CN102756686B - The method and apparatus of early warning vehicle rollover - Google Patents
The method and apparatus of early warning vehicle rollover Download PDFInfo
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- CN102756686B CN102756686B CN201110105292.1A CN201110105292A CN102756686B CN 102756686 B CN102756686 B CN 102756686B CN 201110105292 A CN201110105292 A CN 201110105292A CN 102756686 B CN102756686 B CN 102756686B
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Abstract
The invention discloses a kind of method and device of early warning vehicle rollover, sensor is utilized to detect the transverse load rate of transform and the side acceleration values of vehicle in the process of moving, the data detected are sent in microprocessing unit by sensor, micro-process is single to be compared with their predetermined threshold value respectively by the transverse load rate of transform and side acceleration values, after they exceed predetermined threshold value, control warning device is reported to the police by treater.Owing to have employed technique scheme, compared with prior art, the present invention adopts and detects the vehicle steel spring deformational stress value of both sides and side acceleration values in the process of moving, and detection data is compared by treater, reports to the police to the situation exceeding predetermined threshold value; Lateral acceleration is adopted to revise the transverse load rate of transform, the flase alarm preventing the analogue in vehicle actual travel situation from causing the interference of transverse load rate of transform judge index and too early warning.
Description
Technical field
The present invention relates to a kind of method and apparatus of safe early warning, particularly a kind of method and apparatus of early warning vehicle rollover.
Background technology
Along with the development of Domestic Automotive Industry and the improvement of road traffic facility, automobile driving speed improves constantly, and causes the generation of a large amount of traffic accident, causes casualties and huge economic loss, therefore, the safety of running car is more and more subject to people's attention.Some automobiles as truck tanker, medium-heavy truck, heavy semi-trailer etc. because its centroid position is high, quality and the feature such as volume is larger, tempo turn and bend diameter less time very easily there is rollover accident.Be only second to the accident caused by vehicle collision according to the hazard rating of accident caused by American Highway Transportation Security Administration (NHTSA) vehicle rollover, occupy second.Europe and North America statistics of traffic accidents analysis show, vehicle side turning accounts for and causes 5% of personal injury traffic accident, accounts for 20% of the traffic accident that there is personnel death.The vehicle of vehicle rollover refers to vehicle in the process of moving around vertical axes 90 ° or larger angle around vertical axes vehicle rollover in the process of moving, so that the dangerous sideway movement that vehicle body and ground touch.Vehicle rollover is generally divided into two kinds: one trips rollover, when namely vehicle travels, lateral sliding occurs, with the obstacle lateral impact on road surface and it " being tripped "; Be the rollover that curvilinear motion causes, when namely vehicle travels on road, vehicle lateral acceleration exceedes rollover threshold value, causes rollover when the vertical antagonistic force of inboard wheel is zero.The factor affecting vehicle rollover is a lot, is usually divided into two large classes: one is the Static implicit method with automobile design relating to parameters, as height of center of mass, wheelspan, suspension and tire characteristics etc.; Two is factors different with running car, turns to pattern, the shape of road surface and adhesion value as driver, automobile carrying pattern, road surface has accessible etc.Such as, in the tank of tank lorry during filled with fluid, the uniform quality of fluid cargo is distributed in tank, and the roll characteristics of vehicle is with substantially identical during transport equivalent solid goods.But when in tank just part cargo shipment fluid cargo and Turning travel time, due to the flowing power of liquid, pot liquid will rock, under the effect of gravity and force of inertia etc., the centroid position of car load also will change, the roll characteristics of tank lorry is affected, and its rollover threshold value reduces, and easily causes the generation of rollover accident.At present, China Patent Publication No. CN2825373Y, the application case that name is called " side-turnover-preventing alarm device for dumping car ", is characterized in that actual conditions when adopting two-way switch of inclination to work according to dumping car, the horizontal ramp angles of perception, two different angle closed conductings respectively.Carry out current limliting with resistance, the light-emitting diode of high brightness and buzzer phone carry out sound and light alarm prompting to switch of inclination institute perception ramp angles, and this systemic-function is single, adopt mechanical switch, the poor reliability measured, the kinds of automobile of measurement is single, limits the universal of system and application.Traditional inclination measurement mechanism is the angle of roll of simple measured automobiles or the lateral acceleration of simple measured automobiles.And the angle of roll experiment value of automobile and actual inclination value differ greatly, can accurately not judge whether automobile reaches inclination condition.The present invention adopts measurement lateral acceleration and the transverse load rate of transform two to be simultaneously worth the condition as evaluating automobile roll, and make result of a measurement more accurate, reliability is stronger.
Summary of the invention
Technical matters to be solved by this invention is: the method and apparatus providing a kind of early warning vehicle rollover, and its accuracy is good, reliability is strong and have general usability, to overcome the deficiencies in the prior art.
The method being achieved in that early warning vehicle rollover of the present invention, sensor is utilized to detect the transverse load rate of transform and the side acceleration values of vehicle in the process of moving, the data detected are sent in microprocessing unit by sensor, micro-process is single to be compared with their predetermined threshold value respectively by the transverse load rate of transform and side acceleration values, after they exceed predetermined threshold value, control warning device is reported to the police by treater.
The described transverse load rate of transform is the ratio of the steel spring deformational stress value of vehicle both sides.
The device of early warning vehicle rollover, it comprises microprocessing unit, power supply, and microprocessing unit is connected with power supply, and microprocessing unit is connected with left side steel spring strain sensor, right side steel spring strain sensor, lateral acceleration sensor and warning device.
Warning device comprises annunciator, safety lamp, warning light, alarm lamp and telltale.
The present invention is directed to experiment vehicle on the basis of experimental study, vehicle both sides spring deflection and lateral acceleration feature during rollover critical according to vehicle, use stress strain gauge and lateral acceleration sensor and combined with intelligent controller carries out rollover detection to the vehicle in travelling, when vehicle has rollover trend, sound and light alarm is carried out to chaufeur, make chaufeur take the measures such as Reduced Speed Now to avoid the generation of rollover accident, or provide rollover early warning signal for later Anti-side-turning device.
Specifically, main basis for estimation is for utilizing transverse load transfer case to judge vehicle rollover, namely turn on one's side warning algorithm, rollover warning algorithm estimates transverse load transfer case and the transverse load rate of transform by the ratio of the steel spring deformational stress value of vehicle both sides.
Transverse load rate of transform LLTR(Lateral Load Transfer Rate) be defined as: the difference of the vertical load on the wheel of vehicle both sides and the ratio of vertical load sum, be shown below:
In formula, F
lifor the vertical load on vehicle left side wheel; F
rifor the vertical load on vehicle right side wheel; I and n is respectively the position of axle and total axletree number.Our last root axletree and the i=1 to pick up the car in the present invention, gets an axletree, calculates simple and convenient, because the Y rollover at first of last root axletree during vehicle rollover becomes to having inclination trend, therefore, calculate last root axletree.
In addition, the present invention also uses the side direction of lateral acceleration sensor monitor vehicle to accelerate, and carries out supplementing and revising to rollover condition.Some extraordinary circumstances in vehicle travel process, during as the road surface of vehicle by larger convex closure, pit and inclination, can produce larger impact to the transverse load rate of transform of vehicle, if only use the transverse load rate of transform as the rollover factor, then warning easily produces wrong report.The present invention uses the transverse load rate of transform and lateral acceleration as the rollover factor, and only have when the measured value of two factors all exceedes predetermined threshold value, warning device just can be reported to the police.The shortcoming of the low and poor reliability of actual accuracy that the single rollover factor brings has been broken away from compared with other rollover forewarn system, because the present invention calculates the transverse load rate of transform by the steel spring deformational stress value measuring vehicle both sides, be therefore applicable to all vehicles using steel spring as suspension system elastic element.
Microprocessing unit judges the motoring condition of vehicle by the data obtaining Sensor monitoring, the data of Real-Time Monitoring are sent to microprocessing unit by sensor, these data are brought in the program being set in advance in microprocessing unit inside by microprocessing unit, calculate the transverse load rate of transform and compare with the rollover threshold value be preset in microprocessing unit program together with side acceleration values, if be less than rollover threshold value, warning device is not reported to the police; If be greater than rollover threshold value, then show that vehicle has rollover trend, warning device starts to report to the police.
As shown in Figure 2, when starting the vehicle, microprocessing unit starts principle of work of the present invention, and starts to receive the signal coming from sensor and export.The data that the steel spring strain sensor transmission that during work, microprocessing unit can detect both sides in real time comes, and these data are substituted into existing program, calculate the transverse load rate of transform.Simultaneously, microprocessing unit can detect the side acceleration values that lateral acceleration sensor transmission comes in real time, these two values and predetermined threshold value compare by microprocessing unit, when these two values are all greater than default rollover threshold value, microprocessing unit will open the switch of warning device, warning device is started working and is carried out acousto-optic, and namely annunciator sends warning buzzing, and alarm lamp glimmers.
The right half part of principle of work Fig. 2 is back work part: the effect of this part is the ratio of the load calculating vehicle both sides, and informs driver by attention display.When goods put inequality or due to goods in transit position change cause the load proportion of vehicle both sides too to be lacked of proper care time, system will remind driver.Judge the ratio of the load of vehicle both sides according to being the ratio comparing vehicle both sides steel spring deformational stress value, its condition precedent is vehicle smooth ride, namely lateral acceleration close to 0 state.As shown in schematic diagram 2, when microprocessing unit detects that steel spring deformation does not recover initial value, lateral acceleration sensor can be detected again and judge that whether lateral acceleration is close to 0, if, microprocessing unit will detect and contrast the steel spring deformational stress value of both sides, and by calculated ratio display alarm telltale, and then judges this ratio whether excess of stroke, if the excess of stroke, forecast warning lamp will glimmer to remind driver.
Method of the present invention accurately and reliably, institute's employing components and parts technology maturation, volume is little; Functional reliability is high, without the need to carrying out large structural modification to existing vehicle, being applicable to all kinds and new old vehicle, having significant effect for the driving safety improving vehicle.
Owing to have employed technique scheme, compared with prior art, the present invention adopts and detects the vehicle steel spring deformational stress value of both sides and side acceleration values in the process of moving, and detection data is compared by treater, reports to the police to the situation exceeding predetermined threshold value; The present invention estimates transverse load transfer case by the ratio of the steel spring adaptability to changes of both sides, and adopt lateral acceleration to revise the transverse load rate of transform, the transverse load rate of transform and the lateral acceleration rollover factor are considered, the flase alarm preventing the analogue in vehicle actual travel situation from causing the interference of transverse load rate of transform judge index and too early warning, greatly improve the low and antijamming capability of the border accuracy of warning, practice is strong.Method of the present invention accurately and reliably, institute's employing components and parts technology maturation, volume is little; Functional reliability is high, without the need to carrying out large structural modification to existing vehicle, being applicable to all kinds and new old vehicle, having significant effect for the driving safety improving vehicle.
Accompanying drawing explanation
Accompanying drawing 1 is structural representation of the present invention;
Accompanying drawing 2 is fundamental diagram of the present invention;
Accompanying drawing 3, accompanying drawing 4 are steel spring strain sensor and microprocessing unit junction circuit figure;
Accompanying drawing 5 is lateral acceleration sensor and microprocessing unit junction circuit figure;
Accompanying drawing 6 is alarm circuit figure;
Accompanying drawing 7 is safety etc., warning light and alarm lamp circuit diagram;
Accompanying drawing 8 is attention display circuit diagram.
Detailed description of the invention
Embodiments of the invention: the method for early warning vehicle rollover, sensor is utilized to detect steel spring deformational stress value and the side acceleration values of vehicle both sides in the process of moving, the data detected are sent in microprocessing unit by sensor, micro-process is single using the transverse load rate of transform of the ratio of the steel spring deformational stress value of vehicle both sides as vehicle, and the transverse load rate of transform of vehicle by and the predetermined threshold value of side acceleration values respectively with them in processing equipment compare, after they exceed predetermined threshold value, control warning device is reported to the police by treater.
The structure of the device of early warning vehicle rollover as shown in Figure 1, adopt STC89C52 micro controller system as microprocessing unit 1, it is connected with power supply 2, microprocessing unit 1 connects left side steel spring strain sensor 3, right side steel spring strain sensor 4, lateral acceleration sensor 5 and warning device; Warning device comprises annunciator 6, safety lamp 7, warning light 8 and alarm lamp 9 and telltale 10; Communication signal line is adopted to be connected between each parts with microprocessing unit 1.
Power supply 2 adopts vehicle power; Left side steel spring strain sensor 3 and right side steel spring strain sensor 4 adopt model to be the strain sensor of HBM K-LY4X-3/350; Lateral acceleration sensor 5 adopts model to be the acceleration pick-up of MMAmma7455; Annunciator 6 adopts loud speaker; Safety lamp 7, warning light 8 and alarm lamp 9 adopt LED; Attention display 10 adopts digital display tube or vehicle LCD.
Claims (1)
1. the method for an early warning vehicle rollover, it is characterized in that: utilize sensor to detect the transverse load rate of transform and the side acceleration values of vehicle in the process of moving, the data detected are sent in microprocessing unit by sensor, the transverse load rate of transform and side acceleration values compare with their predetermined threshold value by microprocessing unit respectively, after they exceed predetermined threshold value simultaneously, control warning device is reported to the police by treater; The described transverse load rate of transform is the ratio of the steel spring deformational stress value of vehicle both sides, is shown below:
In formula, F
lifor the vertical load on vehicle left side wheel; F
rifor the vertical load on vehicle right side wheel; I and n is respectively the position of axle and total axletree number.
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| CN201110105292.1A CN102756686B (en) | 2011-04-26 | 2011-04-26 | The method and apparatus of early warning vehicle rollover |
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| CN201110105292.1A CN102756686B (en) | 2011-04-26 | 2011-04-26 | The method and apparatus of early warning vehicle rollover |
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| CN102756686B true CN102756686B (en) | 2015-07-29 |
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| CN103057502B (en) * | 2012-12-28 | 2015-11-25 | 南京恒知讯科技有限公司 | A kind of apparatus and method and automobile detecting vehicle instantaneous acceleration prompting automobile attitude |
| CN103213578A (en) * | 2013-04-18 | 2013-07-24 | 贵州大学 | Real-time and early-warning vehicle laterally turning method and device |
| CN103465905A (en) * | 2013-10-11 | 2013-12-25 | 贵州大学 | Car side turning prevention early warning method and early warning system based on air spring |
| CN104773175A (en) * | 2015-04-23 | 2015-07-15 | 湖南大学 | Method for detecting side turnover of vehicle |
| CN106004870B (en) * | 2016-06-23 | 2018-06-12 | 吉林大学 | A kind of intact stability integrated control method based on variable weight model prediction algorithm |
| DE102017100005A1 (en) * | 2017-01-02 | 2018-07-05 | Volkswagen Aktiengesellschaft | METHOD FOR STEERING A VEHICLE WITH AN AUTOMATIC OPERATION MODE AND VEHICLE WITH AN AUTOMATIC OPERATION MODE |
| CN106970524B (en) * | 2017-01-17 | 2020-08-28 | 江苏大学 | Design method of vehicle roll motion safety linear quadratic form optimal LQG controller for active suspension |
| CN106956660A (en) * | 2017-05-03 | 2017-07-18 | 山东农业大学 | A kind of tumble pre-alarming control system and control method for orchard supervisor |
| CN107791967A (en) * | 2017-09-08 | 2018-03-13 | 北汽福田汽车股份有限公司 | For determining the method, apparatus and vehicle of vehicle rollover |
| CN108162955B (en) * | 2017-12-28 | 2019-07-09 | 长沙理工大学 | A kind of vehicle active anti-rollover control system with time delay identification and compensation function |
| CN108216028B (en) * | 2018-01-25 | 2021-09-21 | 华南理工大学 | Vehicle rollover safety situation assessment system based on intelligent terminal |
| CN110667568B (en) * | 2019-09-24 | 2021-11-30 | 江苏徐工工程机械研究院有限公司 | Rollover alarm system, rollover risk prediction method and rollover alarm method |
| CN112699924A (en) * | 2020-12-22 | 2021-04-23 | 安徽卡思普智能科技有限公司 | Method for identifying lateral stability of vehicle |
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| CN2825373Y (en) * | 2005-04-04 | 2006-10-11 | 中国重型汽车集团有限公司 | Side-turnover-preventing alarm device for dumping car |
| US7873454B2 (en) * | 2006-05-03 | 2011-01-18 | Eaton Corporation | Method of identifying predictive lateral load transfer ratio for vehicle rollover prevention and warning systems |
| KR20080019786A (en) * | 2006-08-29 | 2008-03-05 | 현대자동차주식회사 | A rollover method apparatus for a 4ws vehicle |
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| CN101350136A (en) * | 2008-09-04 | 2009-01-21 | 清华大学 | Method for dynamically detecting wagon bias loading and alarm system thereof |
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Effective date of registration: 20191204 Address after: No. c-y-421, Chuangye building, Guiyang University Science Park, No. 103, Longdong Road, Shuanglong Airport Economic Zone, Guiyang City, Guizhou Province 550005 Patentee after: Guizhou shimeicheng Information Technology Co., Ltd Address before: 550000 Cai Jia Guan, Guizhou City, Guiyang Province Patentee before: Guizhou University |
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