CN108288390A - Barycenter height of truck evaluation method and bend early warning system - Google Patents
Barycenter height of truck evaluation method and bend early warning system Download PDFInfo
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- CN108288390A CN108288390A CN201711347638.2A CN201711347638A CN108288390A CN 108288390 A CN108288390 A CN 108288390A CN 201711347638 A CN201711347638 A CN 201711347638A CN 108288390 A CN108288390 A CN 108288390A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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Abstract
The present invention provides a kind of barycenter height of truck evaluation method and bend early warning systems, including：Signal transmitting apparatus transmitting terminal, is located at charge station, for acquiring lorry information；Signal transmitting apparatus receiving terminal is arranged in corner, for storing lorry information；Prewarning unit is compared for calculating the criticality safety speed corresponding to lorry information, and by the real-time speed that criticality safety speed is measured with the radar velocity measurement device being arranged in corner, obtain lorry corner transport condition；Display unit, for show lorry corner transport condition.The present invention comes round-the-clock in real time to the criticality safety speed for entering curved lorry and prompting warning information according to real-time weather condition, different road structural parameter, for different lorry operation conditions, especially helps greatly drive safety under the conditions of improving rain and fog weather.
Description
Technical field
The invention belongs to traffic safety technical fields, and in particular to a kind of barycenter height of truck evaluation method and bend
Early warning system.
Background technology
It is that, due to being limited by natural conditions, bend section is more, and often when lorry is travelled in mountainous area highway
There is sharp turn, the barycenter of lorry is higher in addition, and vehicle body is longer, causes its traffic safety problem more prominent.
Currently, the research for entering curved this project of security performance around promotion vehicle both at home and abroad has been unfolded and has produced many
Representational achievement in research.It is a kind of such as the heavy vehicle rollover Design of warning cooperateed with based on bus or train route that Chen Min is studied
Rollover early warning system based on STC89C52 single chip in real time forecasts the rollover that will occur.However the system does not have
Consider influence and loading mass of the change of road surface attachment systems caused by the variation of weather condition to criticality safety speed of turning on one's side
Difference causes the variation of heavy goods vehicles height of center of mass and to the influence of criticality safety speed.
In addition, cement concrete agitator truck rollover preventing safety Journal of Sex Research under such as bend comfortable property of soup literal arts research
Centroid position variation of the heavy goods vehicles under different operating modes is considered, this, which has been researched and analysed, hangs since heavy goods vehicles cross caused by bend
The influences such as frame deformation make height of center of mass send out the case where changing.However its research conclusion is not suitable for same heavy goods vehicles barycenter height
Rollover sideslip condition under the variation of degree and different bends.
In addition a kind of differential system is devised in the heavy goods vehicles anti-rollover control research based on associative simulation of Chen Jiang waves research
Dynamic anti-rollover control system considers various deformation influence to rollover of the vehicle body in steering.However it is changeable to be not applied to weather
And the fastlink of bend complexity.
But above studying mostly improves safety of the vehicle in negotiation of bends from the angle of heavy goods vehicles itself, and rarely has and relate to
And enter curved safety from road service functional perspective come improve lorry.Enter at present from road service functional perspective to improve lorry
The facility of curved driving safety mainly has velocity feedback mark, function to essentially consist in approaching vehicle and prompt real-time speed and road
Section restricted speed, but driver intuitively cannot rapidly be recognized what kind of speed control plan taken from the mark
It omits, and above-mentioned mark is done for caused by different weather condition, the variation pair of wet road vehicles tire and coefficient of road adhesion
The influence of safe speed is also substantially without reference to main to consider it is the safe speed under the conditions of dry pavement, thus in sleet sky
By the safety speed-limit traveling suggested by velocity feedback mark, there are still certain under the conditions of low attachment coefficient caused by gas wet-skid road surface
Security risk；In addition above-mentioned mark for the variation of barycenter height of truck position caused by under different loading conditions to safety
The influence of speed is also substantially without reference to mainly different types of automobile carries out the calculating of safe speed, thus full in lorry
Cause under the conditions of barycenter height of truck increase that there are still certain by the safety speed-limit traveling suggested by velocity feedback mark when load
Security risk.
In addition, by accident statistical analysis, the Common Accidents form of the lorries of different loading masses in bend section is also endless
It is exactly the same, wherein unloaded carriage trucks mass center position downside slides that whipping accident is more, and fully loaded carriage trucks mass center compared with Gao Ze with thing of turning on one's side
Therefore it is more.Therefore, the height of center of mass that lorry drives into expressway bend be also bend speed control to be considered one it is important because
Element, and invent above, technology or device etc. do not estimate the height of center of mass of heavy goods vehicles.
Invention content
In view of the deficiencies of the prior art, the present invention intends to provide a kind of barycenter height of truck evaluation method
And bend early warning system, solution can not carry out barycenter height of truck estimating in the prior art and be taken into account bend early warning system
The problems in system.
In order to solve the above-mentioned technical problem, the present invention is realised by adopting the following technical scheme：
A kind of barycenter height of truck evaluation method calculates carriage trucks mass center if the number of axle of lorry is less than 4 axis by formula (1)
Highly：
If the number of axle of lorry is more than 4 axis, barycenter height of truck is calculated by formula (2)：
Wherein, h is barycenter height of truck, h0nFor n axis lorry zero loads when height of center of mass；hinFor n axis lorry full loads
Height of center of mass；mnFor the n axis lorry quality measured；m0nFor n axis lorry zero loads when quality；minFor the matter of n axis lorry full loads
Amount；MiFor the axis weight of the i-th axis；I=1,2,3,4,5,6,7；
If the number of axle of lorry is 4 axis, if the weight of first axle and two axis below are equal in weight, pass through formula (1) calculating
Barycenter height of truck；If the average weight of small two axis later of the weight of first axle, it is high that carriage trucks mass center is calculated by formula (2)
Degree.
The present invention also provides a kind of truck at curves early warning systems, including：
Signal transmitting apparatus transmitting terminal, is located at charge station, and for acquiring lorry information, the lorry information includes lorry matter
Heart height, license plate number, wheelbase information；
Wherein, barycenter height of truck barycenter height of truck evaluation method according to claim 1 obtains；
Signal transmitting apparatus receiving terminal is arranged in corner, for storing lorry information；
Prewarning unit for calculating the criticality safety speed corresponding to lorry information, and by criticality safety speed and is arranged
Compared in the real-time speed that the radar velocity measurement device of corner measures, obtain lorry corner transport condition；
Display unit, for show lorry corner transport condition.
Further, the criticality safety speed corresponding to lorry information is calculated by formula (3)：
V=min { vr,vx}(3)
In formula (3), v is criticality safety speed；
vrFor turn on one's side critical speed,H is barycenter height of truck, and j is the road surface horizontal slope gradient, and B is goods
Interior outboard wheels wheelspan, g are acceleration of gravity, and R is turning radius；
vxFor sideslip critical speed,H is barycenter height of truck, and j is the road surface horizontal slope gradient, and B is goods
Interior outboard wheels wheelspan, g are acceleration of gravity, and R is turning radius, and φ is coefficient of road adhesion.
Further, the real-time speed that criticality safety speed is measured with the radar velocity measurement device being arranged in corner
It is compared, including：
Step 1, when lorry passes through charge station, the lorry information of signal transmitting apparatus transmitting terminal acquisition lorry is simultaneously transmitted to
In signal transmitting apparatus receiving terminal；
Step 2, when lorry passes through corner, the vehicle of lorry is identified by the way that the video acquisition device in corner is arranged
License plate number in the lorry information stored in signal transmitting apparatus receiving terminal is compared, is recalled by the trade mark, control unit one by one
The lorry information of corresponding license plate number is to get to the criticality safety speed corresponding to the lorry information；
Step 3, if the real-time speed that the radar velocity measurement device in corner measures, which is arranged, is more than or equal to criticality safety speed
0.85 times, then lorry corner transport condition be precarious position；
If being arranged 0.85 times that the real-time speed that the radar velocity measurement device in corner measures is less than critical speed, lorry
It is safe condition in the transport condition of corner.
Further, the display unit is LED display.
Compared with prior art, the present invention having the following technical effect that：
(1) present invention realizes accurate estimation barycenter height of truck using existing highway lorry weighing system；
(2) present invention realizes the information sharing of freeway toll station and bend roadside unit, utilizes the knowledge to license plate number
The parameter information of lorry Pi Pei not corresponded to；
(3) present invention considers height of center of mass variation caused by loading capacity variation to excessively curved critical in truck at curves early warning
The influence of safe speed；
(4) present invention is by charge station and each bend is networked and information sharing, can realize to dangerous driving behavior
Truck man carry out early warning；
Description of the drawings
Fig. 1 is the flow chart of bend early warning system of the present invention；
Fig. 2 is the schematic diagram of signal transmitting apparatus transmitting terminal and signal transmitting apparatus receiving terminal in an embodiment；
Fig. 3 is the schematic diagram of bend in an embodiment.
Explanation is further explained in detail to the particular content of the present invention below in conjunction with attached drawing.
Specific implementation mode
Specific embodiments of the present invention are given below, it should be noted that the invention is not limited in implement in detail below
Example, all equivalent transformations made on the basis of the technical solutions of the present application each fall within protection scope of the present invention.
Embodiment 1
A kind of barycenter height of truck evaluation method is present embodiments provided, if the number of axle of lorry is less than 4 axis, passes through formula
(1) barycenter height of truck is calculated：
If the number of axle of lorry is more than 4 axis, barycenter height of truck is calculated by formula (2)：
Wherein, h is barycenter height of truck, h0nFor n axis lorry zero loads when height of center of mass；hinFor n axis lorry full loads
Height of center of mass；mnFor the n axis lorry quality measured；m0nFor n axis lorry zero loads when quality；minFor the matter of n axis lorry full loads
Amount；MiFor the axis weight of the i-th axis；I=1,2,3,4,5,6,7；
If the number of axle of lorry is 4 axis, if the weight of first axle and two axis below are equal in weight, pass through formula (1) calculating
Barycenter height of truck；If the average weight of small two axis later of the weight of first axle, it is high that carriage trucks mass center is calculated by formula (2)
Degree.
Embodiment 2
Present embodiments provide a kind of truck at curves early warning system, such as Fig. 1, including：
Signal transmitting apparatus transmitting terminal, is located at charge station, and for acquiring lorry information, the lorry information includes lorry matter
Heart height, license plate number, wheelbase information；
Wherein, the barycenter height of truck is obtained according to the barycenter height of truck evaluation method that embodiment 1 provides；
Signal transmitting apparatus receiving terminal is arranged in corner, for storing lorry information；
Signal transmitting apparatus receiving terminal is illustrated in figure 3 to be arranged in the position of corner.
As shown in Fig. 2, each corner in highway is arranged in the signal transmitting apparatus receiving terminal in the present embodiment, this
It is each curved to transmit it to highway when being arranged after the signal transmitting apparatus transmitting terminal of charge station collects lorry information for sample
Signal transmitting apparatus receiving terminal at road.
Prewarning unit for calculating the criticality safety speed corresponding to lorry information, and by criticality safety speed and is arranged
Compared in the real-time speed that the radar velocity measurement device of corner measures, obtain lorry corner transport condition；
Signal transmitting apparatus receiving terminal is received to come from the collected license plate number information of video sensor and come from and be adopted
Subsystem control chip transmission height of center of mass and wheelbase information after, by information according to：License plate number, height of center of mass, wheelbase
Information integration is a string of 13 information containing Chinese character, letter, number by sequence, is transmitted to all prewarning units of the fastlink
In, and store to until lorry leaves highway.
Display unit, for show lorry corner transport condition.
The criticality safety speed corresponding to lorry information is calculated by formula (3)：
V=min { vr,vx}(3)
In formula (3), v is criticality safety speed；
vrFor turn on one's side critical speed,H is barycenter height of truck, and j is the road surface horizontal slope gradient, and B is goods
Interior outboard wheels wheelspan, g are acceleration of gravity, and R is turning radius；
vxFor sideslip critical speed,H is barycenter height of truck, and j is the road surface horizontal slope gradient, and B is goods
Interior outboard wheels wheelspan, g are acceleration of gravity, and R is turning radius, and φ is coefficient of road adhesion.
The real-time speed that criticality safety speed is measured with the radar velocity measurement device being arranged in corner is compared, is wrapped
It includes：
Step 1, when lorry passes through charge station, the lorry information of signal transmitting apparatus transmitting terminal acquisition lorry is simultaneously transmitted to
In signal transmitting apparatus receiving terminal；
Step 2, when lorry passes through corner, the vehicle of lorry is identified by the way that the video acquisition device in corner is arranged
Signal transmitting apparatus is received the license plate number in the lorry information stored in Tuan and is compared one by one, recalled by the trade mark, control unit
The lorry information of corresponding license plate number is to get to the criticality safety speed corresponding to the lorry information；
Step 3, if the real-time speed that the radar velocity measurement device in corner measures, which is arranged, is more than or equal to criticality safety speed
0.85 times, then lorry corner transport condition be precarious position；
If being arranged 0.85 times that the real-time speed that the radar velocity measurement device in corner measures is less than critical speed, lorry
It is safe condition in the transport condition of corner.
In the present embodiment, collected license plate number information is transferred to early warning list by the video acquisition device positioned at corner
Member, prewarning unit transfer the car plate according to the information of the license plate number information retrieval storage received if having corresponding license plate number
Number corresponding 13 signals；At this point, the velocity radar of control and prewarning unit wired connection obtains real-time speed, transfers rainfall
The rainfall information of sensor estimates safe speed, the safe speed rounding that will be estimated further according to criticality safety estimating algorithm
Suggestion speed is calculated according to degree of safety afterwards and judges lorry transport condition, later control chip by license plate number, suggest speed with
And prompt message wire transmission is to display unit；Last prewarning unit deletes the bend signal after the completion of transmission process and receives dress
The information for setting the interior stored license plate number continues to supervise if not sending signal if corresponding license plate number in prewarning unit
It surveys.
Display unit in the present embodiment is LED display.Vehicle driver is according on limiting speed of driving speed device for marking LED display
The information of display, understand oneself in real time driving speed state, and under the conditions of hypervelocity enter it is curved before in time adjustment reduce speed with
Stablize within criticality safety speed, to prevent vehicle enter it is curved after accident occurs due to speed is too fast or road surface is excessively sliding, reduce
Vehicle is in the security risk for driving into corner.When lorry crosses speed(-)limit sign device, the information on LED display is clear immediately
It removes, to show the transport condition of next lorry；
The above-mentioned data acquisition in freeway toll station is completed after lorry motion weighting system in 1~2 second with calculating
And it is sent to the signal receiving device of corner, in the prealarming process of corner target goods is recognized from license plate number identification camera
It is shown in LED screen and is also completed in 1~2 second to license plate number, suggestion speed, driving recommendations after vehicle.
Claims (5)
1. a kind of barycenter height of truck evaluation method, which is characterized in that if the number of axle of lorry is less than 4 axis, calculated by formula (1)
Barycenter height of truck：
If the number of axle of lorry is more than 4 axis, barycenter height of truck is calculated by formula (2)：
Wherein, h is barycenter height of truck, h0nFor n axis lorry zero loads when height of center of mass；hinFor the barycenter of n axis lorry full loads
Highly；mnFor the n axis lorry quality measured；m0nFor n axis lorry zero loads when quality；minFor the quality of n axis lorry full loads；Mi
For the axis weight of the i-th axis；I=1,2,3,4,5,6,7；
If the number of axle of lorry is 4 axis, if the weight of first axle and two axis below are equal in weight, pass through formula (1) calculating lorry
Height of center of mass；If the average weight of small two axis later of the weight of first axle, barycenter height of truck is calculated by formula (2).
2. a kind of truck at curves early warning system, which is characterized in that including：
Signal transmitting apparatus transmitting terminal, is located at charge station, and for acquiring lorry information, the lorry information includes carriage trucks mass center height
Degree, license plate number, wheelbase information；
Wherein, barycenter height of truck barycenter height of truck evaluation method according to claim 1 obtains；
Signal transmitting apparatus receiving terminal is arranged in corner, for storing lorry information；
Prewarning unit, for calculating the criticality safety speed corresponding to lorry information, and by criticality safety speed be arranged curved
The real-time speed that radar velocity measurement device at road measures is compared, obtain lorry corner transport condition；
Display unit, for show lorry corner transport condition.
3. truck at curves early warning system according to claim 2, which is characterized in that calculate lorry information institute by formula (3)
Corresponding criticality safety speed：
V=min { vr,vx} (3)
In formula (3), v is criticality safety speed；
vrFor turn on one's side critical speed,H is barycenter height of truck, and j is the road surface horizontal slope gradient, and B is in lorry
Outboard wheels wheelspan, g are acceleration of gravity, and R is turning radius；
vxFor sideslip critical speed,H is barycenter height of truck, and j is the road surface horizontal slope gradient, and B is in lorry
Outboard wheels wheelspan, g are acceleration of gravity, and R is turning radius, and φ is coefficient of road adhesion.
4. truck at curves early warning system according to claim 2 or 3, which is characterized in that it is described by criticality safety speed with
The real-time speed that the radar velocity measurement device in corner measures is arranged to be compared, including：
Step 1, when lorry passes through charge station, the lorry information of signal transmitting apparatus transmitting terminal acquisition lorry is simultaneously transmitted to signal
In transmitting device receiving terminal；
Step 2, when lorry passes through corner, the car plate of lorry is identified by the way that the video acquisition device in corner is arranged
Number, control unit is compared the license plate number in the lorry information stored in signal transmitting apparatus receiving terminal one by one, is recalled pair
Answer the lorry information of license plate number to get to the criticality safety speed corresponding to the lorry information；
Step 3, if the real-time speed that the radar velocity measurement device in corner measures, which is arranged, is more than or equal to criticality safety speed
0.85 times, then lorry is precarious position in the transport condition of corner；
If being arranged 0.85 times that the real-time speed that the radar velocity measurement device in corner measures is less than critical speed, lorry is curved
Transport condition at road is safe condition.
5. truck at curves early warning system according to claim 2, which is characterized in that the display unit is LED display.
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| CN201711347638.2A CN108288390A (en) | 2017-12-15 | 2017-12-15 | Barycenter height of truck evaluation method and bend early warning system |
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| CN201711347638.2A CN108288390A (en) | 2017-12-15 | 2017-12-15 | Barycenter height of truck evaluation method and bend early warning system |
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Application publication date: 20180717 |