard by obtaining vehicle and road parameters and automobile side angle safety comprehensive pre-warning.
In addition, the present invention has also considered the influence of road cross fall, and the side acceleration threshold value that calculates based on the estimation road cross fall that proposes can be described the stability boundaris of vehicle operating more accurately; The rollover method for early warning that the present invention proposes has been considered the influence of coefficient of road adhesion.Under wet and slippery road surface, reduced the false alarm situation of rollover accident.
Device of the present invention, on the basis that does not increase topworks, only need less sensor and controller are installed, pay less cost and can realize the comprehensive pre-warning of vehicle side to safety, help the driver under dangerous operating mode, in time to take the necessary measures, reduce the generation of casualty accident.
Description of drawings
Fig. 1 is the process flow diagram of a kind of automobile side angle safety comprehensive pre-warning method of the present invention;
Fig. 2 is the process flow diagram that obtains vehicle and road parameters step in a kind of automobile side angle safety comprehensive pre-warning method of the present invention;
Fig. 3 is the process flow diagram of automobile side angle safety comprehensive pre-warning step in a kind of automobile side angle safety comprehensive pre-warning method of the present invention;
Fig. 4 is the structure principle chart of a kind of automobile side angle safety comprehensive pre-warning method implement device of the present invention.
Embodiment
Below in conjunction with drawings and Examples a kind of automobile side angle safety comprehensive pre-warning method of the present invention and implement device thereof are introduced:
As shown in Figure 1, a kind of automobile side angle safety comprehensive pre-warning method comprises the steps:
The first step: obtain vehicle and road parameters;
Obtain vehicle movement information, and according to vehicle movement information, estimate the road cross fall, the vehicle side acceleration that compensation measures; Specifically comprise the steps:
(1) obtains vehicle movement information;
Adopt onboard sensor to obtain vehicle movement information, comprising: steering wheel angle δ, side acceleration a
Y, m, yaw velocity r and wheel speed v.
(2) judge according to steering wheel angle δ whether vehicle turns to;
Set the threshold value δ that judges the steering wheel angle δ whether vehicle turns to according to actual conditions
Min, judge according to this threshold value whether vehicle turns to.If | δ |＜δ
Min, judge that promptly vehicle does not turn to, be in stable state; Otherwise then vehicle turns to, and is in transient state.
(3) estimate the speed of a motor vehicle;
Adopt prior art to estimate speed of a motor vehicle u according to the wheel speed v that measures.
(4) the road horizontal wall inscription angle under the calculating steady state conditions;
According to the vehicle movement information that step (1) measures, calculate the road horizontal wall inscription angle φ under the steady state conditions
B, computing formula is:
In the formula, a
Y, mBe the side acceleration that measures, u represents that r is the yaw velocity that measures based on the speed of a motor vehicle of the existing method speed of a motor vehicle according to the wheel speed estimation, and g is the acceleration of gravity of vehicular seat;
By judging whether vehicle turns to, distinguishing stable state transient state calculating road horizontal wall inscription angle, the stability boundaris of vehicle operating can be described more accurately.
Pick up the car and to enter road horizontal wall inscription angle under the steady state conditions that the transient state previous moment calculates by stable state in road horizontal wall inscription angle during transient state.
(5) side acceleration after the calculating compensation;
The side acceleration a after the compensation is calculated at the road horizontal wall inscription angle that obtains according to step (4)
Y, c, computing formula is:
a
y，c＝a
y，m-φ
Bg；
Meaning of parameters is same as described above in the formula.
(6) to the side acceleration a after the compensation
Y, cCarry out filtering;
Side acceleration a after using existing filtering algorithm to compensation
Y, cCarry out filtering.
Second step: automobile side angle safety comprehensive pre-warning;
Vehicle side acceleration after road horizontal wall inscription angle that obtains according to the first step and the compensation, prediction vehicle movement trend determines that automobile takes place to break away or the probability of rollover accident, and it is turned on one's side or breaks away early warning.Specifically comprise the steps:
(1) the side acceleration stability boundaris value of calculating vehicle generation rollover accident;
The side acceleration stability boundaris value a of vehicle generation rollover accident is calculated at the road horizontal wall inscription angle that obtains according to the first step
y φ, computing formula is:
G is an acceleration of gravity, and T is a wheelbase, is known quantity, h
CgBe height of center of mass, be known quantity, other meaning of parameters is same as described above in the formula;
(2) calculate the maximum lateral force that ground can offer tire;
Estimate coefficient of road adhesion μ
q, calculate the maximum lateral force F that ground this moment can offer tire
Y, maxThis step adopts existing techniques in realizing.
By taking all factors into consideration the influence of coefficient of road adhesion, under wet and slippery road surface, reduced the false alarm situation of rollover accident, improved the accuracy rate of early warning.
(3) can judgement produce the vehicle rollover accident;
If F
Y, max〉=ma
y φ, wherein, m is a complete vehicle quality; Vehicle surpasses a in side acceleration
y φThe time, the rollover accident will take place, make the early warning of rollover accident this moment.
(4) the side acceleration stability boundaris value of calculating vehicle generation skidding accident;
According to coefficient of road adhesion μ
qWith road horizontal wall inscription angle, calculate the side acceleration stability boundaris value a of vehicle generation skidding accident
y β, computing formula is:
Wherein, each meaning of parameters is the same in the formula.
(5) can judgement produce the defective steering stabilizer accident;
When the vehicle side acceleration surpasses a
y β, perhaps ma
y〉=F
Y, maxThe time, skidding accident will take place in vehicle, make the early warning of rollover accident this moment.
Other situations are not reported to the police.
A kind of device of realizing said method comprises onboard sensor, early warning decision unit and warning and display device.
Onboard sensor is used to detect the vehicle movable information, and movable information is sent to the early warning decision unit.Above-mentioned onboard sensor comprises wheel speed sensors, side acceleration meter, steering wheel angle sensor wheel speed sensors.Wherein, wheel speed sensors is used to measure the wheel speed of 4 wheels, generally is installed in doughnut wheel hub place, and the side acceleration meter is used to measure the side acceleration and the yaw velocity of vehicle body, generally is installed in vehicle centroid position place; The steering wheel angle sensor is used to measure steering wheel angle, generally is installed in the knuckle arm place.
The early warning decision unit receives the vehicle movement information from onboard sensor, carries out computing according to setting program, obtains above-mentioned automobile side angle safety integrated alarm and early warning result, and this result is sent to display device.Above-mentioned setting program adopts prior art to work out according to said method.The early warning decision unit adopts Intelligent treatment chip such as single-chip microcomputer, DSP, ARM or FPGA to realize.
Display device shows that with automobile side angle safety integrated alarm and the early warning result who receives for driver's reference, display device adopts existing techniques in realizing.
By this method and device for carrying out said thereof, on the basis that does not increase topworks, only need that less sensor and controller is installed and to realize, help the driver under dangerous operating mode, in time to take the necessary measures, reduce the generation of casualty accident the comprehensive pre-warning of vehicle side to safety.
Claims (10)
1. an automobile side angle safety comprehensive pre-warning method comprises the steps:
The first step: obtain vehicle and road parameters;
Second step: automobile side angle safety comprehensive pre-warning.
2. a kind of automobile side angle safety comprehensive pre-warning method according to claim 1 is characterized in that: the described first step, and obtain vehicle movement information, and according to vehicle movement information, estimate the road cross fall, the vehicle side acceleration that compensation measures; Specifically comprise the steps:
(1) obtains vehicle movement information;
(2) judge according to steering wheel angle δ whether vehicle turns to;
(3) estimate the speed of a motor vehicle;
(4) the road horizontal wall inscription angle under the calculating steady state conditions;
(5) side acceleration after the calculating compensation;
(6) side acceleration after the compensation is carried out filtering.
3. a kind of automobile side angle safety comprehensive pre-warning method according to claim 2, it is characterized in that: the road horizontal wall inscription angle step under the described calculating steady state conditions, according to the vehicle movement information that step (1) measures, calculate the road horizontal wall inscription angle under the steady state conditions, computing formula is:
In the formula, a
Y, mBe side acceleration, u is the speed of a motor vehicle, and r is a yaw velocity, and g is the acceleration of gravity of vehicular seat.
4. a kind of automobile side angle safety comprehensive pre-warning method according to claim 2 is characterized in that: the side acceleration step after the described calculating compensation, and the side acceleration after the compensation is calculated at the road horizontal wall inscription angle that obtains according to step (4), and computing formula is:
a
y，c＝a
y，m-φ
Bg；
Meaning of parameters is same as described above in the formula.
5. a kind of automobile side angle safety comprehensive pre-warning method according to claim 1, it is characterized in that: described second step, vehicle side acceleration after road horizontal wall inscription angle that obtains according to the first step and the compensation, prediction vehicle movement trend, determine that the probability of sideslip or rollover accident takes place automobile, to its early warning of turning on one's side or break away, specifically comprise the steps:
(1) the side acceleration stability boundaris value of calculating vehicle generation rollover accident;
(2) calculate the maximum lateral force that ground can offer tire;
(3) can judgement produce the vehicle rollover accident;
(4) the side acceleration stability boundaris value of calculating vehicle generation skidding accident;
(5) can judgement produce the defective steering stabilizer accident.
6. a kind of automobile side angle safety comprehensive pre-warning method according to claim 5, it is characterized in that: the side acceleration stability boundaris value step of described calculating vehicle generation rollover accident, the road horizontal wall inscription angle that obtains according to the first step are calculated the side acceleration stability boundaris value a of vehicle generation rollover accident
y φ, computing formula is:
G is an acceleration of gravity, and T is a wheelbase, h
CgBe height of center of mass, other meaning of parameters is same as described above in the formula.
7. a kind of automobile side angle safety comprehensive pre-warning method according to claim 5, it is characterized in that: can described judgement produce vehicle rollover accident step, if F
Y, max〉=ma
y φ, vehicle surpasses a in side acceleration
y φThe time, the rollover accident will take place, make the early warning of rollover accident this moment.
8. a kind of automobile side angle safety comprehensive pre-warning method according to claim 5 is characterized in that: the side acceleration stability boundaris value step of described calculating vehicle generation skidding accident; According to coefficient of road adhesion μ
qWith road horizontal wall inscription angle, calculate the side acceleration stability boundaris value a of vehicle generation skidding accident
y β, computing formula is:
Wherein, each meaning of parameters is the same in the formula.
9. a kind of automobile side angle safety comprehensive pre-warning method according to claim 5, it is characterized in that: can described judgement produce defective steering stabilizer accident step; When the vehicle side acceleration surpasses a
y β, perhaps ma
y〉=F
Y, maxThe time, skidding accident will take place in vehicle, make the early warning of rollover accident this moment.
10. a realization is according to the device of the described method of claim 1, and it is characterized in that: it comprises onboard sensor, early warning decision unit and warning and display device; Described onboard sensor is used to detect the vehicle movable information, and movable information is sent to the early warning decision unit; The early warning decision unit receives the vehicle movement information from onboard sensor, carries out computing according to setting program, obtains above-mentioned automobile side angle safety integrated alarm and early warning result, and this result is sent to display device; Display device shows automobile side angle safety integrated alarm and the early warning result who receives, for driver's reference.
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Cited By (14)
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| CN102346970A (en) * | 2011-09-23 | 2012-02-08 | 交通运输部公路科学研究所 | Method for obtaining and processing vehicle swerving anti-overturn information |
| CN102723001A (en) * | 2012-06-08 | 2012-10-10 | 长安大学 | Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning |
| CN102922999A (en) * | 2012-10-17 | 2013-02-13 | 重庆交通大学 | Vehicle dangerous driving state recognition device and recognition method for mountain highway |
| CN103675320A (en) * | 2013-12-13 | 2014-03-26 | 中联重科股份有限公司 | Method for detecting maximum steering speed of road roller and method and equipment for controlling rollover prevention |
| CN103802826A (en) * | 2014-03-07 | 2014-05-21 | 大连交通大学 | Stability prewarning system used during high-speed turning and driving of automobile |
| CN104077914A (en) * | 2014-06-20 | 2014-10-01 | 赵雨浓 | Intelligent alarm method and device for vehicle accidents |
| CN104464375A (en) * | 2014-11-20 | 2015-03-25 | 长安大学 | Method for recognizing vehicle high-speed turning |
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| CN108909705A (en) * | 2018-08-22 | 2018-11-30 | 北京航空航天大学 | A kind of control method for vehicle and device |
| CN110103950A (en) * | 2019-04-29 | 2019-08-09 | 华南理工大学 | A kind of Vehicle rollover mitigation system and control method based on electric power steering apparatus |
| CN112309125A (en) * | 2020-10-30 | 2021-02-02 | 长安大学 | System and method for remotely preventing and controlling vehicle side-turning and side-slipping risks on curve road section |
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| CN102346970A (en) * | 2011-09-23 | 2012-02-08 | 交通运输部公路科学研究所 | Method for obtaining and processing vehicle swerving anti-overturn information |
| CN102723001A (en) * | 2012-06-08 | 2012-10-10 | 长安大学 | Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning |
| CN102723001B (en) * | 2012-06-08 | 2014-02-19 | 长安大学 | Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning |
| CN102922999A (en) * | 2012-10-17 | 2013-02-13 | 重庆交通大学 | Vehicle dangerous driving state recognition device and recognition method for mountain highway |
| CN103675320B (en) * | 2013-12-13 | 2015-08-12 | 中联重科股份有限公司 | Method for detecting maximum steering speed of road roller and method and equipment for controlling rollover prevention |
| CN103675320A (en) * | 2013-12-13 | 2014-03-26 | 中联重科股份有限公司 | Method for detecting maximum steering speed of road roller and method and equipment for controlling rollover prevention |
| CN103802826B (en) * | 2014-03-07 | 2016-02-10 | 大连交通大学 | Stability forewarn system in a kind of automobile high-speed turning driving |
| CN103802826A (en) * | 2014-03-07 | 2014-05-21 | 大连交通大学 | Stability prewarning system used during high-speed turning and driving of automobile |
| CN104077914A (en) * | 2014-06-20 | 2014-10-01 | 赵雨浓 | Intelligent alarm method and device for vehicle accidents |
| CN104464375A (en) * | 2014-11-20 | 2015-03-25 | 长安大学 | Method for recognizing vehicle high-speed turning |
| CN104464375B (en) * | 2014-11-20 | 2017-05-31 | 长安大学 | It is a kind of to recognize the method that vehicle high-speed is turned |
| CN105172791A (en) * | 2015-10-30 | 2015-12-23 | 东风汽车公司 | Smart self-adaptive cruise control method |
| CN107591012B (en) * | 2017-09-14 | 2019-08-23 | 浙江镇石物流有限公司 | A kind of harmful influence transport method for early warning |
| CN107591012A (en) * | 2017-09-14 | 2018-01-16 | 浙江镇石物流有限公司 | A kind of harmful influence transports method for early warning |
| CN108765942A (en) * | 2018-05-29 | 2018-11-06 | 武汉理工大学 | A kind of intelligent network connection automobile cornering danger early warning system and method |
| CN108765942B (en) * | 2018-05-29 | 2021-04-20 | 武汉理工大学 | Intelligent networking automobile curve danger early warning system and method |
| CN108909705A (en) * | 2018-08-22 | 2018-11-30 | 北京航空航天大学 | A kind of control method for vehicle and device |
| CN108909705B (en) * | 2018-08-22 | 2020-01-07 | 北京航空航天大学 | Vehicle control method and device |
| CN110103950A (en) * | 2019-04-29 | 2019-08-09 | 华南理工大学 | A kind of Vehicle rollover mitigation system and control method based on electric power steering apparatus |
| CN112309125A (en) * | 2020-10-30 | 2021-02-02 | 长安大学 | System and method for remotely preventing and controlling vehicle side-turning and side-slipping risks on curve road section |
| CN113799783A (en) * | 2021-10-09 | 2021-12-17 | 摩登汽车有限公司 | Road transverse gradient measuring method and system applied to vehicle |
| CN113799783B (en) * | 2021-10-09 | 2023-08-22 | 摩登汽车有限公司 | Road transverse gradient measuring method and system applied to vehicle |
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Application publication date: 20110209 |