CN106926778A - A kind of lorry rollover prior-warning device and method - Google Patents
A kind of lorry rollover prior-warning device and method Download PDFInfo
- Publication number
- CN106926778A CN106926778A CN201710092992.9A CN201710092992A CN106926778A CN 106926778 A CN106926778 A CN 106926778A CN 201710092992 A CN201710092992 A CN 201710092992A CN 106926778 A CN106926778 A CN 106926778A
- Authority
- CN
- China
- Prior art keywords
- lorry
- vehicle
- gravity
- center
- steering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention is to provide a kind of device and method of lorry rollover early warning, by to vehicle actual center gravity highly, horizontal location of the center of gravity, vehicle center of gravity laterally offset, the analysis of road speed, draw steering front wheel corner threshold value, the steering wheel angle of contrast driver's operation, control unit relatively obtains risk status discreet value R by actual steering wheel corner and steering front wheel corner threshold value, when risk status discreet value R exceeds safe range, control unit sends signal, buzzer can sound the alarm, remind driver safety operation, reduce lorry rollover risk, improve drive safety.
Description
Technical field
The present invention relates to the method for vehicle safety early warning, especially a kind of lorry rollover Risk-warning device and method.
Background technology
With the improvement continued to develop with road traffic facility of Domestic Automotive Industry, automobile driving speed is improved constantly,
Cause the generation of a large amount of traffic accidents, cause casualties and huge economic loss, therefore, the security of running car is more next
More it is valued by people.Some automobiles such as lorry, medium-heavy truck, heavy semi-trailer etc. are because its centroid position is high, quality
The features such as larger with volume, easily there is rollover event in tempo turn and smaller bend diameter.The damage that rollover event is caused
Lose seriously, be the major issue of traffic safety and vehicle safety research field.Such as the China of Publication No. CN102756686
Patent discloses a kind of method and device of early warning vehicle rollover, and using sensor detection, the horizontal of vehicle is carried in the process of moving
The lotus rate of transform and side acceleration values, in the data is activation that sensor will be detected to microprocessing unit, microprocessor list will be laterally
Load transfer rate and side acceleration values are compared with their predetermined threshold value respectively, after they exceed predetermined threshold value, place
Reason device will control warning device to be alarmed.But, the transverse load rate of transform mentioned in the technical scheme is by vehicle's center of gravity
The influence of height, and vehicle's center of gravity is not accounted for highly in the technical program, therefore reduce rollover detection
Accuracy and reliability.And for example the Chinese patent of Publication No. CN205177176 discloses a kind of lorry rollover early warning system, bag
Include single-chip microcomputer, variable information advices plate and some to pressure sensor, each pair of pressure sensor along lorry direct of travel successively
On bend section, two pressure sensors in each pair of pressure sensor are located on the road surface of bend section both sides respectively,
Each pair of output end of pressure sensor is connected with the input of single-chip microcomputer, output end and the variable information advices plate of single-chip microcomputer
Control end is connected.Although the technical scheme can carry out early warning to lorry rollover, early warning result appears in variable information information
On plate, driver needs to pay close attention to predicting the outcome on advices plate, and sight line can not be absorbed in driving, and hazards are brought to driving,
Therefore the practicality of the technical scheme and bad.
The content of the invention
Accuracy and reliability the invention aims to solve the problems, such as existing rollover risk detection is inadequate, realizes
It is a kind of to immediately arrive at a lorry rollover Risk-warning device and method for steering wheel angle threshold value.
Above-mentioned technical problem of the invention is mainly what is be addressed by following technical proposals：A kind of lorry rollover early warning
Device, including car body and compartment, it is characterised in that：The front axle of the car body, rear axle, front axle left wheel, the right wheel of front axle, after
The right wheel of axle left wheel, rear axle is equipped with load sensor, and the bottom in the compartment is provided with weight induction device, in the car body
Steering wheel is provided with corner inductor, is provided with buzzer in the car body, the load sensor, the weight induction device, described
Corner inductor and the buzzer are connected with control unit.Load sensor can automatically by empty wagons it is static when center of gravity to front axle
Load m1', empty wagons it is static when center of gravity to rear thrust load m2', it is static after loading when before thrust load m1, it is static after loading when rear axle bear
Lotus m2Weight measure, control unit calculates steering front wheel corner threshold value in time, and steering wheel angle inductor can will be actual
Steering wheel angle is sent to control unit, calculates risk status discreet value R, and lorry rollover risk is estimated in time.When depositing
In rollover risk, control unit is signaled to buzzer, and buzzer sends alarm, reminds driver safety operation, improves
Safety coefficient.
First in the case where not considering that vehicle barycenter level can be subjected to displacement, a kind of method that lorry rollover risk is estimated
It is divided into the following steps：
1) system pre-stored data includes the center of gravity terrain clearance h of spring carried mass during empty wagonss', the liftoff height of center of gravity of unspringing weight
Degree hu, empty wagons spring loading capacity ms', empty wagons complete vehicle weight mz, front tread B1, rear tread B2, seat center to front axle apart from aSeat, it is vehicle-mounted
Goods equivalent volume weight mv, the equivalent overall length L of vehicle-mounted cargoGoods, the equivalent total H high of vehicle-mounted cargoGoods, the equivalent W wide of vehicle-mounted cargoGoods, goods
Horizontal range a of the car compartment front end to front axleRailway carriage or compartment, boxcar plane terrain clearance HRailway carriage or compartment, seat plane terrain clearance hSeat, empty wagons when
Horizontal range a of the spring carried mass center of gravity to front axles', roll plane roll center axle height h where spring carried mass center of gravitya, vehicle
Center of gravity to the horizontal range a of front axle, the horizontal range b of vehicle center of gravity to rear axle, lorry master-plan center of gravity to front axle level
Apart from a ', the horizontal range b ' of lorry master-plan center of gravity to rear axle；The data that system is measured include goods weight mGoods, preceding non-spring
Mounted mass mf, rear nonspring carried mass mr, lorry front axle left wheel load m1l, the right wheel load m of lorry front axle1r, lorry rear axle it is left
Wheel load m2l, the right wheel load m of lorry rear axle2r；
2) empty wagons height of C.G. is obtained
mz=m1′+m2'=mf+mr+ms′；
3) vehicle center of gravity laterally offset is obtained
4) center of gravity of goods terrain clearance is obtained
Wherein：aSeatIt is the horizontal range (mm) of occupant's center of gravity to front axle, is taken as seat center to front axle distance；
In-car includes that the occupant's number including driver is n, occupant and driver everyone quality based on 65kg, then mPeople=65n；
Then the equivalent overall length of piling cargo is：
Piling cargo it is equivalent total a height of：
Goods barycenter terrain clearance h goods is：hGoods=50 × HGoods+HRailway carriage or compartment；
5) vehicle height of C.G. is obtained
6) spring carried mass position of centre of gravity is obtained after loading：
Vehicle body is made up of three parts：Occupant (including driver)+vehicle-mounted cargo on empty wagons vehicle body+car, then vehicle body gross mass ms=
ms′+mGoods+mPeople；
Horizontal range a of the spring carried mass barycenter to front axle after then loadingsFor：
Spring carried mass barycenter terrain clearance h after then loadingsFor：
Spring carried mass barycenter laterally offset y after then loadingsFor：
Spring carried mass angle of heel Φ after then loadingsFor：
7) steering front wheel corner threshold value δ is obtainedmax, including the following steps：
A, lorry are running at high speed, the equation of motion under operating mode of taking a sudden turn：
Lateral movement：
Weaving：
Body roll is moved：
Obtain each wheel lateral force, cornering stiffness be taken as on the occasion of：
Bringing into obtain：
The steady-state quantities responsive state parameter entered under B, acquisition front-wheel a step input：
During lorry constant-speed driving, the steady-state response entered under front-wheel a step input is constant speed circular-course driving, during stable state, lorry
Yaw velocity, vehicle roll angle are definite value, nowCan be obtained according to A：
The response parameter for then being exported during lorry steady-state quantities is：
Steady-state yaw rate is：
Wherein, ballast
Vehicle roll angle is：
Wherein, factor is rolled
The vehicle roll angle caused by steering is：
It can be seen that, when lorry traveling is on level road, and car load is not when causing body roll：
The vehicle roll angle caused by steering reaches maximum；
C, lorry turning lateral stability condition：
Lorry swerve steady-state quantities when, have side acceleration (centrifugal force) and a body roll, analysis of wheel vertical load occurs horizontal
To transfer, the equilibrium condition of lateral stability is：
When inboard wheel vertical load is zero, i.e. FZ1=0, during FZ3=0, lorry has a rollover risk, and now vertical load
It is maximum to shift：
Therefore, the condition that lorry is not turned on one's side is：
Wherein：
msh+mfR+mrR=mhg；
Therefore, the stable condition that lorry is not turned on one's side is：
Steering front wheel corner threshold value when D, acquisition lorry lateral bucking：
WhenWhen,It can be seen that lorry turn to when, when steering direction and body roll direction always when deposit
It is dangerous in serious rollover, it is impossible to turn to；
WhenWhen, the condition that lorry is not turned on one's side under certain speed is：
Steering front wheel corner δmaxShould meet：
Then steering front wheel corner threshold value is：
8) lorry rollover alarming is divided into the following steps：
A, the steering wheel angle of driver's operation are δ ', and i is steering gear resultant gear ratio, then：δ '=δ i；
When lorry has rollover risk, steering wheel angle threshold value is：δ′max=δmax·i；
B, it is to judge to enter lateral bucking state when bend or vehicle take a sudden turn, defines lorry rollover risk and estimate function R：
C, risk status discreet value R are calculated after finishing, and can carry out alarm to driver according to its size fractionation is other, prevention
Rollover, alarm rule is as follows：
When D, senior alarm, buzzer sends alarm with high frequency；During primary alarm, buzzer sends alarm with low frequency；As excellent
Choosing, described vehicle center of gravity can occurred level displacement, the horizontal range of the index including vehicle center of gravity to front axle of the horizontal level
A, the horizontal range b of vehicle center of gravity to rear axle, the horizontal range a ' of empty wagons vehicle center of gravity to front axle, empty wagons vehicle center of gravity to rear axle
Horizontal range b '：
1) system measure empty wagons it is static when center of gravity to preceding thrust load m1', empty wagons it is static when center of gravity to rear thrust load m2', after loading
Thrust load m before when static1, it is static after loading when after thrust load m2, vehicle gross weight m；
2) horizontal range of the center of gravity to front axle when acquisition empty wagons is static
Horizontal range of the center of gravity to rear axle when empty wagons is static
mz=m1′+m2′；
3) vehicle center of gravity to the horizontal range of front axle is obtained
Horizontal range of the vehicle center of gravity to rear axle
M=m1+m2；
4) therefore, under lorry speed certain condition, the steering front wheel corner do not turned on one's side should meet：
Then, steering front wheel corner threshold value is：
Wherein, i is steering gear resultant gear ratio；
5) lorry rollover alarming is divided into the following steps：
A, the steering wheel angle of driver's operation are δ ', and i is steering gear resultant gear ratio, then：δ '=δ i；
When lorry has rollover risk, steering wheel angle threshold value is：δ′max=δmax·i；
B, it is to judge to enter lateral bucking state when bend or vehicle take a sudden turn, defines lorry rollover risk and estimate function R：
C, risk status discreet value R are calculated after finishing, and can carry out alarm to driver according to its size fractionation is other, prevention
Rollover, alarm rule is as follows：
When D, senior alarm, buzzer sends alarm with high frequency；During primary alarm, buzzer sends alarm with low frequency；Beneficial effect
Really：The present invention is to provide a kind of device and method of lorry rollover early warning, by vehicle actual center gravity height, center of gravity level
Position, the laterally offset of vehicle center of gravity, the analysis of road speed, draw steering front wheel corner threshold value, the side of contrast driver's operation
To disk corner, control unit relatively obtains risk status discreet value by actual steering wheel corner and steering front wheel corner threshold value
R, when risk status discreet value R exceeds safe range, control unit sends signal, and buzzer can be sounded the alarm, and prompting is driven
The person's of sailing safety operation, reduces lorry rollover risk, improves drive safety.
Brief description of the drawings
Accompanying drawing 1 is a kind of schematic diagram of lorry rollover prior-warning device of the present invention.
1st, car body；2nd, compartment；3rd, weight induction device.
Specific embodiment
Below by embodiment, technical scheme is described in further detail.
Embodiment one, the device of early warning as shown in figure 1, a kind of lorry is turned on one's side, including car body 1 and compartment 2, the car body 1
Front axle, rear axle, front axle left wheel, the right wheel of front axle, rear axle left wheel, the right wheel of rear axle be equipped with load sensor, it is described
The bottom in compartment 2 is provided with weight induction device 3, and the steering wheel in the car body 1 is provided with corner inductor, the car body 1 and is provided with
Buzzer, the load sensor, the weight induction device 3, the corner inductor and the buzzer are and control unit
It is connected.Load sensor can automatically by empty wagons it is static when center of gravity to preceding thrust load m1', empty wagons it is static when center of gravity to rear thrust load
m2', it is static after loading when before thrust load m1, it is static after loading when after thrust load m2Weight measure, weight induction device 3 can be measured
The weight of goods, control unit calculates steering front wheel corner threshold value in time, and steering wheel angle inductor can be by actual direction
Disk corner is sent to control unit, calculates risk status discreet value R, and lorry rollover risk is estimated in time.When there is side
When turning over risk, control unit is signaled to buzzer, and buzzer sends alarm, reminds driver safety operation, improves safety
Coefficient.
A kind of method that lorry rollover risk is estimated, is not considering the situation that vehicle barycenter level can be subjected to displacement first
Under, a kind of method that lorry rollover risk is estimated is divided into the following steps：
1) system pre-stored data includes the center of gravity terrain clearance h of spring carried mass during empty wagonss', the liftoff height of center of gravity of unspringing weight
Degree hu, empty wagons spring loading capacity ms', empty wagons complete vehicle weight mz, front tread B1, rear tread B2, seat center to front axle apart from aSeat, it is vehicle-mounted
Goods equivalent volume weight mv, the equivalent overall length L of vehicle-mounted cargoGoods, the equivalent total H high of vehicle-mounted cargoGoods, the equivalent W wide of vehicle-mounted cargoGoods, goods
Horizontal range a of the car compartment front end to front axleRailway carriage or compartment, boxcar plane terrain clearance HRailway carriage or compartment, seat plane terrain clearance hSeat, empty wagons when
Horizontal range a of the spring carried mass center of gravity to front axles', roll plane roll center axle height h where spring carried mass center of gravitya, vehicle
Center of gravity to the horizontal range a of front axle, the horizontal range b of vehicle center of gravity to rear axle, lorry master-plan center of gravity to front axle level
Apart from a ', the horizontal range b ' of lorry master-plan center of gravity to rear axle；The data that system is measured include goods weight mGoods, preceding non-spring
Mounted mass mf, rear nonspring carried mass mr, lorry front axle left wheel load m1l, the right wheel load m of lorry front axle1r, lorry rear axle it is left
Wheel load m2l, the right wheel load m of lorry rear axle2r；
2) empty wagons height of C.G. is obtained
mz=m1′+m2'=mf+mr+mS′；
3) vehicle center of gravity laterally offset is obtained
4) center of gravity of goods terrain clearance is obtained
Wherein：aSeatIt is the horizontal range (mm) of occupant's center of gravity to front axle, is taken as seat center to front axle distance；
In-car includes that the occupant's number including driver is n, occupant and driver everyone quality based on 65kg, then mPeople=65n；
Then the equivalent overall length of piling cargo is：
Piling cargo it is equivalent total a height of：
Goods barycenter terrain clearance h goods is：hGoods=50 × HGoods+HRailway carriage or compartment；
5) vehicle height of C.G. is obtained
6) spring carried mass position of centre of gravity is obtained after loading：
Vehicle body is made up of three parts：Occupant (including driver)+vehicle-mounted cargo on empty wagons vehicle body+car, then vehicle body gross mass ms=
ms′+mGoods+mPeople；
Horizontal range a of the spring carried mass barycenter to front axle after then loadingsFor：
Spring carried mass barycenter terrain clearance h after then loadingsFor：
Spring carried mass barycenter laterally offset y after then loadingsFor：
Spring carried mass angle of heel Φ after then loadingsFor：
7) steering front wheel corner threshold value δ is obtainedmax, including the following steps：
A, lorry are running at high speed, the equation of motion under operating mode of taking a sudden turn：
Lateral movement：
Weaving：
Body roll is moved：
Obtain each wheel lateral force, cornering stiffness be taken as on the occasion of：
Bringing into obtain：
The steady-state quantities responsive state parameter entered under B, acquisition front-wheel a step input：
During lorry constant-speed driving, the steady-state response entered under front-wheel a step input is constant speed circular-course driving, during stable state, lorry
Yaw velocity, vehicle roll angle are definite value, nowCan be obtained according to A：
The response parameter for then being exported during lorry steady-state quantities is：
Steady-state yaw rate is：
Wherein, ballast
Vehicle roll angle is：
Wherein, factor is rolled
The vehicle roll angle caused by steering is：
It can be seen that, when lorry traveling is on level road, and car load is not when causing body roll：
The vehicle roll angle caused by steering reaches maximum；
C, lorry turning lateral stability condition：
Lorry swerve steady-state quantities when, have side acceleration (centrifugal force) and a body roll, analysis of wheel vertical load occurs horizontal
To transfer, the equilibrium condition of lateral stability is：
When inboard wheel vertical load is zero, i.e. FZ1=0, during FZ3=0, lorry has a rollover risk, and now vertical load
It is maximum to shift：
Therefore, the condition that lorry is not turned on one's side is：
Wherein：
msh+mfR+mrR=mhg；
Therefore, the stable condition that lorry is not turned on one's side is：
Steering front wheel corner threshold value when D, acquisition lorry lateral bucking：
WhenWhen,It can be seen that lorry turn to when, when steering direction and body roll direction always when deposit
It is dangerous in serious rollover, it is impossible to turn to；
WhenWhen, the condition that lorry is not turned on one's side under certain speed is：
Steering front wheel corner δmaxShould meet：
Then steering front wheel corner threshold value is：
8) lorry rollover alarming is divided into the following steps：
A, the steering wheel angle of driver's operation are δ ', and i is steering gear resultant gear ratio, then：δ '=δ i；
When lorry has rollover risk, steering wheel angle threshold value is：δ′max=δmax·i；
B, it is to judge to enter lateral bucking state when bend or vehicle take a sudden turn, defines lorry rollover risk and estimate function R：
C, risk status discreet value R are calculated after finishing, and can carry out alarm to driver according to its size fractionation is other, prevention
Rollover, alarm rule is as follows：
When D, senior alarm, buzzer sends alarm with high frequency；During primary alarm, buzzer sends alarm with low frequency；Vehicle side
Overmolded shape parameter table：
Beneficial effect：The present invention is to provide a kind of device and method of lorry rollover early warning, by high to vehicle actual center gravity
Degree, horizontal location of the center of gravity, the laterally offset of vehicle center of gravity, the analysis of road speed, draw steering front wheel corner threshold value, and contrast drives
The steering wheel angle of member's operation, control unit relatively obtains risk by actual steering wheel corner and steering front wheel corner threshold value
State estimations value R, when risk status discreet value R exceeds safe range, control unit sends signal, and buzzer can send alarm
Sound, reminds driver safety operation, reduces lorry rollover risk, improves drive safety.
Embodiment two, the device of early warning as shown in figure 1, a kind of lorry is turned on one's side, including car body 1 and compartment 2, the car body 1
Front axle, rear axle, front axle left wheel, the right wheel of front axle, rear axle left wheel, the right wheel of rear axle be equipped with load sensor, it is described
The bottom in compartment 2 is provided with weight induction device 3, and the steering wheel in the car body 1 is provided with corner inductor, the car body 1 and is provided with
Buzzer, the load sensor, the weight induction device 3, the corner inductor and the buzzer are and control unit
It is connected.Load sensor can automatically by empty wagons it is static when center of gravity to preceding thrust load m1', empty wagons it is static when center of gravity to rear thrust load
m2', it is static after loading when before thrust load m1, it is static after loading when after thrust load m2Weight measure, weight induction device 3 can be measured
The weight of goods, control unit calculates steering front wheel corner threshold value in time, and steering wheel angle inductor can be by actual direction
Disk corner is sent to control unit, calculates risk status discreet value R, and lorry rollover risk is estimated in time.When there is side
When turning over risk, control unit is signaled to buzzer, and buzzer sends alarm, reminds driver safety operation, improves safety
Coefficient.
A kind of method that lorry rollover risk is estimated, described vehicle center of gravity meeting occurred level displacement, the horizontal level
Index includes vehicle center of gravity to the horizontal range a of front axle, the horizontal range b of vehicle center of gravity to rear axle, empty wagons vehicle center of gravity to preceding
The horizontal range a ' of axle, the horizontal range b ' of empty wagons vehicle center of gravity to rear axle：
1) system pre-stored data includes the center of gravity terrain clearance h of spring carried mass during empty wagonss', the liftoff height of center of gravity of unspringing weight
Degree hu, empty wagons spring loading capacity ms', empty wagons complete vehicle weight mz, front tread B1, rear tread B2, seat center to front axle apart from aSeat, it is vehicle-mounted
Goods equivalent volume weight mv, the equivalent overall length L of vehicle-mounted cargoGoods, the equivalent total H high of vehicle-mounted cargoGoods, the equivalent W wide of vehicle-mounted cargoGoods, goods
Horizontal range a of the car compartment front end to front axleRailway carriage or compartment, boxcar plane terrain clearance HRailway carriage or compartment, seat plane terrain clearance hSeat, empty wagons when
Horizontal range a of the spring carried mass center of gravity to front axles', roll plane roll center axle height h where spring carried mass center of gravitya, vehicle
Center of gravity to the horizontal range a of front axle, the horizontal range b of vehicle center of gravity to rear axle, lorry master-plan center of gravity to front axle level
Apart from a ', the horizontal range b ' of lorry master-plan center of gravity to rear axle；The data that system is measured include goods weight mGoods, preceding non-spring
Mounted mass mf, rear nonspring carried mass mr, lorry front axle left wheel load m1l, the right wheel load m of lorry front axle1r, lorry rear axle it is left
Wheel load m2l, the right wheel load m of lorry rear axle2r, empty wagons it is static when center of gravity to preceding thrust load m1', empty wagons it is static when center of gravity arrive
Thrust load m afterwards2', it is static after loading when before thrust load m1, it is static after loading when after thrust load m2, vehicle gross weight m；
2) horizontal range of the center of gravity to front axle when acquisition empty wagons is static
Horizontal range of the center of gravity to rear axle when empty wagons is static
mz=m1′+m2′；
3) vehicle center of gravity to the horizontal range of front axle is obtained
Horizontal range of the vehicle center of gravity to rear axle
M=m1+m2；
4) empty wagons height of C.G. is obtained
mz=m1′+m2'=mf+mr+mS′；
5) vehicle center of gravity laterally offset is obtained
6) center of gravity of goods terrain clearance is obtained
Wherein：aSeatIt is the horizontal range (mm) of occupant's center of gravity to front axle, is taken as seat center to front axle distance；
In-car includes that the occupant's number including driver is n, occupant and driver everyone quality based on 65kg, then mPeople=65n；
Then the equivalent overall length of piling cargo is：
Piling cargo it is equivalent total a height of：
Goods barycenter terrain clearance h goods is：hGoods=50 × HGoods+HRailway carriage or compartment；
7) vehicle height of C.G. is obtained
8) spring carried mass position of centre of gravity is obtained after loading：
Vehicle body is made up of three parts：Occupant (including driver)+vehicle-mounted cargo on empty wagons vehicle body+car, then vehicle body gross mass ms=
ms′+mGoods+mPeople；
Horizontal range a of the spring carried mass barycenter to front axle after then loadingsFor：
Spring carried mass barycenter terrain clearance h after then loadingsFor：
Spring carried mass barycenter laterally offset y after then loadingsFor：
Spring carried mass angle of heel Φ after then loadingsFor：
9) steering front wheel corner threshold value δ is obtainedmax, including the following steps：
A, lorry are running at high speed, the equation of motion under operating mode of taking a sudden turn：
Lateral movement：
Weaving：
Body roll is moved：
Obtain each wheel lateral force, cornering stiffness be taken as on the occasion of：
Bringing into obtain：
The steady-state quantities responsive state parameter entered under B, acquisition front-wheel a step input：
During lorry constant-speed driving, the steady-state response entered under front-wheel a step input is constant speed circular-course driving, during stable state, lorry
Yaw velocity, vehicle roll angle are definite value, nowCan be obtained according to A：
The response parameter for then being exported during lorry steady-state quantities is：
Steady-state yaw rate is：
Wherein, ballast
Vehicle roll angle is：
Wherein, factor is rolled
The vehicle roll angle caused by steering is：
It can be seen that, when lorry traveling is on level road, and car load is not when causing body roll：
The vehicle roll angle caused by steering reaches maximum；
C, lorry turning lateral stability condition：
Lorry swerve steady-state quantities when, have side acceleration (centrifugal force) and a body roll, analysis of wheel vertical load occurs horizontal
To transfer, the equilibrium condition of lateral stability is：
When inboard wheel vertical load is zero, i.e. FZ1=0, during FZ3=0, lorry has a rollover risk, and now vertical load
It is maximum to shift：
Therefore, the condition that lorry is not turned on one's side is：
Wherein：
msh+mfR+mrR=mhg；
Therefore, the stable condition that lorry is not turned on one's side is：
Steering front wheel corner threshold value when D, acquisition lorry lateral bucking：
WhenWhen,It can be seen that lorry turn to when, when steering direction and body roll direction always when
It is dangerous in the presence of serious rollover, it is impossible to turn to；
WhenWhen, the condition that lorry is not turned on one's side under certain speed is：
Steering front wheel corner δmaxShould meet：
Then steering front wheel corner threshold value is：
Wherein：I is steering gear resultant gear ratio.
10) lorry rollover alarming is divided into the following steps：
A, the steering wheel angle of driver's operation are δ ', and i is steering gear resultant gear ratio, then：δ '=δ i；
When lorry has rollover risk, steering wheel angle threshold value is：δ′max=δmax·i；
B, it is to judge to enter lateral bucking state when bend or vehicle take a sudden turn, defines lorry rollover risk and estimate function R：
C, risk status discreet value R are calculated after finishing, and can carry out alarm to driver according to its size fractionation is other, prevention
Rollover, alarm rule is as follows：
When D, senior alarm, buzzer sends alarm with high frequency；During primary alarm, buzzer sends alarm with low frequency；Vehicle side
Overmolded shape parameter table：
Beneficial effect：The present invention is to provide a kind of device and method of lorry rollover early warning, by high to vehicle actual center gravity
Degree, horizontal location of the center of gravity, the laterally offset of vehicle center of gravity, the analysis of road speed, draw steering front wheel corner threshold value, and contrast drives
The steering wheel angle of member's operation, control unit relatively obtains risk by actual steering wheel corner and steering front wheel corner threshold value
State estimations value R, when risk status discreet value R exceeds safe range, control unit sends signal, and buzzer can send alarm
Sound, reminds driver safety operation, reduces lorry rollover risk, improves drive safety.
Claims (3)
1. a kind of lorry rollover prior-warning device, including car body and compartment, it is characterised in that：The front axle of the car body, rear axle, front axle
The right wheel of left wheel, front axle, rear axle left wheel, the right wheel of rear axle are equipped with load sensor, and the bottom in the compartment is provided with weight
Amount inductor, the steering wheel in the car body is provided with corner inductor, and buzzer, the load sensing are provided with the car body
Device, the weight induction device, the corner inductor and the buzzer are connected with control unit.
2. the following steps are divided into using a kind of method of lorry rollover prior-warning device described in claim 1：
1）System pre-stored data includes the center of gravity terrain clearance h of spring carried mass during empty wagonss', the center of gravity terrain clearance of unspringing weight
hu, empty wagons spring loading capacity ms', empty wagons complete vehicle weight mz, front tread B1, rear tread B2, seat center to front axle apart from aSeat, vehicle-mounted goods
Thing equivalent volume weight mv, the equivalent overall length L of vehicle-mounted cargoGoods, the equivalent total H high of vehicle-mounted cargoGoods, the equivalent W wide of vehicle-mounted cargoGoods, lorry
Horizontal range a of the compartment front end to front axleRailway carriage or compartment, boxcar plane terrain clearance HRailway carriage or compartment, seat plane terrain clearance hSeat, empty wagons when spring
Horizontal range a of the mounted mass center of gravity to front axles ’, roll plane roll center axle height h where spring carried mass center of gravitya, vehicle weight
The heart to the horizontal range a of front axle, the horizontal range b of vehicle center of gravity to rear axle, the level of lorry master-plan center of gravity to front axle away from
From a’, lorry master-plan center of gravity to rear axle horizontal range b’；The data that system is measured include goods weight mGoods, preceding non-spring carries
Quality mf, rear nonspring carried mass mr, lorry front axle left wheel load m1l, the right wheel load m of lorry front axle1r, the left car of lorry rear axle
Wheel load m2l, the right wheel load m of lorry rear axle2r；
2）Obtain empty wagons height of C.G.；
；
3）Obtain vehicle center of gravity laterally offset；
4）Obtain center of gravity of goods terrain clearance；
Wherein：aSeatIt is the horizontal range (mm) of occupant's center of gravity to front axle, is taken as seat center to front axle distance；
In-car includes that the occupant's number including driver is n, occupant and driver everyone quality based on 65kg, then；
Then the equivalent overall length of piling cargo is：；
Piling cargo it is equivalent total a height of：；
Goods barycenter terrain clearance h goods is：；
5）Obtain vehicle height of C.G.；
6）Spring carried mass position of centre of gravity is obtained after loading：
Vehicle body is made up of three parts：Occupant on empty wagons vehicle body+car（Including driver）+ vehicle-mounted cargo, then vehicle body gross mass；
Horizontal range a of the spring carried mass barycenter to front axle after then loadingsFor：
；
Spring carried mass barycenter terrain clearance h after then loadingsFor：
；
Spring carried mass barycenter laterally offset y after then loadingsFor：
；
Spring carried mass angle of heel Φ after then loadingsFor：
；
7）Obtain steering front wheel corner threshold value δmax, including the following steps：
A, lorry are running at high speed, the equation of motion under operating mode of taking a sudden turn：
Lateral movement：
；
Weaving：
；
Body roll is moved：
；
Obtain each wheel lateral force, cornering stiffness be taken as on the occasion of：
；
；
；
；
Bringing into obtain：
；
The steady-state quantities responsive state parameter entered under B, acquisition front-wheel a step input：
During lorry constant-speed driving, the steady-state response entered under front-wheel a step input is constant speed circular-course driving, during stable state, lorry
Yaw velocity, vehicle roll angle are definite value, now, can be obtained according to A：；
The response parameter for then being exported during lorry steady-state quantities is：
Steady-state yaw rate is：
；
Wherein, ballast；
Vehicle roll angle is：
；
Wherein, factor is rolled；
The vehicle roll angle caused by steering is：
；
It can be seen that, when lorry traveling is on level road, and car load is not when causing body roll：
；
The vehicle roll angle caused by steering reaches maximum；
；
C, lorry turning lateral stability condition：
Lorry swerve steady-state quantities when, have side acceleration（Centrifugal force）And body roll, analysis of wheel vertical load occurs horizontal
To transfer, the equilibrium condition of lateral stability is：
) ；
When inboard wheel vertical load is zero, i.e. FZ1=0, during FZ3=0, lorry has rollover risk, and now vertical load turns
It is maximum to move：
；
；
Therefore, the condition that lorry is not turned on one's side is：
；
Wherein：
；
；
Therefore, the stable condition that lorry is not turned on one's side is：
；
；
；
Steering front wheel corner threshold value when D, acquisition lorry lateral bucking：
WhenWhen,；It can be seen that lorry turn to when, when steering direction and body roll direction always when deposit
It is dangerous in serious rollover, it is impossible to turn to；
WhenWhen, the condition that lorry is not turned on one's side under certain speed is：
；
；
Steering front wheel corner δmaxShould meet：
；
；
Then steering front wheel corner threshold value is：；
8）Lorry rollover alarming is divided into the following steps：
A, the steering wheel angle of driver's operation are δ ', and i is steering gear resultant gear ratio, then：；
When lorry has rollover risk, steering wheel angle threshold value is：；
B, it is to judge to enter lateral bucking state when bend or vehicle take a sudden turn, defines lorry rollover risk and estimate function R：；
C, risk status discreet value R are calculated after finishing, and can carry out alarm to driver according to its size fractionation is other, prevention
Rollover, alarm rule is as follows：
；
When D, senior alarm, buzzer sends alarm with high frequency；During primary alarm, buzzer sends alarm with low frequency.
3. according to right 2 described in a kind of lorry turn on one's side prior-warning device method, it is characterised in that：Described vehicle weight
Heart meeting occurred level displacement, the index of the horizontal level includes horizontal range a, vehicle center of gravity to rear axle of the vehicle center of gravity to front axle
Horizontal range b, the horizontal range a of empty wagons vehicle center of gravity to front axle’, empty wagons vehicle center of gravity to rear axle horizontal range b’：
1）System measure empty wagons it is static when center of gravity to preceding thrust load m1 ’, empty wagons it is static when center of gravity to rear thrust load m2 ’, it is quiet after loading
Thrust load m before when only1, it is static after loading when after thrust load m2, vehicle gross weight m；
2）Horizontal range of the center of gravity to front axle when acquisition empty wagons is static；
Horizontal range of the center of gravity to rear axle when empty wagons is static；
；
3）Obtain vehicle center of gravity to the horizontal range of front axle；
Horizontal range of the vehicle center of gravity to rear axle；
；
4）Therefore, under lorry speed certain condition, the steering front wheel corner do not turned on one's side should meet：
；
Then, steering front wheel corner threshold value is：
；
Wherein, i is steering gear resultant gear ratio；
5）Lorry rollover alarming is divided into the following steps：
A, the steering wheel angle of driver's operation are δ ', and i is steering gear resultant gear ratio, then：；
When lorry has rollover risk, steering wheel angle threshold value is：；
B, it is to judge to enter lateral bucking state when bend or vehicle take a sudden turn, defines lorry rollover risk and estimate function R：；
C, risk status discreet value R are calculated after finishing, and can carry out alarm to driver according to its size fractionation is other, prevention
Rollover, alarm rule is as follows：
；
When D, senior alarm, buzzer sends alarm with high frequency；During primary alarm, buzzer sends alarm with low frequency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710092992.9A CN106926778A (en) | 2017-02-21 | 2017-02-21 | A kind of lorry rollover prior-warning device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710092992.9A CN106926778A (en) | 2017-02-21 | 2017-02-21 | A kind of lorry rollover prior-warning device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106926778A true CN106926778A (en) | 2017-07-07 |
Family
ID=59424678
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710092992.9A Pending CN106926778A (en) | 2017-02-21 | 2017-02-21 | A kind of lorry rollover prior-warning device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106926778A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108288390A (en) * | 2017-12-15 | 2018-07-17 | 长安大学 | Barycenter height of truck evaluation method and bend early warning system |
| CN108287503A (en) * | 2018-01-22 | 2018-07-17 | 河南理工大学 | The heavy-duty freight car stagewise rollover method for early warning of time-varying interactive mode Kalman filtering |
| CN108394406A (en) * | 2018-04-17 | 2018-08-14 | 五邑大学 | Heavy goods vehicles anti-rollover early warning system based on perception load and active brake |
| CN109693664A (en) * | 2017-10-23 | 2019-04-30 | 王飞 | One kind preventing vehicle side turning system and control strategy |
| CN110949370A (en) * | 2019-03-18 | 2020-04-03 | 长城汽车股份有限公司 | Safety monitoring method and system for automatic driving vehicle and motion control system |
| CN112319414A (en) * | 2020-11-09 | 2021-02-05 | 浙江警察学院 | Rollover early warning device and rollover early warning method for liquid tank truck |
| CN114205394A (en) * | 2022-02-17 | 2022-03-18 | 深圳市菲尼基科技有限公司 | Self-adaptive data identification and storage method and system for Internet of vehicles terminal |
| CN117541066A (en) * | 2024-01-09 | 2024-02-09 | 巨野金牛车业有限公司 | Dump semitrailer rollover evaluation index and evaluation method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6128076A (en) * | 1995-04-19 | 2000-10-03 | Sackett; Robert | Apparatus for measuring truck tilt and preventing roll-over |
| WO2004069568A1 (en) * | 2003-02-05 | 2004-08-19 | Bosch Rexroth Ag | System for safeguarding the driving stability of an industrial truck |
| CN101350137A (en) * | 2008-09-04 | 2009-01-21 | 清华大学 | Dynamic detection method for preventing wagon from turning towards one side on bending road and pre-warning apparatus |
| CN104401323A (en) * | 2014-11-04 | 2015-03-11 | 河北工程大学 | Rollover warning method and rollover warning device for heavy vehicle |
-
2017
- 2017-02-21 CN CN201710092992.9A patent/CN106926778A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6128076A (en) * | 1995-04-19 | 2000-10-03 | Sackett; Robert | Apparatus for measuring truck tilt and preventing roll-over |
| WO2004069568A1 (en) * | 2003-02-05 | 2004-08-19 | Bosch Rexroth Ag | System for safeguarding the driving stability of an industrial truck |
| CN101350137A (en) * | 2008-09-04 | 2009-01-21 | 清华大学 | Dynamic detection method for preventing wagon from turning towards one side on bending road and pre-warning apparatus |
| CN101612927A (en) * | 2008-09-04 | 2009-12-30 | 清华大学 | Dynamic detection method for preventing wagon from turning towards one side on bending road and prior-warning device |
| CN104401323A (en) * | 2014-11-04 | 2015-03-11 | 河北工程大学 | Rollover warning method and rollover warning device for heavy vehicle |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109693664A (en) * | 2017-10-23 | 2019-04-30 | 王飞 | One kind preventing vehicle side turning system and control strategy |
| CN108288390A (en) * | 2017-12-15 | 2018-07-17 | 长安大学 | Barycenter height of truck evaluation method and bend early warning system |
| CN108287503A (en) * | 2018-01-22 | 2018-07-17 | 河南理工大学 | The heavy-duty freight car stagewise rollover method for early warning of time-varying interactive mode Kalman filtering |
| CN108394406A (en) * | 2018-04-17 | 2018-08-14 | 五邑大学 | Heavy goods vehicles anti-rollover early warning system based on perception load and active brake |
| CN110949370A (en) * | 2019-03-18 | 2020-04-03 | 长城汽车股份有限公司 | Safety monitoring method and system for automatic driving vehicle and motion control system |
| CN112319414A (en) * | 2020-11-09 | 2021-02-05 | 浙江警察学院 | Rollover early warning device and rollover early warning method for liquid tank truck |
| CN114205394A (en) * | 2022-02-17 | 2022-03-18 | 深圳市菲尼基科技有限公司 | Self-adaptive data identification and storage method and system for Internet of vehicles terminal |
| CN114205394B (en) * | 2022-02-17 | 2022-04-26 | 深圳市菲尼基科技有限公司 | Self-adaptive data identification and storage method and system for Internet of vehicles terminal |
| CN117541066A (en) * | 2024-01-09 | 2024-02-09 | 巨野金牛车业有限公司 | Dump semitrailer rollover evaluation index and evaluation method |
| CN117541066B (en) * | 2024-01-09 | 2024-03-29 | 巨野金牛车业有限公司 | Dump semitrailer rollover evaluation index and evaluation method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106926778A (en) | A kind of lorry rollover prior-warning device and method | |
| CN106945670B (en) | Anti-rollover system for automobiles and control method based on driver's input prediction | |
| CN100526842C (en) | Method and apparatus for judging vehicle load distribution and detecting tyre pressure decrease | |
| US6438464B1 (en) | Method and device for detecting the overturning hazard of a motor vehicle | |
| CN108394406B (en) | Heavy vehicle rollover prevention early warning system based on load sensing and active braking | |
| CN105644564B (en) | A kind of automobile side angle active collision avoidance security determination methods | |
| CN1329722C (en) | Cargo vehicle ABS road identification method | |
| CN107176216A (en) | Heavy-duty car anti-rollover system | |
| CN107499271A (en) | A kind of car anti-rollover control system and method based on electronic control air suspension and electric controlled brake system | |
| CN103213582A (en) | Anti-rollover warning control method based on vehicle roll angle estimation | |
| JPH11271045A (en) | Method and apparatus for decision of value expressing center-of-gravity height of vehicle | |
| CN102282052A (en) | Vehicle condition estimating device | |
| CN104955689B (en) | Vehicle barycenter state determination device and vehicle behavior control system | |
| CN203876738U (en) | Semitrailer and side turning prevention device thereof | |
| CN106080553A (en) | A kind of four-wheel steering automobile anti-rollover control system merging speed change and method | |
| CN101612938A (en) | Be used for the judgement line computation of Vehicle security system | |
| CN109591806B (en) | Rollover early warning method and device, storage medium and vehicle | |
| KR20010023168A (en) | Process and device for stabilising a vehicle on the basis of a determined torsional value | |
| JP2001180468A (en) | Method of preventing turnover of vehicle | |
| CN207190988U (en) | A kind of car anti-rollover system based on electronic control air suspension system | |
| CN205905961U (en) | Control system that turns on one's side is prevented to four wheel steering car that fuses speed of a motor vehicle change | |
| CN106965804A (en) | A kind of method that lorry rollover risk is estimated | |
| CN105636859A (en) | Combination vehicle overturn-indication determination device and combination vehicle | |
| CN101585349B (en) | Method and system for detecting rollover of vehicle | |
| JP4992443B2 (en) | Vehicle rollover prevention device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170707 |