CN108394406A - Heavy goods vehicles anti-rollover early warning system based on perception load and active brake - Google Patents
Heavy goods vehicles anti-rollover early warning system based on perception load and active brake Download PDFInfo
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- CN108394406A CN108394406A CN201810343953.6A CN201810343953A CN108394406A CN 108394406 A CN108394406 A CN 108394406A CN 201810343953 A CN201810343953 A CN 201810343953A CN 108394406 A CN108394406 A CN 108394406A
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- 238000012857 repacking Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
- B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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- Transportation (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses the heavy goods vehicles anti-rollover early warning systems based on perception load and active brake, suspension displacement is received by displacement sensor, lateral acceleration sensor receives acceleration signal, two signals are handled accordingly, substituted into conjunction with the mechanical model that is calculated calculate it is left front, left back, right before and the right side after support reaction value；It substitutes into again in transverse load rate of transform LTR models, calculate the real-time transverse load rate of transform, the present invention can measure the variation that suspension spring carries pressure in real time, to obtain the latest position of barycenter, obtain the support reaction size at four wheel positions in real time, substituting into the calculated transverse load rate of transform in LTR has accuracy, real-time, it reduces the hysteresis anti-rollover early warning of measured value and operating status and what control system was surveyed is dynamic load, meet heavy goods vehicles barycenter height, the low feature of turning process stability.
Description
Technical field
The present invention relates to car for guarding against side turned over fields, and in particular to the heavy goods vehicles anti-rollover based on perception load and active brake
Early warning system.
Background technology
Currently, most of rollover warning algorithms are all based on transverse acceleration and angle of heel and the transverse load rate of transform
(LTR) threshold value.Main research has both at home and abroad：Based on rollover signal threshold value warn technology, such as choose transverse acceleration and
Angle of heel is as rollover performance indicator；Rollover early warning technology based on model：Such as choose transverse acceleration, angle of heel and LTR
Deng as early warning performance indicator of turning on one's side.Also a kind of newer technology is vehicle motion posture Predicting Technique (TTR) to assess side
Turn over anti-rollover early warning and the control system of degree of danger.And to the transverse load rate of transform as vehicle rollover judge index
(LTR), it is generally all intended only as individual output quantity to be studied, there is no make a concrete analysis of shadows of the LTR to state of motion of vehicle
Ring the variation with vehicle body parameter.
The prior art has the following disadvantages：
1. heavy vehicle has the characteristics that weight and size is big, barycenter is high, in the process of walking, body gesture variation is fast,
And attitude stability is low.Therefore use inclination angle and transverse acceleration measured by existing technology that there is hysteresis, so early warning
It can not in time or false alarm.All it is with current time obtained vehicle using vehicle lateral acceleration, angle of heel as rollover threshold
Measured value of state or estimated value judge degree of danger of turning on one's side, and are unable to look-ahead vehicle and continue to occur with this state traveling
The security risk of rollover.
2. static roll stability when domestic and foreign literature is mainly for heavy vehicle steady-state quantities carries out numerous studies, move
State rollover Research Literature is less.And heavy vehicle rollover event is then in the majority dynamically to turn on one's side.
3. shortcoming is super real-time in advance to vehicle rollover progress early warning.
4. although anti-rollover early warning and control system based on TTR can predict moving attitude of vehicle, it is needed
Superiority just can be more embodied with active controls actuator cooperations such as differential braking or Active suspensions.And the bottom of domestic mainstream lorry
Plate rail structure, braking system are all relatively simple, and the modification difficulty of later stage device is big, and economy is poor, think personally that TTR is applicable in
In automobile.
Invention content
The purpose of the present invention is to solve above-mentioned deficiency, provide the heavy goods vehicles anti-rollover based on perception load and active brake
Early warning system.
The purpose of the present invention is what is be achieved through the following technical solutions：
Based on the heavy goods vehicles anti-rollover early warning system of perception load and active brake, suspension position is received by displacement sensor
Shifting amount, lateral acceleration sensor receive acceleration signal, are handled accordingly two signals, in conjunction with the power being calculated
Learn the value that model substitution calculates support reaction behind left front, left back, the right preceding and right side；It substitutes into again in transverse load rate of transform LTR models,
The real-time transverse load rate of transform is calculated, is as follows：
(1) the loading position sensor on the spring of front, rear, left and right measures the real-time length of front, rear, left and right,
According to the product of pressure value=spring rate and telescopic spring amount (real-time length-spring original is grown), obtains spring and carry pressure
Power instantaneous value NRF、NLF、NRB、NLB；
(2) it installs lateral gradient angle transducer additional on axle, measures lateral angle of gradient α；
(3) according to front and rear suspension spring carried mass m1F、m1B, install velocity sensor additional on front and rear suspension, measure front and rear suspension
Real-time side acceleration ayF、ayB；
(4) medium-and-large-sized vehicle turning when because straight trip or driver's steering wheel operating it is improper, or straight trip road bump, meet
Situations such as pit, climb and fall meets unilateral high wind, tyre burst, vehicle side turning moment a certain wheel lift, wheel branch is anti-at this time
Power is zero, therefore support reaction most can directly react the rollover possibility of automobile, and the corresponding height of center of mass of pressure is carried according to corresponding spring
hF、hB, take square to calculate the transverse load rate of transform (LTR) according to whole vehicle model：
Ranging from [0,1] of LTR, as LTR=1, vehicle is dispatched a car rollover, since the system is early warning anti-rollover system,
Therefore it is rollover early warning threshold value to take LTR=0.8, and it is rollover active control threshold value to take LTR=0.9；
(5) spring is obtained according to the transverse load rate of transform and carries pressure instantaneous value N1RF、N1LF、N1RB、N1LB、N2RF、N2LF、N2RB、
N2LB, work as NRF<N1RFOr NRB<N1RBWhen, no rollover is dangerous；Work as N1RF<NRF<N2RFOr N1RB<NRB<N2RBWhen, implement pre-；Work as N2RF<
NRFOr N2RB<NRBWhen, implement active brake.
Height of center of mass carries pressure value with forward and backward suspension spring and changes, i.e., carries one timing of pressure value in suspension spring, barycenter is high
It spends constant, only changes on two directions in length and breadth, the suspension timing of spring carried mass one can be drawn by system, real-time spring is carried and is pressed
Force value compares therewith, and within a certain error range, real-time spring carries when pressure value is more than theoretical pressure theoretical value and realizes early warning.
The present invention has following beneficial effect：
1. the variation that can measure suspension spring load pressure in real time obtains four vehicles in real time to obtain the latest position of barycenter
The support reaction size at position is taken turns, substituting into the calculated transverse load rate of transform in LTR, there is accuracy, real-time to reduce
The hysteresis of measured value and operating status；
2. what the anti-rollover early warning and control system were surveyed is dynamic load, meet heavy goods vehicles barycenter height, turning process is steady
Qualitative low feature；
3. can change to obtain corresponding support reaction value under the state according to real-time dynamic load, it is no longer intended only as list
Pure output quantity, but this 4 variables are combined, early warning and active control part are divided into different LTR values；
4. the LTR threshold values for sending out alarm are set as 0.8, the LTR threshold values for making active control are set as 0.9, apart from vehicle
LTR=1 still has certain safe clearance when wheel leaves ground, therefore can know that vehicle continues to occur with this state traveling in advance
The security risk of rollover, there are enough times to react to driver to carry out the processing of next step；
5. brake actuator is different from some complicated electric stabilizing systems, the device volume is little, in heavy crossbeam
On can install additional, do not change the brake gear and overall structure of previous vehicle, repacking is convenient；
6. the anti-rollover early warning and control system can be installed in the heavy vehicle of the overwhelming majority, does not change vehicle itself and set
Meter construction, therefore there is replicability.
Description of the drawings
Fig. 1 is the front-wheel displacement sensor structure schematic diagram of the present invention；
Fig. 2 is the trailing wheel displacement sensor structure schematic diagram of the present invention.
Specific implementation mode
The present invention will be further described below with reference to the drawings：
As depicted in figs. 1 and 2, the heavy goods vehicles anti-rollover early warning system based on perception load and active brake, passes through displacement
Sensor receives suspension displacement, and lateral acceleration sensor receives acceleration signal, handled accordingly two signals,
Substituted into conjunction with the mechanical model that is calculated calculate it is left front, left back, right before and the right side after support reaction value；Transverse load is substituted into again
In rate of transform LTR models, the real-time transverse load rate of transform is calculated, is as follows：
(1) the loading position sensor on the spring of front, rear, left and right measures the real-time length of front, rear, left and right,
According to the product of pressure value=spring rate and telescopic spring amount (real-time length-spring original is grown), obtains spring and carry pressure
Power instantaneous value NRF、NLF、NRB、NLB；
(2) it installs lateral gradient angle transducer additional on axle, measures lateral angle of gradient α；
(3) according to front and rear suspension spring carried mass m1F、m1B, install velocity sensor additional on front and rear suspension, measure front and rear suspension
Real-time side acceleration ayF、ayB；
(4) medium-and-large-sized vehicle turning when because straight trip or driver's steering wheel operating it is improper, or straight trip road bump, meet
Situations such as pit, climb and fall meets unilateral high wind, tyre burst, vehicle side turning moment a certain wheel lift, wheel branch is anti-at this time
Power is zero, therefore support reaction most can directly react the rollover possibility of automobile, and the corresponding height of center of mass of pressure is carried according to corresponding spring
hF、hB, take square to calculate the transverse load rate of transform (LTR) according to whole vehicle model：
Ranging from [0,1] of LTR, as LTR=1, vehicle is dispatched a car rollover, since the system is early warning anti-rollover system,
Therefore it is rollover early warning threshold value to take LTR=0.8, and it is rollover active control threshold value to take LTR=0.9；
(5) spring is obtained according to the transverse load rate of transform and carries pressure instantaneous value N1RF、N1LF、N1RB、N1LB、N2RF、N2LF、N2RB、
N2LB, work as NRF<N1RFOr NRB<N1RBWhen, no rollover is dangerous；Work as N1RF<NRF<N2RFOr N1RB<NRB<N2RBWhen, implement pre-；Work as N2RF<
NRFOr N2RB<NRBWhen, implement active brake.
Height of center of mass carries pressure value with forward and backward suspension spring and changes, i.e., carries one timing of pressure value in suspension spring, barycenter is high
It spends constant, only changes on two directions in length and breadth, the suspension timing of spring carried mass one can be drawn by system, real-time spring is carried and is pressed
Force value compares therewith, and within a certain error range, real-time spring carries when pressure value is more than theoretical pressure theoretical value and realizes early warning.
Suspension displacement is received by displacement sensor, lateral acceleration sensor receives acceleration signal, believes two
Number handled accordingly, substitute into conjunction with the mechanical model being calculated calculate it is left front, left back, right before and the right side after support reaction
Value.It substitutes into again in transverse load rate of transform LTR models, calculates the real-time transverse load rate of transform.By judging whether LTR values reach
The operation of next step is carried out to early warning threshold value and active control threshold value.
When Ackermann steer angle excessive velocities or normally travel " being tripped ", centroid position changes, and there are the danger of rollover
Danger.Based on more mature LTR computation models to realize following two function：
1. the realization of early warning
When the vehicle is turning, displacement sensor detects the decrement of pendulum spring, and system-computed goes out spring and carries pressure value.Again
The acceleration value that cooperation lateral acceleration sensor is measured, the new position of barycenter is calculated by certain algorithm.Pass through power again
Learn the support reaction size that model calculates separately out four wheel positions.It substitutes into LTR transverse load rate of transform formula, LTR etc.
In 0.8 as the threshold value for sending out early warning.If LTR values are greater than or equal to 0.8, alarm lamp lights at this time, and alarm is rung.
2. the implementation of active control
After driver hears pre-warning signal, perhaps react too late or ignore early warning continue to increase speed traveling or after
Continuous when beating steering wheel, the forward and backward wheel suspension load (pressure) in outside continues to increase, and LTR values also increase.Wheel leaves in face of ground
State is LTR=1, to ensure still to have certain safe clearance, the design to be equal to 0.9 as system active control using LTR and be situated between
The threshold value entered.If LTR values are greater than or equal to 0.9, system intervenes active brake at once, to achieve the purpose that deceleration.This thinks
Road can guarantee that wheel still lands when implementing active control, and vehicle implements forced brake still in easily controllable state at this time
And make its deceleration, avoid rollover.
3. active control actuator is braked for electromagnetic friction
The chassis structure of lorry is relatively simple, and there is a rectangle crossbeam structure in centre, and braking model is braked for drum.Therefore
In view of changing the method for salary distribution of brake force in braking system and infeasible (the cooperation feasibility of such as differential braking and TTR is not
It is high), and modification difficulty is big, is also required to change to body structure, so not having economy.So the active designed by us
It is the overdose space in crossbeam to control actuator, i.e., installs an electromagnet on transmission shaft additional, flexure type is housed on electromagnet
Wearing plate.Electric current forms electromagnet by the device when active control works, and then presses to transmission shaft using electromagnetic attraction, passes through
Friction on electromagnet between wearing plate and transmission shaft generates brake force, to reduce the speed of driving.System designed by me
Dynamic actuator is different from some complicated electric stabilizing systems, and the device volume is little, does not change the brake dress of previous vehicle
It sets and overall structure, repacking is convenient.
Height of center of mass carries pressure value with forward and backward suspension spring and changes, i.e., carries one timing of pressure value in suspension spring, barycenter is high
Spend constant, only change on two directions in length and breadth, can draw the suspension timing of spring carried mass one by system, spring carry pressure value with
The relational graph of time change compares real-time spring load pressure value therewith, and within a certain error range, real-time spring carries pressure value and is more than
Early warning is realized when theoretical pressure theoretical value.
By to prior-warning device to being prompted and being controlled there may be the operation of rollover.By to turn inside diameter dynamics
The research of model, it is proposed that a kind of preventing vehicle rollover control strategy based on perception suspension load, from rollover early warning and active
The rollover control for braking to study heavy goods vehicles.
It, can be the case where not changing body construction design by installing anti-rollover pre-alarming control system in heavy goods vehicles
Under, just achieve the purpose that pre- anti-rollover, to improve safety coefficient of the heavy goods vehicles in transportational process, effectively evades rollover thing
Therefore while enhancing the ability that weight oversize vehicle copes with accident.Solve the former transverse load rate of transform (LTR) be only used as individually it is defeated
The limitation of output has made a concrete analysis of the variation in length and breadth that the upper different springs of suspension carry barycenter caused by pressure, by establishing mechanics mould
Type obtains the support reaction of every side wheel, designs the different trigger values of LTR to judge that the dangerous degree of rollover sends out report to make
The action of alert sound or active control.So the anti-rollover system considers suspension and bears state of motion of vehicle under dynamic load conditions
With the real-time change of vehicle body parameter, relatively before LTR anti-rollover systems it is more comprehensive, accurately.
It is well known that the different vehicle of model has different constructions, which can be installed at the overwhelming majority
In vehicle, does not change vehicle itself and design construction, therefore there is replicability.
Claims (1)
1. the heavy goods vehicles anti-rollover early warning system based on perception load and active brake, it is characterised in that：Pass through displacement sensor
Suspension displacement is received, lateral acceleration sensor receives acceleration signal, handled accordingly two signals, in conjunction with meter
Obtained mechanical model substitution calculates the value of support reaction behind left front, left back, the right preceding and right side；The transverse load rate of transform is substituted into again
In LTR models, the real-time transverse load rate of transform is calculated, is as follows：
(1) the loading position sensor on the spring of front, rear, left and right measures the real-time length of front, rear, left and right, according to
The product of pressure value=spring rate and telescopic spring amount (real-time length-spring original is grown) obtains spring and carries pressure reality
Duration NRF、NLF、NRB、NLB；
(2) it installs lateral gradient angle transducer additional on axle, measures lateral angle of gradient α；
(3) according to front and rear suspension spring carried mass m1F、m1B, install velocity sensor additional on front and rear suspension, it is real-time to measure front and rear suspension
Side acceleration ayF、ayB；
(4) medium-and-large-sized vehicle is recessed because straight trip or driver's steering wheel operating are improper, or in straight trip road bump, chance in turning
Situations such as hole, climb and fall meets unilateral high wind, tyre burst, vehicle side turning moment a certain wheel lift, at this time the wheel support reaction
It is zero, therefore support reaction most can directly react the rollover possibility of automobile, the corresponding height of center of mass h of pressure is carried according to corresponding springF、
hB, take square to calculate the transverse load rate of transform (LTR) according to whole vehicle model：
Ranging from [0,1] of LTR, as LTR=1, vehicle is dispatched a car rollover, since the system is early warning anti-rollover system,
It is rollover early warning threshold value to take LTR=0.8, and it is rollover active control threshold value to take LTR=0.9；
(5) spring is obtained according to the transverse load rate of transform and carries pressure instantaneous value N1RF、N1LF、N1RB、N1LB、N2RF、N2LF、N2RB、N2LB, when
NRF<N1RFOr NRB<N1RBWhen, no rollover is dangerous；Work as N1RF≤NRF<N2RFOr N1RB≤NRB<N2RBWhen, implement pre-；Work as N2RF<NRFOr
N2RB<NRBWhen, implement active brake.
Height of center of mass carries pressure value with forward and backward suspension spring and changes, i.e., carries one timing of pressure value in suspension spring, height of center of mass is not
Become, only change on two directions in length and breadth, one timing of suspension spring carried mass can be drawn by system, real-time spring is carried into pressure value
Compare therewith, within a certain error range, real-time spring carries when pressure value is more than theoretical pressure theoretical value and realizes early warning.
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| CN201810343953.6A CN108394406B (en) | 2018-04-17 | 2018-04-17 | Heavy vehicle rollover prevention early warning system based on load sensing and active braking |
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| CN201810343953.6A CN108394406B (en) | 2018-04-17 | 2018-04-17 | Heavy vehicle rollover prevention early warning system based on load sensing and active braking |
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| CN109305011A (en) * | 2018-11-01 | 2019-02-05 | 珠海格力电器股份有限公司 | Control method and device for preventing vehicle from turning on side, storage medium and vehicle |
| CN109353303A (en) * | 2018-11-28 | 2019-02-19 | 南京航空航天大学 | A kind of anti-jet type apparatus and method for tripping type rollover |
| CN109591806A (en) * | 2018-12-17 | 2019-04-09 | 珠海格力电器股份有限公司 | Rollover early warning method and device, storage medium and vehicle |
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| CN112270828A (en) * | 2020-09-21 | 2021-01-26 | 北汽福田汽车股份有限公司 | Vehicle early warning method and device, electronic equipment and vehicle |
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