CN108109433A - Carriage trucks mass center evaluation method and the bend early warning system based on wireless storage communication - Google Patents
Carriage trucks mass center evaluation method and the bend early warning system based on wireless storage communication Download PDFInfo
- Publication number
- CN108109433A CN108109433A CN201711349528.XA CN201711349528A CN108109433A CN 108109433 A CN108109433 A CN 108109433A CN 201711349528 A CN201711349528 A CN 201711349528A CN 108109433 A CN108109433 A CN 108109433A
- Authority
- CN
- China
- Prior art keywords
- lorry
- unit
- mrow
- wireless storage
- storage communication
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of carriage trucks mass center evaluation method and the bend early warning system based on wireless storage communication, including：Wireless storage communication unit, on lorry, for storing the travel direction of lorry, license plate number, wheelspan and barycenter height of truck；Roadside unit is arranged at road curve, after lorry enters the communication range of roadside unit, gathers the lorry information stored in wireless storage communication unit；Control unit for the criticality safety speed corresponding to calculating the lorry information according to lorry information, speed of the lorry collected Jing Guo corner and the criticality safety speed corresponding to the lorry information is compared, obtain the bend warning information of lorry；Display unit, for bend warning information to be shown.The present invention comes round-the-clock in real time to the criticality safety speed for entering curved lorry prompting warning information according to real-time weather condition, different road structural parameter, for different lorry operation conditions, especially helps greatly improving drive safety under misty rain weather condition.
Description
Technical field
The invention belongs to traffic safety technical fields, and in particular to a kind of carriage trucks mass center evaluation method and based on wireless
Store the bend early warning system of communication.
Background technology
Bend section is black spot, and driver Chang Yin drives over the speed limit to be caused to trigger and hand over to lose control of one's vehicle into curved
Interpreter's event, causes personal injury and property loss.In the accident of bend section, consequence caused by lorry rollover event is particularly tight
Weight.Existing early warning system such as EJ Kazlauskas et al. using side acceleration as warning index, calculate vehicle tire from
Turn up the soil face when side acceleration, carry out safe judgement in this, as safe early warning threshold value, by mobile unit to driver into
Row safety instruction.The system improved for driver the reaction time it is short and under sleety weather bad adaptability.
Riding stability when being used for turn running along curved road of Japanese Toyota Motor Corporation rep.'s invention controls
Device, the device can control the steering angle for turning to wheel of vehicle independently of the steering operation of driver and be applied to each wheel
On driving force/brake force, and calculate the target turning driving controlled quentity controlled variable of vehicle.
Wang Qing mono- analyzes the factor for influencing vehicle rollover using the rigid model of automobile as physical model at home, it is determined that
Rollover threshold develops the on-vehicle safety early warning system of a set of practicality on this basis.Dan Shaohua has studied the vehicle of bus or train route coupling
Kinetic model, it is proposed that a kind of active safety system for considering road alignment and influencing, it can be effectively according to road alignment
Difference early warning is carried out in real time to driver.
These researchs mainly promote security of the vehicle in negotiation of bends from the angle of vehicle, without being related to from road
Service function angle enters curved driving safety to improve vehicle.Although above method can obtain vehicle operation by mobile unit
When detail parameters, it is easy to implement and apply on automobile, but this method only realizes the monitoring to vehicle running state,
Judge the precarious position of vehicle, vehicle risk situation can not be judged from the angular advance of macroscopic view.
The facility for entering curved driving safety to improve vehicle from road service functional perspective at present is mainly set in bend section
Put speed(-)limit sign.Speed(-)limit sign using vehicle bend section design speed or operating speed as warning speed, to pass through vehicle
It is warned, but the traffic accident number in bend section is still high.Speed(-)limit sign is that unified speed limit is carried out to entire road,
The setting of suggestion speed marker speed limit in bend is also difficult to carry out early warning for the lorry individual of different loading capacity, it is proposed that speed
The information of scale will be it is changeless, can not according to road structural parameter, weather conditions variation and be changed in real time.Together
When, because early warning speed does not consider running state of the vehicle also, cause early warning error often larger, driver can be made after long-time service
Because itself idea generates vigilant the phenomenon that declining.
The content of the invention
In view of the deficiencies of the prior art, the present invention intends to provide carriage trucks mass center evaluation method and bend is pre-
Alert system, solves the problems, such as that accurate bend early warning can not be carried out according to vehicle self-operating situation in the prior art.
In order to solve the above-mentioned technical problem, the present invention is realised by adopting the following technical scheme：
A kind of carriage trucks mass center evaluation method calculates barycenter height of truck H by formula (1)：
In formula (1), H is barycenter height of truck；miThe i-th axis weight measured for lorry on level road；mjExist for lorry
The jth root axis weight measured on measurement gentle slope；l1iFor the wheelbase of the 1st axle of lorry to i-th axle；l1jFor the 1st vehicle of lorry
Axis is to the wheelbase of jth root axle；M is lorry gross mass；α is the angle of gradient on gentle slope.
The present invention also provides a kind of truck at curves early warning system based on wireless storage communication, including：
Wireless storage communication unit, on lorry, for storing the travel direction of lorry, license plate number, wheelspan B and goods
Vehicle height of center of mass H, wherein the barycenter height of truck H is obtained by carriage trucks mass center evaluation method described in claim 1；
Roadside unit is arranged on corner, after lorry enters the communication range of roadside unit, gathers wireless storage communication
The lorry information stored in unit；
Control unit for the criticality safety speed corresponding to calculating the lorry information according to lorry information, will collect
Speed of the lorry Jing Guo corner compared with the criticality safety speed corresponding to the lorry information, obtain the bend of lorry
Warning information；
Display unit, for bend warning information to be shown.
Further, the criticality safety vehicle in described control unit according to corresponding to lorry information calculates the lorry information
Speed, including：
Criticality safety speed v is obtained according to formula (2)：
V=min (v1,v2) (2)
In formula (2), v1The criticality safety speed do not turned on one's side for lorry；
B is car gage；H is vehicle centroid height；R is turning radius；A is road superelevation；
v2The criticality safety speed do not breakked away for lorry；
A is road superelevation；For coefficient of road adhesion.
Further, when the wireless storage communication unit being arranged on an lorries is not in the communication range of roadside unit
It is wireless to store communication unit in a dormant state when interior；
When the wireless storage communication unit being arranged on lorry enters the communication range of roadside unit, roadside unit
Communication unit wake-up will be wirelessly stored, and wireless data communication is carried out with wireless storage communication unit.
Further, the communication range of the roadside unit is 30m.
Further, at the 150m-200m after being arranged on bend entrance along roadside unit described in the travel direction of lorry
Roadbed side.
Further, the roadside unit carries out wireless data communication with wireless storage communication unit, including：
Step 1, after wirelessly storage communication unit enters the communication range of roadside unit, the roadside unit is to wirelessly depositing
It stores up communication unit and sends data handshakes request；
Step 2, if the object that roadside unit sends data handshakes request is not wireless storage communication unit, roadside unit
The data handshakes respond style received is unreachable for call intent；
If the object that roadside unit sends data handshakes request is wireless storage communication unit, wireless to store communication unit
Data handshakes response is requested to generate according to data handshakes, and data handshakes response is sent to roadside unit, performs step 3；
Step 3, if the data handshakes respond style that roadside unit receives is permission, and the address letter of data handshakes response
The address information of breath and data handshake request matches, then roadside unit carries out wireless data communication with wireless storage communication unit.
Compared with prior art, the present invention it has the following technical effect that：
(1) present invention just provides alert before vehicle drives into bend to the hypervelocity hazardous act of driver early, ensures
Driver has enough reaction time and reaction distance to reduce into curved speed, so as to ensure driving safety.
(2) present invention does not take indifference early warning to feed back, and does not carry out unified speed limit to entire road, but independent pin
Rate limitation is carried out to bend section, while early warning is carried out for the lorry individual of different loading capacity.
(3) information of the invention is not changeless, but can real-time display in different weather condition, different roads
Under structural parameters, for different lorry operation conditions come round-the-clock in real time to the criticality safety for entering curved lorry prompting warning information
Speed is especially helped greatly improving drive safety under misty rain weather condition.
(4) including the present invention establishes including pavement structure parameter and coefficient of road adhesion and enters curved criticality safety speed
Bus or train route couples safe early warning model.
(5) present invention proposes the wireless storage communication unit for Dangerous bend early warning, by wirelessly storing communication unit
Member communicates with the information of roadside unit, and acquisition will enter the data message of curved lorry to roadside unit in real time, so as to for different goods
Vehicle operation conditions carries out effective early warning.
Description of the drawings
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the schematic diagram of corner in an embodiment；
Fig. 3 is the schematic diagram of display unit in an embodiment.
Symbology is in figure：1- roadside units；2- display units；3- roadbeds side；4 bend entrances.
Explanation is further explained in detail to the particular content of the present invention below in conjunction with attached drawing.
Specific embodiment
Specific embodiments of the present invention are given below, it is necessary to which explanation is that the invention is not limited in implement in detail below
Example, all equivalents done on the basis of technical scheme each fall within protection scope of the present invention.
Embodiment 1
A kind of carriage trucks mass center evaluation method is present embodiments provided, barycenter height of truck H is calculated by formula (1)：
In formula (1), H is barycenter height of truck；miThe i-th axis weight measured for lorry on level road；mjExist for lorry
The jth root axis weight measured on measurement gentle slope；l1iFor the wheelbase of the 1st axle of lorry to i-th axle；l1jFor the 1st vehicle of lorry
Axis is to the wheelbase of jth root axle；M is lorry gross mass；α is the angle of gradient on gentle slope.
For lorry because the size of its payload mass, height of center of mass floats can be larger, therefore present embodiments provides a kind of estimation
The method of barycenter height of truck, estimation precision are high.
The height of center of mass of certain three-axle truck, it is known that data it is as shown in table 1：
Table 1
Bring given data into formulaM ' wherein in table1m′2m′3It brings into formula
mj, finally being calculated according to data in table can obtain：H=1.29m.
Embodiment 2
A kind of truck at curves early warning system based on wireless storage communication is present embodiments provided, including：
Wireless storage communication unit, on lorry, for storing the travel direction of lorry, license plate number, wheelspan B and goods
Vehicle height of center of mass H, wherein the barycenter height of truck H is obtained by carriage trucks mass center evaluation method described in claim 1；
Travel direction in the present embodiment corresponds to two-way lane, has simultaneously come to vehicle and going by the vehicle of roadside unit
To vehicle, it is therefore desirable to it distinguishes and writes for travel direction, for the roadside unit of two-way lane both sides, every side track
Roadside unit filters out whereabouts vehicle from the multi-group data stream received, filters out coming to vehicle for the direction, so as to pin
To coming to vehicle progress early warning for the direction.Come to being then incorporated into 0 to wirelessly storing communication unit, whereabouts is then to wirelessly storing communication
Unit is incorporated into 1.Come to whereabouts for per depending on a road section, it is specified that a direction is come to opposite direction is then whereabouts.
Wheelspan B in the present embodiment can be obtained by infrared rays survey, wheelspan B picking vehicle minimum wheelspans.
Roadside unit 1, is arranged at road curve, and after lorry enters the communication range of roadside unit 1, acquisition is wirelessly deposited
The lorry information stored in storage communication unit；
Control unit for the criticality safety speed corresponding to calculating the lorry information according to lorry information, will collect
Speed of the lorry Jing Guo corner compared with the criticality safety speed corresponding to the lorry information, obtain the bend of lorry
Warning information；
Display unit 2, for bend warning information to be shown.
Specifically, the criticality safety speed in control unit according to corresponding to lorry information calculates the lorry information, including：
Criticality safety speed v is obtained according to formula (2)：
V=min (v1,v2) (2)
In formula (2), v1The criticality safety speed do not turned on one's side for lorry；
B is car gage, can be obtained by infrared rays survey, the minimum wheelspan of picking vehicle；H is vehicle
Height of center of mass；R is turning radius；A is road superelevation；
v2The criticality safety speed do not breakked away for lorry；
A is road superelevation；For coefficient of road adhesion.
Wherein, coefficient of road adhesion reference value such as table 2：
Table 2
Ice and snow road road-adhesion coefficient reference value such as table 3：
Table 3
Optionally, control unit further includes temperature sensor, humidity sensor and sleet sensor and carries out bend section ring
The real-time detection of border information.
When the wireless storage communication unit being arranged on lorry is not in the communication range of roadside unit, wirelessly deposit
Store up communication unit in a dormant state；
When the wireless storage communication unit being arranged on lorry enters the communication range of roadside unit 1, trackside list
Member will wirelessly store communication unit wake-up, and carry out wireless data communication with wireless storage communication unit.
Specifically, the communication range of roadside unit 1 is 30m.
Specifically, as shown in Fig. 2, 150m- after being arranged on bend entrance 4 along the travel direction roadside unit 1 of lorry
Roadbed side 3 at 200m, to gather along the lorry information in the range of the 1 rear 10-30m of travel direction roadside unit of lorry, Fig. 2
The direction of middle arrow meaning is the travel direction of lorry.
Roadside unit carries out wireless data communication with wireless storage communication unit in the present embodiment, including：
Step 1, after wirelessly storage communication unit enters the communication range of roadside unit, the roadside unit is to wirelessly depositing
It stores up communication unit and sends data handshakes request；
Step 2, if the object that roadside unit sends data handshakes request is not wireless storage communication unit, roadside unit
The data handshakes respond style received is unreachable for call intent；
If the object that roadside unit sends data handshakes request is wireless storage communication unit, wireless to store communication unit
Data handshakes response is requested to generate according to data handshakes, and data handshakes response is sent to roadside unit, performs step 3；
Step 3, if the data handshakes respond style that roadside unit receives is permission, and the address letter of data handshakes response
The address information of breath and data handshake request matches, then roadside unit carries out wireless data communication with wireless storage communication unit.
Wherein, wirelessly storage communication unit includes writing module, control module, radio-frequency module, Anneta module and power supply pipe
Manage module.
In the present embodiment, writing module communicates with external equipment, and external equipment passes through in writing module reading unit
Information, while wireless storage communication unit receives the content to be written of external equipment, i.e. lorry information by writing module.
In the present embodiment, said write module can be led to by radio-frequency module 13.56MHz circuits with external equipment
Letter performs reading and write operation to wirelessly storing communication unit.
In the present embodiment, instruction that control module is sent according to external equipment is written into content i.e. lorry information and writes
Wireless storage communication unit.External equipment in the present embodiment refers to terminal PC machine.
In the present embodiment, the control module is mainly made of MCU and safety chip, complete control to radio-frequency module and
The encrypting and decrypting function of information, while using reliable communication anti-collision algorithm.Safety chip is equipped with the communication interface with MCU,
Support national standard SM4 agreements.
In the present embodiment, stored using formula in piece.MCU internal storages, memory space is big, and additional storage is not required
Device.
In the present embodiment, the radio-frequency module use 5.8GHz band circuitries and 13.56MHz circuits, each circuit with
MCU carries out independent SPI communication.
In the present embodiment, the 13.56MHz band circuitries use integrated chip, periphery connection antenna.
In the present embodiment, the 5.8GHz band circuitries use integrated chip, and the embedded amplifying circuit in inside and transmitting-receiving control
Switching circuit, external antenna, the 5.8GHz band circuitries integrated chip and single-chip microprocessor MCU are packaged together.
In the present embodiment, the 5.8GHz band circuitries and 13.56MHz circuits integrated chip are using mainstream core on the market
Piece, the construction cycle is short, and peripheral component is few.
In the present embodiment, the Anneta module is printed board antenna, using microstrip design, linear polarization mode, omnidirectional antennas
Line.In fabric swatch, position separates, and avoids intercoupling.
In the present embodiment, the power management module includes battery, for being carried for wireless storage communication unit modules
Power supply source and realization power supply control management.
In the present embodiment, the Anneta module is used to implement between wireless storage communication unit and the antenna of roadside unit
Communication interaction.It communication unit can be made wirelessly to store is realized in two BST command intervals by optimizing program and waken up and respond
Communication request from roadside unit.
In the present embodiment, an embodiment of the power management module is：When wireless storage communication unit is through passing by one's way
When in the antenna transceiving range of side unit 1, roadside unit 1 can send 5.8GHz microwave signals and be inquired, will wirelessly store logical
Believe that unit wakes up, carry out wireless data transmission operation；When wireless storage communication unit is not in the antenna transceiving range of roadside unit 1
When interior, the wireless storage communication unit enters dormant state, i.e. low power consumpting state.
In the present embodiment, display unit can be any one display screen in the prior art, as LED display, LCD are shown
Screen etc., using full-color LED display screen, such as Fig. 3 in the present embodiment.Speed(-)limit sign, speed limit mark are shown on full-color LED display screen
Will is divided into two columns up and down with black lines, with 1 on width:4 ratio is designed, prominent lower column part.Upper column shows vehicle
License plate number, left side " license plate number " be black font.Lower column is the main part of speed(-)limit sign, shows safe speed, speed limit mark
Will white bottom, red circle.
From relevant data acquisition is proceeded by finally showing result information on full-color LED display screen in the present embodiment
Process was completed in 1-2 seconds or so time, and information is quickly fed back to driver, during ensureing that driver has enough
Between come make respective handling judge, by the security risk caused by furious driving vehicle enter it is curved before eliminate as early as possible, improve bend
Travel safety reduces the accident rate in corner.
Claims (7)
1. a kind of carriage trucks mass center evaluation method, which is characterized in that barycenter height of truck H is calculated by formula (1)：
<mrow>
<mi>H</mi>
<mo>=</mo>
<mfrac>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>m</mi>
<mi>j</mi>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>l</mi>
<mrow>
<mn>1</mn>
<mi>j</mi>
</mrow>
</msub>
<mo>-</mo>
<mfrac>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>2</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>m</mi>
<mi>i</mi>
</msub>
<msub>
<mi>l</mi>
<mrow>
<mn>1</mn>
<mi>i</mi>
</mrow>
</msub>
</mrow>
<mi>M</mi>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>M</mi>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&alpha;</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula (1), H is barycenter height of truck；miThe i-th axis weight measured for lorry on level road；mjIt is being measured for lorry
The jth root axis weight measured on gentle slope；l1iFor the wheelbase of the 1st axle of lorry to i-th axle；l1jIt is arrived for the 1st axle of lorry
The wheelbase of jth root axle；M is lorry gross mass；α is the angle of gradient on gentle slope；J=1,2,3,4,5,6,7；I=1,2,3,4,5,
6,7。
2. a kind of truck at curves early warning system based on wireless storage communication, which is characterized in that including：
Wireless storage communication unit, on lorry, for storing the travel direction of lorry, license plate number, wheelspan B and lorry matter
Heart height H, wherein the barycenter height of truck H is obtained by carriage trucks mass center evaluation method described in claim 1；
Roadside unit (1), is arranged on corner, after lorry enters the communication range of roadside unit, gathers wireless storage communication
The lorry information stored in unit；
Control unit, for the criticality safety speed corresponding to calculating the lorry information according to lorry information, the goods that will be collected
Speed of the vehicle Jing Guo corner is compared with the criticality safety speed corresponding to the lorry information, obtains the bend early warning of lorry
Information；
Display unit (2), for bend warning information to be shown.
3. the truck at curves early warning system according to claim 2 based on wireless storage communication, which is characterized in that the control
Criticality safety speed in unit processed according to corresponding to lorry information calculates the lorry information, including：
Criticality safety speed v is obtained according to formula (2)：
V=min (v1,v2) (2)
In formula (2), v1The criticality safety speed do not turned on one's side for lorry；
B is car gage；H is vehicle centroid height；R is turning radius；A is road superelevation；
v2The criticality safety speed do not breakked away for lorry；
A is road superelevation；For coefficient of road adhesion.
4. the truck at curves early warning system according to claim 2 based on wireless storage communication, which is characterized in that work as setting
When the wireless storage communication unit on an lorries is not in the communication range of roadside unit (1), communication unit is wirelessly stored
Member is in a dormant state；
When the wireless storage communication unit being arranged on lorry enters the communication range of roadside unit (1), roadside unit
(1) communication unit wake-up will be wirelessly stored, and wireless data communication is carried out with wireless storage communication unit.
5. the truck at curves early warning system based on wireless storage communication according to claim 2 or 4, which is characterized in that institute
The communication range for stating roadside unit (1) is 30m.
6. the truck at curves early warning system according to claim 2 based on wireless storage communication, which is characterized in that along lorry
Travel direction described in roadside unit (1) be arranged on roadbed side (3) at the 150m-200m after bend entrance (4).
7. the truck at curves early warning system according to claim 4 based on wireless storage communication, which is characterized in that the road
Side unit (1) carries out wireless data communication with wireless storage communication unit, including：
Step 1, after wirelessly storage communication unit enters the communication range of roadside unit (1), the roadside unit (1) is to wireless
It stores communication unit and sends data handshakes request；
Step 2, if the object that roadside unit (1) sends data handshakes request is not wireless storage communication unit, roadside unit
(1) the data handshakes respond style received is unreachable for call intent；
If the object that roadside unit (1) sends data handshakes request is wireless storage communication unit, wireless to store communication unit
Data handshakes response is requested to generate according to data handshakes, and data handshakes response is sent to roadside unit (1), performs step 3；
Step 3, if the data handshakes respond style that roadside unit (1) receives is permission, and the address letter of data handshakes response
It ceases and the address information of data handshake request matches, then roadside unit (1) leads to wireless storage communication unit progress wireless data
Letter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711349528.XA CN108109433B (en) | 2017-12-15 | 2017-12-15 | Truck mass center estimation method and curve early warning system based on wireless storage communication |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711349528.XA CN108109433B (en) | 2017-12-15 | 2017-12-15 | Truck mass center estimation method and curve early warning system based on wireless storage communication |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108109433A true CN108109433A (en) | 2018-06-01 |
| CN108109433B CN108109433B (en) | 2020-07-17 |
Family
ID=62217194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711349528.XA Active CN108109433B (en) | 2017-12-15 | 2017-12-15 | Truck mass center estimation method and curve early warning system based on wireless storage communication |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108109433B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111833622A (en) * | 2020-05-29 | 2020-10-27 | 广东中科臻恒信息技术有限公司 | Automatic driving warning method, equipment and storage medium based on environment perception and mobile edge calculation |
| CN111932922A (en) * | 2020-06-22 | 2020-11-13 | 东南大学 | Tank truck rollover pre-warning method based on cooperative vehicle and road sensing |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102723001A (en) * | 2012-06-08 | 2012-10-10 | 长安大学 | Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning |
| JP2012202882A (en) * | 2011-03-25 | 2012-10-22 | Kyowa Electron Instr Co Ltd | Centroid measurement system for traveling type vehicle |
| CN103413460A (en) * | 2013-07-17 | 2013-11-27 | 北京航空航天大学 | Bend driving early warning method based on vehicular access synergy |
| CN106205148A (en) * | 2016-09-21 | 2016-12-07 | 山西省交通科学研究院 | A kind of dangerous goods tank car curved road safety speed acquisition methods and hypervelocity caution system |
| CN106446370A (en) * | 2016-09-09 | 2017-02-22 | 北京汽车股份有限公司 | Method and apparatus for calculating rotational inertia of multi-body dynamic model and vehicle body model |
| CN106840519A (en) * | 2017-01-19 | 2017-06-13 | 河南理工大学 | A kind of static measurement method of two-axle car height of center of mass |
-
2017
- 2017-12-15 CN CN201711349528.XA patent/CN108109433B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| JP2012202882A (en) * | 2011-03-25 | 2012-10-22 | Kyowa Electron Instr Co Ltd | Centroid measurement system for traveling type vehicle |
| CN102723001A (en) * | 2012-06-08 | 2012-10-10 | 长安大学 | Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning |
| CN103413460A (en) * | 2013-07-17 | 2013-11-27 | 北京航空航天大学 | Bend driving early warning method based on vehicular access synergy |
| CN106446370A (en) * | 2016-09-09 | 2017-02-22 | 北京汽车股份有限公司 | Method and apparatus for calculating rotational inertia of multi-body dynamic model and vehicle body model |
| CN106205148A (en) * | 2016-09-21 | 2016-12-07 | 山西省交通科学研究院 | A kind of dangerous goods tank car curved road safety speed acquisition methods and hypervelocity caution system |
| CN106840519A (en) * | 2017-01-19 | 2017-06-13 | 河南理工大学 | A kind of static measurement method of two-axle car height of center of mass |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111833622A (en) * | 2020-05-29 | 2020-10-27 | 广东中科臻恒信息技术有限公司 | Automatic driving warning method, equipment and storage medium based on environment perception and mobile edge calculation |
| CN111932922A (en) * | 2020-06-22 | 2020-11-13 | 东南大学 | Tank truck rollover pre-warning method based on cooperative vehicle and road sensing |
| CN111932922B (en) * | 2020-06-22 | 2022-03-29 | 东南大学 | Tank truck rollover pre-warning method based on cooperative vehicle and road sensing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108109433B (en) | 2020-07-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104916152B (en) | The intersection vehicles right-hand rotation guiding system and its bootstrap technique cooperateed with based on bus or train route | |
| CN106205148A (en) | A kind of dangerous goods tank car curved road safety speed acquisition methods and hypervelocity caution system | |
| CN102346970B (en) | Method for obtaining and processing vehicle swerving anti-overturn information | |
| CN103794044B (en) | In conjunction with car networking with the traffic control method of the conversion that relaxes | |
| CN106981220A (en) | Large car right-hand bend safety pre-warning system | |
| CN103496366A (en) | Active-lane-changing collision-avoidance control method and device based on vehicle-vehicle coordination | |
| CN107844120A (en) | A kind of unmanned mine wide-body car | |
| CN105469615A (en) | Device and method for guaranteeing rainy-day driving safety at mountain-wind crossing road section | |
| CN105575114B (en) | A kind of tramcar intersection is made a dash across the red light warning system and alarm implementation method | |
| CN107618505A (en) | A kind of control system and method for improving automatic parking success rate | |
| CN109859473A (en) | A kind of road and bridge vehicular load distributing monitoring system and monitoring method | |
| CN109606361A (en) | Controller of vehicle | |
| JP6942753B2 (en) | Tire pressure monitoring system and tire pressure detector setting tool | |
| CN108109433A (en) | Carriage trucks mass center evaluation method and the bend early warning system based on wireless storage communication | |
| CN103640541A (en) | Vehicle rollover prevention device and rollover prevention method by using gyroscope rotational inertia | |
| CN102568232B (en) | System for prewarning vehicle speed on bent roads based on radio frequency identification (RFID) | |
| CN106530713A (en) | Freight ETC based on road safety transportation pre-warning and monitoring system | |
| CN105551307A (en) | Lane recognition system and method based on vehicle highway communication | |
| CN110154654A (en) | A kind of big data and cloud computing Tire Automatic Detection System | |
| CN206049559U (en) | A kind of vehicle DAS (Driver Assistant System) based on computer technology | |
| CN101434235B (en) | Steering brake stabilization control system of automobile | |
| CN111081023A (en) | Vehicle curve safety driving early warning system and method | |
| CN207737198U (en) | A kind of truck with road conditions display function | |
| CN104554277B (en) | A kind of automobile lane change recognition methods based on gravity vector and angular velocity vector | |
| CN116872911A (en) | Vehicle-road-cooperation-based heavy truck curve rollover early warning method and system |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |