CN105437903B - A kind of preventing vehicle rollover control system and crane - Google Patents
A kind of preventing vehicle rollover control system and crane Download PDFInfo
- Publication number
- CN105437903B CN105437903B CN201510843912.XA CN201510843912A CN105437903B CN 105437903 B CN105437903 B CN 105437903B CN 201510843912 A CN201510843912 A CN 201510843912A CN 105437903 B CN105437903 B CN 105437903B
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- vehicle
- speed
- controller
- suspension
- control system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/06—Cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
- B60G2500/22—Spring constant
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
- B60G2800/0124—Roll-over conditions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of preventing vehicle rollover control systems, rotary angle transmitter including controller and for detecting steering gear corner and the vehicle speed sensor for detecting Vehicle Speed, rotary angle transmitter feeds back steering gear corner to controller, and vehicle speed sensor feeds back Vehicle Speed to controller；The Vehicle Speed for the steering gear corner and vehicle speed sensor feedback that controller is fed back according to rotary angle transmitter, judges vehicle safety state；If vehicle is in unsafe condition, controller unlocking vehicle auxiliary braking either increase vehicle suspension rate or adjustment turn inside diameter in the reversed difference in height of outboard axle with reversely offset vehicle roll angle or reduce vehicle suspension total height.The present invention actively judges the safe condition of vehicle by speed and corner, provides active safety protection for vehicle, vehicle safety and stability are good.
Description
Technical field
The present invention relates to vehicular field, more particularly to a kind of preventing vehicle rollover control system and crane.
Background technology
In recent years, vehicle side turning accident is received more and more attention as important safety problem.United States highways
Transportation Security Administration's statistical data shows that in motor-vehicle accident, the extent of injury of rollover is only second to collision accident and occupies second.
However, the research at present for vehicle side turning dynamic stability when turning the corner at full speed and warning aspect is also seldom.
People mainly improve vehicle safety performance in terms of two, that is, improve the passive security performance of automobile and improve automobile
Active safety performance.The former refers to after traffic accident occurs for automobile, and by interior passive safety system, (such as absorbing fills
Set, linkage locking device and other auxiliary equipments etc.) it is effectively protected driver and passenger；And damage of the accident to personnel is reduced as possible
Hinder degree, includes the protection to pedestrian under occupant on vehicle and Che.The measure mainly taken have installation safety belt, air bag and
Automobile without corner angle design etc..When the latter is then included in Automobile Design and manufacture, inside and outside portion's structure of automobile is carried out more
Rationally effective design to improve the active safety performance of automobile, and uses advanced technology and equipment, actively prevents, keeps away
Exempt from or reduce automobile accident occurs in the process of moving.The major technique product of ripe application has automobile antilock in the car
Dead braking system (Anti-Lock Brake System, ABS), electronic braking force distributor (Electric Brake-
Force Distribution, EBD), Traction control system (Traction Control System, TCS), electronic stability
Program (Electronic Stability Program, ESP) etc..It is answered along with various actives and the extensive of passive security measure
With the security performance of automobile is greatly improved.But as the rollover of one of the most important safety problem of automobile, do not have always
Have and is paid attention to well, and the harm that vehicle side turning accident is brought is very fatal.
Invention content
In view of this, a kind of preventing vehicle rollover control system of present invention proposition and crane, to solve Ackermann steer angle hair
The problem of raw rollover.
On the one hand, the present invention provides a kind of preventing vehicle rollover control system and crane, including controller and for examining
The rotary angle transmitter for surveying steering gear corner and vehicle speed sensor for detecting Vehicle Speed, rotary angle transmitter is to controller
Steering gear corner is fed back, vehicle speed sensor feeds back Vehicle Speed to controller；Controller is fed back according to rotary angle transmitter
The Vehicle Speed of steering gear corner and vehicle speed sensor feedback, judges vehicle safety state；If vehicle is in dangerous
When state, it is anti-that controller unlocking vehicle auxiliary braking either increases outboard axle in vehicle suspension rate or adjustment turn inside diameter
To difference in height reversely to offset vehicle roll angle or reduce vehicle suspension total height.
Further, the peaces of corresponding first safe speed V1 and second are set previously according to steering gear corner in controller
Full vehicle velocity V 2 and third safe speed V3, V1<V2<V3；When the Vehicle Speed of vehicle speed sensor feedback reaches the first safety
When vehicle velocity V 1, controller sends out alarm signal；When the Vehicle Speed of vehicle speed sensor feedback reaches the second safe speed V2
When, it is reversely high that controller unlocking vehicle auxiliary braking either increases outboard axle in vehicle suspension rate or adjustment turn inside diameter
Degree difference is reversely to offset vehicle roll angle or reduce vehicle suspension total height；When the Vehicle Speed of vehicle speed sensor feedback
When more than third safe speed V3, controller controls engine and forces reduction of speed.
Further, when the Vehicle Speed of vehicle speed sensor feedback reaches the second safe speed V2, control increases
Suspension rate or the interior outside suspension rate of increasing turn inside diameter on the inside of turn inside diameter.
Further, when the Vehicle Speed of vehicle speed sensor feedback reaches the second safe speed V2, controller is beaten
Driving auxiliary braking, and the reversed difference in height of outboard axle in Vehicular turn is adjusted, keep inside suspension height outstanding more than outside
Frame height, reversely offsets vehicle roll angle.
Further, when the Vehicle Speed of vehicle speed sensor feedback reaches the second safe speed V2, controller is beaten
Driving auxiliary braking, and increase vehicle suspension rate.
Further, when the Vehicle Speed of vehicle speed sensor feedback reaches the second safe speed V2, controller is beaten
Driving auxiliary braking, and reduce vehicle suspension total height.
Further, when the Vehicle Speed of vehicle speed sensor feedback reaches the second safe speed V2, controller is beaten
Driving auxiliary braking and increasing vehicle suspension rate and reduction vehicle suspension total height, and adjust the interior outside of Vehicular turn and hang
Frame difference in height.
Further, when the Vehicle Speed of vehicle speed sensor feedback reaches the second safe speed V2, controller adds
Big vehicle suspension rate and reduction vehicle suspension total height, and it is poor to adjust outside suspension height in Vehicular turn.
In addition, the present invention also provides a kind of crane, including above-mentioned preventing vehicle rollover control system.
A kind of preventing vehicle rollover control system provided by the invention and crane, the steering gear fed back according to rotary angle transmitter
The Vehicle Speed of corner and vehicle speed sensor feedback, judges vehicle safety state；If vehicle is in unsafe condition,
Controller unlocking vehicle auxiliary braking either increases the reversed height of outboard axle in vehicle suspension rate or adjustment turn inside diameter
Difference is reversely to offset vehicle roll angle or reduce vehicle suspension total height.It is final to reduce vehicle roll angle, vehicle rollover is prevented,
Active safety protection is provided for vehicle, the present invention can prevent vehicle rollover, improve vehicle safety and stability.
Description of the drawings
The attached drawing for constituting the part of the present invention is used to provide further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is preventing vehicle rollover control system principle schematic of the present invention；
Fig. 2 is the preventing vehicle rollover control system schematic diagram of the present invention.
Specific implementation mode
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
With reference to Fig. 1 and Fig. 2, the preferred embodiment of the present invention is described in further detail,
As shown in Figure 1, the vehicle of longitudinal steel plate spring type rigid axle suspension, suspension improves quality m in the inclination of suspension
Heart R has rotated an angle of heel φ, and suspension is applied with it one and resists the torque T rolled,
T=2Fsq
Wherein, q is the half of distance between spring centers, and FS is by the increasing of angle of heel φ caused spring forces in a lateral spring
Amount；
FS=Cs φ q
Wherein, Cs is the rigidity of side leaf spring.
Therefore have：T=2Csq2 φ
It will be seen from figure 1 that moment resulting from sidesway is since vehicle is caused by centrifugal force F in moving in a circle.
F=mv2/r
Wherein m improves quality for leaf spring, and v is car speed, and r is radius of a circle.
O is that leaf spring is improved quality centroid position, and H is barycenter to the distance at suspension roll center, then has：
T=FH=mv2H/r
Therefore：2Csq2 φ=mv2H/r
φ=mv2H/ (2Csq2r) formula 1
By formula 1 it is found that one timing of vehicle, it is ensured that vehicle safety is less than secure side declination angle 0, i.e. φ by angle of heel
≤φ0；Passive suspension can be increased by turning radius r and ensure safety by reducing speed v；Active suspension can be removed
Outside adjustable v, r, it can also be lowered the center of gravity to roll center distance H by increasing suspension rate Cs, it might even be possible to by adjusting
Left and right suspension height is to compensate angle of heel.
As shown in Fig. 2, currently preferred preventing vehicle rollover control system, is according to above-mentioned preventing vehicle rollover control system
Principle is designed.The preventing vehicle rollover control system includes：Controller and rotary angle transmitter for detecting steering gear corner
And the vehicle speed sensor for detecting Vehicle Speed.Rotary angle transmitter is mounted in steering gear, is measured by rotary angle transmitter
Steering wheel angle, by the way that vehicle turn radius is calculated.Vehicle speed sensor is typically mounted on the output shaft of gearbox, is passed through
Vehicle Speed is calculated.Rotary angle transmitter feeds back steering gear corner to controller, and vehicle speed sensor is fed back to controller
Vehicle Speed,
The Vehicle Speed for the steering gear corner and vehicle speed sensor feedback that controller is fed back according to rotary angle transmitter, sentences
Disconnected vehicle safety state；If vehicle is in unsafe condition, controller may be used one kind in following four scheme or
Kinds of schemes combines.
The first scheme, controller unlocking vehicle auxiliary braking, vehicle auxiliary braking is for example：Exhaust brake starts mechanism
The devices such as dynamic, current vortex retarder, Retarder reduce Vehicle Speed.To reduce the purpose of vehicle roll angle, carry
High vehicle safety and stability.The program can be applied to Leaf Spring Suspension vehicle, air suspension vehicle, oil gas hanging unwheeling
.
Second scheme, controller increase vehicle suspension rate, and the program may be used three kinds of methods and realize, such as：Control
System increases suspension rate on the inside of turn inside diameter and either increases outside suspension rate in turn inside diameter or be directly switched to suspension
Rigidity.If vehicle is turned to the left, vehicle left side is exactly on the inside of turn inside diameter.Vehicle makes turning medial suspension in turning
Or outside suspension rate Cs becomes larger in turning, to achieve the purpose that reduce vehicle roll angle.The program is to can be applied to
Hydro pneumatic suspension vehicle.
The third scheme, controller adjust turn inside diameter in the reversed difference in height of outboard axle reversely to offset vehicle roll
Angle, the program are to can be applied to hydro pneumatic suspension vehicle and air suspension vehicle.
The reversed difference in height of outboard axle refers to just that left and right vehicle wheel side suspension height is poor in turn inside diameter.Such as：When vehicle to
When left side is turned, the left side of vehicle is exactly turning medial, and the right side of vehicle is exactly on the outside of turning, and outboard axle is anti-in turn inside diameter
To difference in height turning outboard axle height is subtracted equal to turning medial suspension height.It can be by reducing turning medial suspension height
Or increases turning outboard axle height and realize.The separation of gravity transversely caused by difference in height using outboard axle in turning
Turning centrifugal force is offset, to achieve the purpose that reduce vehicle roll angle.
4th kind of scheme reduces vehicle suspension total height.Vehicle suspension reduces, and leaf spring is improved quality in barycenter and inclination
Heart distance H reduces, under the premise of not changing comfort, to achieve the purpose that reduce vehicle roll angle.The program is can
To be applied to hydro pneumatic suspension vehicle and air suspension vehicle.
In the present invention, controller, can also be outstanding according to vehicle suspension rate and vehicle when judging vehicle safety state
The information such as frame total height and left and right vehicle wheel side suspension height difference are judged.
The preventing vehicle rollover control system of the present invention, previously according to steering gear corner setting corresponding first in controller
Safe speed V1 and the second safe speed V2 and third safe speed V3, V1<V2<V3.
When the Vehicle Speed of vehicle speed sensor feedback reaches the first safe speed V1, controller sends out alarm signal
Number, remind driver's reduction of speed to pass through.
When the Vehicle Speed of vehicle speed sensor feedback reaches the second safe speed V2, controller unlocking vehicle auxiliary
Braking either increases the reversed difference in height of outboard axle in vehicle suspension rate or adjustment turn inside diameter, reversely offsets vehicle roll
Angle reduces vehicle suspension total height.Above-mentioned four kinds of schemes can choose any one kind of them or multiple combinations, reach and reduce vehicle side
The purpose at inclination angle improves vehicle safety and stability.
When the Vehicle Speed of vehicle speed sensor feedback is more than third safe speed V3, it is strong that controller controls engine
Reduction of speed processed achievees the purpose that reduce vehicle roll angle, improves vehicle safety and stability.
The present invention also provides a kind of cranes, including above-mentioned preventing vehicle rollover control system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (8)
1. a kind of preventing vehicle rollover control system, which is characterized in that the corner including controller and for detecting steering gear corner
Sensor and vehicle speed sensor for detecting Vehicle Speed, rotary angle transmitter feed back steering gear corner, vehicle to controller
Fast sensor feeds back Vehicle Speed to controller；The steering gear corner and speed that controller is fed back according to rotary angle transmitter pass
The Vehicle Speed of sensor feedback, judges vehicle safety state；If vehicle is in unsafe condition, controller opens vehicle
Auxiliary braking either increases in vehicle suspension rate or adjustment turn inside diameter the reversed difference in height of outboard axle reversely to offset
Vehicle roll angle reduces vehicle suspension total height；Previously according to corresponding first peace of steering gear corner setting in controller
Complete 1 and second safe speed V2 of vehicle velocity V and third safe speed V3, V1<V2<V3；When the vehicle traveling of vehicle speed sensor feedback
When speed reaches the first safe speed V1, controller sends out alarm signal；When the Vehicle Speed of vehicle speed sensor feedback reaches
When to the second safe speed V2, controller unlocking vehicle auxiliary braking either increases vehicle suspension rate or adjustment turn inside diameter
The interior reversed difference in height of outboard axle is reversely to offset vehicle roll angle or reduce vehicle suspension total height；When vehicle speed sensor is anti-
When the Vehicle Speed of feedback is more than third safe speed V3, controller controls engine and forces reduction of speed.
2. preventing vehicle rollover control system according to claim 1, which is characterized in that when the vehicle of vehicle speed sensor feedback
When travel speed reaches the second safe speed V2, control increases suspension rate on the inside of turn inside diameter or increases inside and outside turn inside diameter
Side suspension rate.
3. preventing vehicle rollover control system according to claim 1, which is characterized in that when the vehicle of vehicle speed sensor feedback
When travel speed reaches the second safe speed V2, controller opens vehicle auxiliary braking, and it is outstanding to adjust outside in Vehicular turn
The reversed difference in height of frame, reversely offsets vehicle roll angle.
4. preventing vehicle rollover control system according to claim 1, which is characterized in that when the vehicle of vehicle speed sensor feedback
When travel speed reaches the second safe speed V2, controller opens vehicle auxiliary braking, and increases vehicle suspension rate.
5. preventing vehicle rollover control system according to claim 1, which is characterized in that when the vehicle of vehicle speed sensor feedback
When travel speed reaches the second safe speed V2, controller opens vehicle auxiliary braking, and reduces vehicle suspension total height.
6. preventing vehicle rollover control system according to claim 1, which is characterized in that when the vehicle of vehicle speed sensor feedback
When travel speed reaches the second safe speed V2, controller opens vehicle auxiliary braking and increases vehicle suspension rate and reduce vehicle
Suspension total height, and it is poor to adjust outside suspension height in Vehicular turn.
7. preventing vehicle rollover control system according to claim 1, which is characterized in that when the vehicle of vehicle speed sensor feedback
When travel speed reaches the second safe speed V2, controller increases vehicle suspension rate and reduces vehicle suspension total height, and
It is poor to adjust outside suspension height in Vehicular turn.
8. a kind of crane, which is characterized in that include the preventing vehicle rollover control system as described in claim 1 to 7 any one
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510843912.XA CN105437903B (en) | 2015-11-26 | 2015-11-26 | A kind of preventing vehicle rollover control system and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510843912.XA CN105437903B (en) | 2015-11-26 | 2015-11-26 | A kind of preventing vehicle rollover control system and crane |
Publications (2)
| Publication Number | Publication Date |
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| CN105437903A CN105437903A (en) | 2016-03-30 |
| CN105437903B true CN105437903B (en) | 2018-09-18 |
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| CN201510843912.XA Active CN105437903B (en) | 2015-11-26 | 2015-11-26 | A kind of preventing vehicle rollover control system and crane |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109109858B (en) * | 2017-06-23 | 2020-08-25 | 上海汽车集团股份有限公司 | Vehicle safety protection method, device and system |
| CN108725656A (en) * | 2018-07-26 | 2018-11-02 | 费先江 | Anti-rollover, easy-operating differential steering formula scooter for middle old man group |
| JP7173060B2 (en) * | 2020-01-17 | 2022-11-16 | トヨタ自動車株式会社 | Vehicle control device |
| CN113510678B (en) * | 2021-03-16 | 2023-01-10 | 行星算力(深圳)科技有限公司 | All-terrain robot control method and all-terrain robot |
| CN114013235A (en) * | 2021-11-22 | 2022-02-08 | 芜湖坚峰汽车科技有限公司 | Intelligent automatic adjusting system for automobile active suspension and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2873061B1 (en) * | 2004-07-15 | 2008-12-05 | Conception & Dev Michelin Sa | VEHICLE COMPRISING A GROUND CONNECTION PROVIDING THE INDIVIDUAL SUSPENSION OF THE WHEELS, AND AN ACTIVE CONTROL OF THE HEIGHT OF THE BODY |
| JP4114679B2 (en) * | 2005-05-24 | 2008-07-09 | トヨタ自動車株式会社 | Vehicle damping force control device |
| US7788007B2 (en) * | 2006-01-12 | 2010-08-31 | Gm Global Technology Operations, Inc. | Roll stability indicator for vehicle rollover control |
| JP4127298B2 (en) * | 2006-06-14 | 2008-07-30 | トヨタ自動車株式会社 | Wheel body distance adjustment device and wheel body distance adjustment system |
| CN101439653B (en) * | 2008-12-22 | 2011-12-14 | 奇瑞汽车股份有限公司 | System and method for automatically regulating chassis height |
| CN103241096B (en) * | 2013-05-17 | 2015-10-28 | 江苏大学 | The damping control method of electronic control air suspension |
| CN104648074A (en) * | 2013-11-21 | 2015-05-27 | 天津亚克龙创汽车设计有限公司 | Design method of chassis-variable suspension system |
| CN203876738U (en) * | 2014-05-06 | 2014-10-15 | 三一汽车制造有限公司 | Semitrailer and side turning prevention device thereof |
| CN204278986U (en) * | 2014-11-05 | 2015-04-22 | 西南交通大学 | A kind of car for guarding against side turned over active control device |
| CN104476999B (en) * | 2014-12-09 | 2016-06-15 | 山东交通学院 | A kind of haulage vehicle regulated based on air suspension actively anti-rollover controls system |
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