CN109305011B

CN109305011B - Control method and device for preventing vehicle from turning on side, storage medium and vehicle

Info

Publication number: CN109305011B
Application number: CN201811296526.3A
Authority: CN
Inventors: 刘壬生; 魏恒; 陈辉; 高小丽
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2018-11-01
Filing date: 2018-11-01
Publication date: 2021-08-17
Anticipated expiration: 2038-11-01
Also published as: WO2020088096A1; CN109305011A

Abstract

The invention discloses a control method and a control device for preventing a vehicle from rolling over, a storage medium and a vehicle, wherein the method comprises the following steps: acquiring displacement sensor data of an electronically controlled air suspension of the vehicle; determining a load value of an air spring of the electrically controlled air suspension according to the displacement sensor data; and carrying out overload early warning and/or rollover early warning according to the load value so as to realize rollover prevention control on the vehicle. According to the scheme provided by the invention, the problem that rollover danger is easily caused in the running process of the vehicle under the condition that the vehicle is not provided with the pressure sensor can be solved, and the effect that rollover danger is not easily caused is achieved.

Description

Control method and device for preventing vehicle from turning on side, storage medium and vehicle

Technical Field

The invention belongs to the technical field of vehicles, and particularly relates to a control method, a device, a storage medium and a vehicle for preventing vehicle rollover, in particular to a vehicle load evaluation algorithm and rollover early warning method for a pressure-sensor-free air suspension, a device corresponding to the method, a vehicle with the device, a computer-readable storage medium storing instructions corresponding to the method, and instructions capable of executing the instructions corresponding to the method.

Background

The vehicle load is a key factor for determining the fatigue life of each part of the vehicle, and is also an important index for driving safety and reliability. Vehicles equipped with air suspensions according to the provisions of the national standard GB1589-2004 allow higher legal loads, and with higher and higher load demands on the vehicle, while air suspensions enable compatibility of the comfort and the handling safety of the vehicle, it is increasingly common for air suspensions to be installed on commercial vehicles.

In the air suspension, the main components of the electronically controlled air suspension may include: air spring, displacement sensor, Electronic Control Unit (ECU) and solenoid valve. The Electronic Control Unit (ECU) acquires the existing height of each air spring, namely the height of the vehicle body, by acquiring signals of the displacement sensor, and when the existing height is deviated from the target height, the ECU controls the electromagnetic valves to charge and discharge the air springs so as to control the height of each air spring, namely the height of the vehicle body.

In the usual case, the air suspension itself is a monitoring function without load, the vehicle load being monitored by a pressure sensor. However, due to the fact that the vehicle-mounted pressure sensor is not installed forcibly by the law and the cost, the pressure sensor is rarely installed on the conventional commercial vehicle. Therefore, if the load is too large or uneven in distribution and the posture of the vehicle body is changed, the rollover risk is easily caused in the running process of the vehicle.

Disclosure of Invention

The invention aims to provide a control method and device for preventing a vehicle from rolling over, a storage medium and the vehicle, aiming at solving the problem that in the prior art, if a load is too large, or the load distribution is not uniform, or the posture of a vehicle body is changed, the risk of rolling over is easily caused in the driving process of the vehicle under the condition that the vehicle is not provided with a pressure sensor, and achieving the effect of preventing the risk of rolling over.

The invention provides a control method for preventing a vehicle from rolling over, which comprises the following steps: acquiring displacement sensor data of an electronically controlled air suspension of the vehicle; determining a load value of an air spring of the electrically controlled air suspension according to the displacement sensor data; and carrying out overload early warning and/or rollover early warning according to the load value so as to realize rollover prevention control on the vehicle.

Optionally, determining a load value of an air spring of the electronically controlled air suspension from the displacement sensor data comprises: determining the atmospheric pressure p of the environment to which the vehicle belongs_aAnd air polytropic exponent n, set height h and internal pressure p of the air spring in initial state_e0And the effective bearing area A of the air spring itself_e(ii) a According to the atmospheric pressure p_aThe air polytropic exponent n, the set height h, the internal pressure p_e0And the effective bearing area A_eAnd calculating the load value F of the air spring by using the following formula in combination with the displacement sensor data x:

optionally, wherein the air spring comprises: a diaphragm type air spring; the diaphragm air spring includes: a cylindrical piston base membrane type air spring; and/or the air polytropic exponent can be determined according to the change rate of the displacement sensor data of the electric control air suspension; and/or the internal pressure can be determined according to the set height and the body weight of the vehicle.

Optionally, the load value includes: the single load of each air spring in the electric control air suspension and the total load of the whole vehicle are controlled by the electric control air suspension; wherein, carrying out overload early warning according to the load value comprises the following steps: determining whether the vehicle is overloaded according to the individual load and/or the total load in a case where the vehicle is not running; if the vehicle is overloaded, carrying out overload early warning according to the current load value and a set overload early warning level; or if the vehicle is not overloaded or is unloaded to be not overloaded under the condition that the vehicle is overloaded, not carrying out overload early warning or relieving the overload early warning under the condition that the vehicle is overloaded.

Optionally, determining whether the vehicle is overloaded according to the individual loads and/or the total load comprises: determining whether the single load of any one air spring is larger than or equal to a set first single load threshold value or whether the total load is larger than or equal to a set first total load threshold value; if the single load of any one air spring is larger than or equal to the first single load threshold value, or the total load is larger than or equal to the first total load threshold value, determining that the vehicle is overloaded, and determining that the overload early warning level under the current load value is a set first overload early warning level; if the single load of any air spring is smaller than the first single load threshold value and the total load is smaller than the first total load threshold value, further determining whether the single load of any air spring is larger than or equal to a set second single load threshold value or whether the total load is larger than or equal to a set second total load threshold value; the second individual loading threshold is less than the first individual loading threshold, and the second total loading threshold is less than the first total loading threshold; if the single load of any one air spring is larger than or equal to the second single load threshold value, or the total load is larger than or equal to the second total load threshold value, determining that the vehicle is overloaded, and determining that the overload early warning level under the current load value is a set second overload early warning level; the second overload warning level is less than the first overload warning level; or if the single load of any one air spring is smaller than the second single load threshold value and the total load is smaller than the second total load threshold value, determining that the vehicle is not overloaded.

Optionally, the performing overload warning according to the set overload warning level according to the current load value includes: if the overload early warning level is a set first overload early warning level, displaying the indication information of the overload early warning with a first set color and/or initiating the overload early warning of a first set reminding message; or if the overload early warning level is a set second overload early warning level, displaying overload early warning indication information of a second set color and/or initiating overload early warning of a second set reminding message; and/or, not carrying out overload early warning or releasing the overload early warning under the condition of vehicle overload, comprising the following steps: displaying indication information of the third set color for not overloading or removing the overload early warning, and/or removing the overload early warning of the first set reminding message or the second set reminding message; and/or at least one of the first single load threshold value, the second single load threshold value, the first total load threshold value and the second total load threshold value can be determined according to the spring parameters of the air spring and the whole vehicle type of the vehicle.

Optionally, performing a roll warning according to the load value, including: determining the transverse load transfer rate of the vehicle according to the load value; determining whether the vehicle body posture of the vehicle is stable or not according to the transverse load transfer rate; if the posture of the vehicle body is not stable, performing a tilting early warning according to the current transverse load transfer rate and a set tilting early warning level; or if the posture of the vehicle body is stable or the vehicle body posture is adjusted to be stable through the posture adjustment under the condition that the posture of the vehicle body is not stable, the roll early warning is not carried out or the roll early warning under the condition that the posture of the vehicle body is not stable is removed.

Optionally, wherein determining a lateral load transfer rate according to the load value comprises: grouping the load values into left and right load values on the left and right sides of the vehicle; determining the difference between the vertical loads of the left and right side tires of the vehicle and the sum of the vertical loads of the left and right side tires according to the left load value and the right load value; dividing the difference of the vertical loads by the sum of the vertical load values to obtain the transverse load transfer rate of the vehicle; and/or, determining whether the vehicle body posture of the vehicle is stable according to the lateral load transfer rate, comprising: determining whether the lateral load transfer rate is greater than or equal to an upper limit of a set transfer rate range; if the transverse load transfer rate is larger than or equal to the upper limit of the set transfer rate range, determining that the posture of the vehicle body is not stable, and determining that the roll early warning level under the current transverse load transfer rate is a set first roll early warning level; if the lateral load transfer rate is less than the upper limit of the set transfer rate range, further determining whether the lateral load transfer rate is greater than or equal to the lower limit of the set transfer rate range; if the transverse load transfer rate is smaller than the upper limit of the set transfer rate range and is larger than or equal to the lower limit of the set transfer rate range, under the condition of carrying out overload early warning according to the load value, further determining whether the posture of the vehicle body is stable or not by combining with an overload early warning level for carrying out overload early warning on the vehicle; or if the transverse load transfer rate is smaller than the lower limit of the set transfer rate range, determining that the posture of the vehicle body is stable.

Optionally, further determining whether the body posture is stable in combination with an overload warning level for performing overload warning on the vehicle, includes: if the overload early warning level for carrying out overload early warning on the vehicle is a first overload early warning level or a second overload early warning level, determining that the posture of the vehicle body is unstable, and determining that the roll early warning level under the current transverse load transfer rate is a set first roll early warning level; or if the overload early warning level for carrying out overload early warning on the vehicle is not overload early warning, or the overload early warning under the condition of vehicle overload is released, or if the overload early warning level for carrying out overload early warning on the vehicle is not considered, determining that the posture of the vehicle body is not stable, and determining that the roll early warning level under the current transverse load transfer rate is a set second roll early warning level; the second roll warning level is less than the first roll warning level.

Optionally, the performing the roll warning according to the current lateral load transfer rate at a set roll warning level includes: if the roll early warning level is a set first roll early warning level, displaying the indication information of the roll early warning with a first set color and/or initiating the roll early warning of a first set reminding message; or if the roll early warning level is a set second roll early warning level, displaying the indication information of the roll early warning with a second set color and/or initiating the roll early warning of a second set reminding message; and/or, the roll early warning is not carried out or the roll early warning under the condition that the posture of the vehicle body is not stable is relieved, and the method comprises the following steps: and displaying the indication information of non-tilting or tilting warning removal of the third set color, and/or tilting warning removal of the first set reminding message or the second set reminding message.

In accordance with another aspect of the present invention, there is provided a control apparatus for preventing a vehicle from rolling over, including: an acquisition unit for acquiring displacement sensor data of an electronically controlled air suspension of the vehicle; the control unit is used for determining the load value of an air spring of the electric control air suspension according to the data of the displacement sensor; and the control unit is also used for carrying out overload early warning and/or rollover early warning according to the load value so as to realize rollover prevention control on the vehicle.

Optionally, the determining, by the control unit, a load value of an air spring of the electronically controlled air suspension according to the displacement sensor data includes: determining the atmospheric pressure p of the environment to which the vehicle belongs_aAnd air polytropic exponent n, set height h and internal pressure p of the air spring in initial state_e0And the effective bearing area A of the air spring itself_e(ii) a According to the atmospheric pressure p_aThe air polytropic exponent n, the set height h, the internal pressure p_e0And the effective bearing area A_eCombining said displacement sensor data x using the following formulaCalculating to obtain a load value F of the air spring:

Optionally, the load value includes: the single load of each air spring in the electric control air suspension and the total load of the whole vehicle are controlled by the electric control air suspension; wherein, the control unit carries out overload early warning according to the load value, and the overload early warning comprises the following steps: determining whether the vehicle is overloaded according to the individual load and/or the total load in a case where the vehicle is not running; if the vehicle is overloaded, carrying out overload early warning according to the current load value and a set overload early warning level; or if the vehicle is not overloaded or is unloaded to be not overloaded under the condition that the vehicle is overloaded, not carrying out overload early warning or relieving the overload early warning under the condition that the vehicle is overloaded.

Optionally, the control unit determining whether the vehicle is overloaded according to the individual load and/or the total load, comprising: determining whether the single load of any one air spring is larger than or equal to a set first single load threshold value or whether the total load is larger than or equal to a set first total load threshold value; if the single load of any one air spring is larger than or equal to the first single load threshold value, or the total load is larger than or equal to the first total load threshold value, determining that the vehicle is overloaded, and determining that the overload early warning level under the current load value is a set first overload early warning level; if the single load of any air spring is smaller than the first single load threshold value and the total load is smaller than the first total load threshold value, further determining whether the single load of any air spring is larger than or equal to a set second single load threshold value or whether the total load is larger than or equal to a set second total load threshold value; the second individual loading threshold is less than the first individual loading threshold, and the second total loading threshold is less than the first total loading threshold; if the single load of any one air spring is larger than or equal to the second single load threshold value, or the total load is larger than or equal to the second total load threshold value, determining that the vehicle is overloaded, and determining that the overload early warning level under the current load value is a set second overload early warning level; the second overload warning level is less than the first overload warning level; or if the single load of any one air spring is smaller than the second single load threshold value and the total load is smaller than the second total load threshold value, determining that the vehicle is not overloaded.

Optionally, the performing, by the control unit, overload warning according to the current load value and a set overload warning level includes: if the overload early warning level is a set first overload early warning level, displaying the indication information of the overload early warning with a first set color and/or initiating the overload early warning of a first set reminding message; or if the overload early warning level is a set second overload early warning level, displaying overload early warning indication information of a second set color and/or initiating overload early warning of a second set reminding message; and/or the control unit does not carry out overload early warning or releases the overload early warning under the condition of vehicle overload, and the method comprises the following steps: displaying indication information of the third set color for not overloading or removing the overload early warning, and/or removing the overload early warning of the first set reminding message or the second set reminding message; and/or at least one of the first single load threshold value, the second single load threshold value, the first total load threshold value and the second total load threshold value can be determined according to the spring parameters of the air spring and the whole vehicle type of the vehicle.

Optionally, the controlling unit performs a roll warning according to the load value, and includes: determining the transverse load transfer rate of the vehicle according to the load value; determining whether the vehicle body posture of the vehicle is stable or not according to the transverse load transfer rate; if the posture of the vehicle body is not stable, performing a tilting early warning according to the current transverse load transfer rate and a set tilting early warning level; or if the posture of the vehicle body is stable or the vehicle body posture is adjusted to be stable through the posture adjustment under the condition that the posture of the vehicle body is not stable, the roll early warning is not carried out or the roll early warning under the condition that the posture of the vehicle body is not stable is removed.

Optionally, wherein the determining, by the control unit, the lateral load transfer rate according to the load value includes: grouping the load values into left and right load values on the left and right sides of the vehicle; determining the difference between the vertical loads of the left and right side tires of the vehicle and the sum of the vertical loads of the left and right side tires according to the left load value and the right load value; dividing the difference of the vertical loads by the sum of the vertical load values to obtain the transverse load transfer rate of the vehicle; and/or the control unit determines whether the vehicle body posture of the vehicle is stable according to the lateral load transfer rate, and comprises the following steps: determining whether the lateral load transfer rate is greater than or equal to an upper limit of a set transfer rate range; if the transverse load transfer rate is larger than or equal to the upper limit of the set transfer rate range, determining that the posture of the vehicle body is not stable, and determining that the roll early warning level under the current transverse load transfer rate is a set first roll early warning level; if the lateral load transfer rate is less than the upper limit of the set transfer rate range, further determining whether the lateral load transfer rate is greater than or equal to the lower limit of the set transfer rate range; if the transverse load transfer rate is smaller than the upper limit of the set transfer rate range and is larger than or equal to the lower limit of the set transfer rate range, under the condition of carrying out overload early warning according to the load value, further determining whether the posture of the vehicle body is stable or not by combining with an overload early warning level for carrying out overload early warning on the vehicle; or if the transverse load transfer rate is smaller than the lower limit of the set transfer rate range, determining that the posture of the vehicle body is stable.

Optionally, the determining, by the control unit, whether the vehicle body posture is stable in combination with an overload warning level for performing overload warning on the vehicle includes: if the overload early warning level for carrying out overload early warning on the vehicle is a first overload early warning level or a second overload early warning level, determining that the posture of the vehicle body is unstable, and determining that the roll early warning level under the current transverse load transfer rate is a set first roll early warning level; or if the overload early warning level for carrying out overload early warning on the vehicle is not overload early warning, or the overload early warning under the condition of vehicle overload is released, or if the overload early warning level for carrying out overload early warning on the vehicle is not considered, determining that the posture of the vehicle body is not stable, and determining that the roll early warning level under the current transverse load transfer rate is a set second roll early warning level; the second roll warning level is less than the first roll warning level.

Optionally, the method for performing the roll warning by the control unit according to the current lateral load transfer rate and according to the set roll warning level includes: if the roll early warning level is a set first roll early warning level, displaying the indication information of the roll early warning with a first set color and/or initiating the roll early warning of a first set reminding message; or if the roll early warning level is a set second roll early warning level, displaying the indication information of the roll early warning with a second set color and/or initiating the roll early warning of a second set reminding message; and/or the control unit does not perform the roll early warning or removes the roll early warning under the condition that the posture of the vehicle body is not stable, and the control unit comprises: and displaying the indication information of non-tilting or tilting warning removal of the third set color, and/or tilting warning removal of the first set reminding message or the second set reminding message.

In accordance with the above apparatus, a further aspect of the present invention provides a vehicle comprising: the control device for preventing the vehicle from rolling over.

In accordance with the above method, a further aspect of the present invention provides a storage medium comprising: the storage medium has stored therein a plurality of instructions; the instructions are used for loading and executing the vehicle rollover prevention control method by the processor.

In accordance with the above method, a further aspect of the present invention provides a vehicle comprising: a processor for executing a plurality of instructions; a memory to store a plurality of instructions; the instructions are stored in the memory, and are loaded by the processor and execute the control method for preventing the vehicle from rolling over.

According to the scheme, under the condition that the pressure sensor is not mounted on the commercial vehicle, the load of the vehicle is evaluated by collecting the data of the displacement sensor of the electric control air suspension of the commercial vehicle, the overload is early warned, the rollover danger of the vehicle under the overload condition is prevented, and the reliability and the safety of the vehicle operation are improved.

Further, according to the scheme of the invention, after the vehicle load is evaluated, the posture of the vehicle body is evaluated, and when the unstable posture of the vehicle body is detected, an early warning is given out, so that the rollover danger of the vehicle under the condition that the posture of the vehicle body is unstable is prevented, and the reliability and the safety of the vehicle operation are improved.

Furthermore, according to the scheme of the invention, under the condition that a pressure sensor is not needed, the data of the displacement sensor of the electric control air suspension is utilized, and the algorithm calculation is carried out, so that the load of the vehicle can be evaluated, the posture of the vehicle body can be evaluated, the early warning is carried out, the rollover danger is prevented, and the reliability and the safety of the vehicle operation are improved.

Furthermore, according to the scheme of the invention, under the condition that a pressure sensor is not needed by aiming at the air spring, the data of the electric control air suspension displacement sensor is directly utilized to obtain the load and calculate the side-tipping condition of the vehicle, so that the side-tipping danger can be prevented, and the reliability and the safety of the vehicle operation can be improved.

Further, according to the scheme of the invention, under the condition that a pressure sensor is not needed, the vehicle load evaluation algorithm based on the electric control air suspension displacement sensor is used for giving early warning to the overload and the side inclination of the vehicle, so that on one hand, the vehicle load can be evaluated, and the overload can be warned; on the other hand, when the posture of the vehicle body is not stable, early warning can be given out, and the vehicle is prevented from being in danger of rollover.

Therefore, according to the scheme of the invention, the vehicle load is evaluated and the vehicle posture is evaluated by acquiring the displacement sensor data of the electric control air suspension of the vehicle (such as a commercial vehicle), so that early warning is realized, and the problem that in the prior art, if the load is too large, the load distribution is not uniform or the vehicle posture is changed under the condition that the vehicle is not provided with a pressure sensor, the rollover danger is easily caused in the vehicle driving process is solved, so that the defects of easy rollover, low reliability and poor safety in the prior art are overcome, and the beneficial effects of difficult rollover, high reliability and good safety are realized.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a method for controlling a vehicle to prevent rollover according to the present invention;

FIG. 2 is a schematic flow chart illustrating one embodiment of a method of the present invention for determining a load value of an air spring of the electronically controlled air suspension based on the displacement sensor data;

fig. 3 is a schematic flow chart illustrating an embodiment of performing overload warning according to the load value in the method of the present invention;

FIG. 4 is a schematic flow chart illustrating one embodiment of the method of the present invention for determining whether the vehicle is overloaded based on the individual loads and/or the total load;

FIG. 5 is a schematic flow chart illustrating an embodiment of a roll warning method according to the load value;

FIG. 6 is a schematic flow chart illustrating one embodiment of determining a lateral load transfer rate based on the load values in the method of the present invention;

FIG. 7 is a schematic flow chart diagram illustrating one embodiment of determining whether the body attitude of the vehicle is stable based on the lateral load transfer rate in the method of the present invention;

FIG. 8 is a schematic structural diagram of an embodiment of a control apparatus for preventing a vehicle from rolling over according to the present invention;

FIG. 9 is a schematic diagram of the principle of the suspension displacement sensor based vehicle load assessment method in a vehicle according to the present invention;

fig. 10 is a schematic view of a process of load warning and roll warning in a vehicle according to the present invention.

The reference numbers in the embodiments of the present invention are as follows, in combination with the accompanying drawings:

102-an obtaining unit; 104-control unit.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

According to an embodiment of the invention, a control method for preventing a vehicle from rolling over is provided, as shown in fig. 1, which is a schematic flow chart of an embodiment of the method of the invention. The control method for preventing the vehicle from rolling over comprises the following steps: step S110 to step S130.

At step S110, displacement sensor data of an electronically controlled air suspension of the vehicle is acquired.

At step S120, a load value of an air spring of the electronically controlled air suspension is determined from the displacement sensor data.

Wherein, the air spring can include: a diaphragm air spring. The diaphragm air spring may include: cylindrical piston base membrane air spring.

For example: the air spring used by the commercial vehicle air suspension is a membrane type air spring, and is characterized in that the change of the rigidity of the spring is small, the change rate of the effective area is small, the natural vibration frequency is very low, and the change of the natural vibration frequency is not changed along with the change of the load in a normal working range.

Therefore, the membrane type air spring is selected, the cylindrical piston base membrane type air spring is further selected as the membrane type air spring, the accuracy and the reliability of early warning processing based on the load value of the air spring are favorably improved, and rollover prevention control of a vehicle can be reliably and safely achieved.

Optionally, with reference to a schematic flow chart of an embodiment of determining the load value of the air spring of the electronically controlled air suspension according to the displacement sensor data in the method of the present invention shown in fig. 2, a specific process of determining the load value of the air spring of the electronically controlled air suspension according to the displacement sensor data in step S120 is further described, and the specific process may include: step S210 and step S220.

Step S210, determining the atmospheric pressure p of the environment of the vehicle_aAnd air polytropic exponent n, set height h and internal pressure p of the air spring in initial state_e0And the effective bearing area A of the air spring itself_e。

The air polytropic index can be determined according to the change rate of the data of the displacement sensor of the electric control air suspension; and/or the internal pressure can be determined according to the set height and the body weight of the vehicle.

Therefore, the air polytropic index and the internal pressure of the air spring are determined based on the vehicle parameters and the air spring parameters, so that the accuracy of determining the air polytropic index and the internal pressure of the air spring is good, the reliability is high, and the accuracy and the reliability of determining the load value of the air spring are improved.

Step S220, according to the atmospheric pressure p_aThe air polytropic exponent n, the set height h, the internal pressure p_e0And the effective bearing area A_eAnd calculating the load value F of the air spring by using the following formula in combination with the displacement sensor data x:

for example: the load values are:

wherein p is_a-atmospheric pressure; h, designing height of the air spring in an initial state; x is the height measured by the displacement sensor; n is a gas polytropic index, wherein the gas polytropic index is an air polytropic index, and the value is 1.3-1.38 according to the magnitude of the altitude change rate dx/dt measured by the displacement sensor; p is a radical of_e0The gauge pressure (also called relative gas pressure or effective pressure) of the internal initial state of the air spring can be obtained according to the height of the designed air spring and the self weight of the vehicle body; a. the_eThe effective bearing area of the air spring, which is determined by the specific air spring, can be built into the ECU. That is, after the approximation and operation of the algorithm, the change in the value of the load is only related to the displacement x; the load condition on each axle can be obtained by measuring through an electric control air suspension displacement sensor.

For example: according to the selection of the air spring, the ECU acquires the corresponding effective pressure-bearing area A of the air spring_eThe threshold value corresponding to a single air spring; according to the selected specific vehicle type (such as vehicle type parameters), the ECU acquires the weight of the corresponding vehicle (namely under the condition of no load of the vehicle) and the corresponding early warning threshold value; then, according to the designed height, the relative pressure of the internal initial state of the air spring can be obtained; and (3) acquiring data of the displacement sensor on each air spring in real time, and calculating the corresponding air polytropic index by the ECU. Thus, the stress condition of each air spring, namely the load condition of each air spring can be obtained through calculation; thereby obtaining the spring load mass of the whole vehicle.

Therefore, the load value of the air spring is calculated by combining displacement sensor data and a set formula based on vehicle parameters and air spring parameters, the calculation mode is simple and convenient, and the reliability and the accuracy are high.

And at step S130, carrying out overload early warning and/or rollover early warning according to the load value so as to realize rollover prevention control on the vehicle.

For example: under the condition that the commercial vehicle is not provided with a pressure sensor, vehicle load can be evaluated and vehicle body posture can be evaluated through algorithm calculation by collecting displacement sensor data of an electric control air suspension of the commercial vehicle, early warning is carried out, and rollover danger is prevented; under the condition that a pressure sensor is not needed, the data of the displacement sensor of the electric control air suspension is utilized, and at least the beneficial effects which can be achieved through algorithm calculation can comprise that: evaluating the vehicle load and carrying out early warning on overload; when the posture of the vehicle body is not stable, an early warning is sent out to prevent the vehicle from generating rollover danger.

For example: directly calculating the difference of the loads by using a defined formula of load transfer; the specific implementation is as follows: aiming at the air spring, under the condition of not using a pressure sensor, the data of an electric control air suspension displacement sensor is directly utilized to obtain the load and calculate the vehicle side-rolling condition.

Therefore, the load value of the air spring of the electric control air suspension is determined according to the displacement sensor data of the electric control air suspension of the vehicle, and then early warning processing such as overload early warning and tilting early warning is carried out according to the load value, so that rollover prevention control of the vehicle can be realized, rollover of the vehicle is effectively prevented, and reliability and safety of vehicle operation are improved.

Wherein, the load value may include: and the single load of each air spring in the electric control air suspension and the total load of the whole vehicle are controlled.

Optionally, with reference to a schematic flow chart of an embodiment of the method of the present invention shown in fig. 3, which performs overload warning according to the load value, a specific process of performing overload warning according to the load value in step S130 is further described, where the specific process may include: step S310 to step S330.

And S310, under the condition that the vehicle is not driven, determining whether the vehicle is overloaded according to the single load and/or the total load. For example: and determining whether the vehicle is overloaded according to the first position of the single load in the set single load range and/or the second position of the total load in the set total load range.

More optionally, in combination with a flowchart of an embodiment of determining whether the vehicle is overloaded according to the single load and/or the total load in the method of the present invention shown in fig. 4, a specific process of determining whether the vehicle is overloaded according to the single load and/or the total load in step S310 may include: step S410 to step S450.

Step S410, determining whether the individual load of any of the air springs is greater than or equal to a set first individual load threshold, or whether the total load is greater than or equal to a set first total load threshold.

At least one of the first single load threshold value, the second single load threshold value, the first total load threshold value and the second total load threshold value can be determined according to spring parameters of the air spring and the whole vehicle type of the vehicle.

For example: and setting the bearing threshold of a single air spring and the bearing threshold of the whole vehicle according to the used air springs and the vehicle type of the whole vehicle.

Therefore, the corresponding load threshold value is determined according to the spring parameters of the air spring and the vehicle parameters of the vehicle, so that the accuracy and the reliability of judging whether the vehicle is overloaded or not are improved, and the accuracy and the reliability of overload early warning processing are further improved.

Step S420, if the single load of any one of the air springs is greater than or equal to the first single load threshold, or the total load is greater than or equal to the first total load threshold, determining that the vehicle is overloaded, and determining that the overload early warning level under the current load value is the set first overload early warning level.

Step S430, if the individual load of any of the air springs is smaller than the first individual load threshold and the total load is smaller than the first total load threshold, further determining whether the individual load of any of the air springs is greater than or equal to a second set individual load threshold or whether the total load is greater than or equal to a second set total load threshold. The second individual loading threshold is less than the first individual loading threshold, and the second total loading threshold is less than the first total loading threshold.

Step S440, if the single load of any one of the air springs is greater than or equal to the second single load threshold, or the total load is greater than or equal to the second total load threshold, determining that the vehicle is overloaded, and determining that the overload early warning level under the current load value is the set second overload early warning level. The second overload warning level is less than the first overload warning level.

Or, in step S450, if the single load of any one of the air springs is smaller than the second single load threshold and the total load is smaller than the second total load threshold, it is determined that the vehicle is not overloaded.

Therefore, whether the vehicle is overloaded and the overload early warning level under the condition of vehicle overload are determined by combining the single load of each air spring in the load values of the air springs and/or the total load of the whole vehicle, so that overload early warning is carried out according to the overload early warning level, the accuracy and the reliability of the overload early warning can be ensured, and the reliability and the safety of vehicle operation are favorably improved.

And step S320, if the vehicle is overloaded, carrying out overload early warning according to the set overload early warning level according to the current load value.

More optionally, the performing overload warning according to the current load value and the set overload warning level in step S320 may include: if the overload early warning level is a set first overload early warning level, displaying the indication information of the overload early warning with a first set color and/or initiating the overload early warning of a first set reminding message; or if the overload early warning level is a set second overload early warning level, displaying the overload early warning indication information with a second set color and/or initiating the overload early warning of a second set reminding message.

For example: when the vehicle does not run, the ECU sends out an early warning when detecting that the following conditions are met:

when the load of any air spring meets the condition that F is more than or equal to F_set1Or, total load F_T≥F_max1

Timely sending out overload emergency early warningdanger_loadThe dashboard displays a first color (e.g., red) warning and an audible alarm.

If the above condition is not satisfied, F < F_set1And F_T＜F_max1When the load of any air spring exceeds F ≧ F_set2Or, total load F_T≥F_max2Then, an overload primary early warning is sent out_loadThe instrument panel displays a set second color (such as yellow) early warning and sound alarm; wherein F_set1＞F_set2， F_max1＞F_max2。

Therefore, the overload early warning of the corresponding overload early warning level is carried out according to different overload early warning levels under the condition of vehicle overload, so that the overload early warning of different overload conditions is clear and intuitive, a user can conveniently check or listen to the overload early warning, and appropriate treatment under the corresponding overload condition is given in time.

Or, in step S330, if the vehicle is not overloaded or is unloaded to be not overloaded under the condition that the vehicle is overloaded, the overload warning is not performed, or the overload warning under the condition that the vehicle is overloaded is released.

For example: when the vehicle is not running, the ECU detects and calculates the load F of the single air spring, and calculates the total load F_T＝∑F_iI is the number of the installed air springs, and i is more than or equal to 2; and respectively comparing the load and the total load of a single air spring with set thresholds to obtain load early warnings at multiple levels, and sending the early warnings.

Therefore, whether the vehicle is overloaded or not is determined according to the single load and/or the total load in the load value under the condition that the vehicle does not run, so that overload early warning is carried out when the vehicle is overloaded, corresponding indication is carried out when the vehicle is not overloaded, the reliability and the accuracy of the overload early warning of the vehicle can be improved, and the reliability and the safety of the running of the vehicle are further improved.

More optionally, the step S330 of not performing the overload warning or releasing the overload warning in the case of the vehicle overload may include: and displaying the indication information of the third set color for not overloading or removing the overload early warning, and/or removing the overload early warning of the first set reminding message or the second set reminding message.

when the loads of all the air springs meet F < F_setAnd the total load F_T＜F_maxIn time, the early warning state is released, safe_loadThe dashboard displays a third color (e.g., green) that is set, deactivating the audible alarm.

Therefore, corresponding display is carried out under the condition that the vehicle is not overloaded or the overload early warning condition is relieved, so that the user can conveniently check the vehicle, and the vehicle is humanized.

Optionally, with reference to a schematic flow chart of an embodiment of performing a roll warning according to the load value in the method of the present invention shown in fig. 5, a specific process of performing a roll warning according to the load value in step S130 is further described, where the specific process may include: step S510 to step S540.

And step S510, determining the transverse load transfer rate of the vehicle according to the load value.

More optionally, the specific process of determining the lateral load transfer rate according to the load value in step S510 may be further described with reference to a schematic flow chart of an embodiment of determining the lateral load transfer rate according to the load value in the method of the present invention shown in fig. 6, and may include: step S610 to step S630.

In step S610, the load values are grouped into left and right load values on the left and right sides of the vehicle.

And step S620, determining the difference of the vertical loads of the left and right tires of the vehicle and the sum of the vertical loads of the left and right tires according to the left load value and the right load value.

And step S630, dividing the difference of the vertical loads by the sum of the vertical load values to obtain the transverse load transfer rate of the vehicle.

For example: the difference between the loads can be directly obtained by using the lateral load transfer rate LTR, i.e., the difference F between the vertical loads of the left and right tires of the vehicle_L-F_RDivided by the sum of vertical load values F_L+F_RObtaining LTR ═ F_L-F_R)/(F_L+F_R) As a rollover threshold.

For example: the lateral load transfer rate LTR is used as the rollover threshold value. F_L＝∑F_Li；F_R＝∑F_Ri(ii) a i is the number of the installed air springs, and i is more than or equal to 2; f_Li、F_RiThe load condition of each air spring at the left side and the right side is shown; after the load is evaluated, the load F on the left side and the right side of the vehicle can be obtained_L、F_R(ii) a And calculating to obtain LTR, comparing the LTR with a set threshold value, obtaining multiple levels of rolling early warnings, and sending the early warnings. Wherein LTR is the lateral load transfer rate; f_LIs the left axle load of the vehicle; f_RIs the right axle load of the vehicle.

Therefore, the load values are divided into the left load value and the right load value on the left side and the right side of the vehicle, and the transverse load transfer rate of the vehicle is calculated based on the divided left load value and right load value, so that the calculation process is simple and convenient, and the calculation result is reliable and accurate.

And step S520, determining whether the vehicle body posture of the vehicle is stable or not according to the transverse load transfer rate.

More optionally, in combination with a schematic flow chart of an embodiment of determining whether the vehicle body posture of the vehicle is stable according to the lateral load transfer rate in the method of the present invention shown in fig. 7, a specific process of determining whether the vehicle body posture of the vehicle is stable according to the lateral load transfer rate in step S520 may include: step S710 to step S750.

Step S710, determining whether the lateral load transfer rate is greater than or equal to an upper limit of a set transfer rate range.

And S720, if the transverse load transfer rate is greater than or equal to the upper limit of the set transfer rate range, determining that the posture of the vehicle body is unstable, and determining that the roll early warning level under the current transverse load transfer rate is a set first roll early warning level.

For example: the load warning can be exemplarily explained with reference to the flowchart shown in fig. 10:

when satisfy-LTR|≥LIMIT₁When the vehicle is running, the ECU sends out a roll emergency warning danger_tiltThe dashboard displays a first color (e.g., red) warning and an audible alarm.

Step S730, if the lateral load transfer rate is less than the upper limit of the set transfer rate range, further determining whether the lateral load transfer rate is greater than or equal to the lower limit of the set transfer rate range.

Step S740, if the lateral load transfer rate is smaller than the upper limit of the set transfer rate range and greater than or equal to the lower limit of the set transfer rate range, further determining whether the vehicle body posture is stable in combination with the overload warning level for performing overload warning on the vehicle under the condition of performing overload warning according to the load value.

Still further optionally, the step S740 further determines whether the body posture is stable in combination with the overload warning level for warning the vehicle of overload, and may include any one of the following situations:

the first case: and if the overload early warning level for carrying out overload early warning on the vehicle is a first overload early warning level or a second overload early warning level, determining that the posture of the vehicle body is unstable, and determining that the roll early warning level under the current transverse load transfer rate is a set first roll early warning level.

The second case: and if the overload early warning level for carrying out overload early warning on the vehicle is not overload early warning, or the overload early warning under the condition of vehicle overload is removed, or if the overload early warning level for carrying out overload early warning on the vehicle is not considered, determining that the posture of the vehicle body is not stable, and determining that the roll early warning level under the current transverse load transfer rate is a set second roll early warning level. The second roll warning level is less than the first roll warning level.

when LIMIT is satisfied₁＞|LTR|≥LIMIT₂In time, in combination with load early warning, the following two situations can be distinguished:

(a) when loaded in advanceAlarm reaching danger_loadOr war_loadThe ECU sends out a roll emergency warning danger_tiltThe instrument panel displays red early warning and sound alarm.

(b) When the load early warning is safe_loadWhen the ECU sends out the primary side-tipping early warning war_tiltThe instrument panel displays yellow warning and sound alarm. Specially, the ECU can directly send out the primary side-tipping early warning war without considering the load early warning_tiltAnd the instrument panel displays a set second color (such as yellow) early warning and sound alarm.

Therefore, when the transverse load transfer rate is smaller than the upper limit of the set transfer rate range and is larger than or equal to the lower limit of the set transfer rate range, the rollover early warning level of the vehicle is further determined by combining the overload early warning level of the vehicle, and the accuracy and the reliability of determining the rollover early warning level are improved.

Or step S750, if the lateral load transfer rate is smaller than the lower limit of the set transfer rate range, determining that the vehicle body posture is stable.

From this, whether the automobile body gesture of vehicle is stable and the early warning rank of heeling under the unstable condition of automobile body gesture is confirmed through the lateral load transfer rate according to the vehicle to the early warning of heeling is carried out according to the early warning rank of heeling, makes the precision and the reliability of the early warning of heeling can obtain guaranteeing, thereby is favorable to promoting reliability and the security of vehicle operation.

And S530, if the posture of the vehicle body is not stable, performing a roll early warning according to the current transverse load transfer rate and a set roll early warning level.

More optionally, the performing the roll warning according to the current lateral load transfer rate at the set roll warning level in step S530 may include: if the roll early warning level is a set first roll early warning level, displaying the indication information of the roll early warning with a first set color and/or initiating the roll early warning of a first set reminding message; or if the roll early warning level is a set second roll early warning level, displaying the indication information of the roll early warning with a second set color and/or initiating the roll early warning of a second set reminding message.

For example: the distinction can be made by a dashboard display, for example: use a third color (e.g., green) -safe, a second color (e.g., yellow) -primary warning, a first color (e.g., red) -emergency warning, and audible alarm, etc.). Therefore, under the condition of not using a pressure sensor, the data of the displacement sensor of the electrically controlled air suspension is utilized, and the algorithm calculation is carried out, so that on one hand, the vehicle load can be evaluated, and the overload can be early warned; on the other hand, when the posture of the vehicle body is not stable, early warning can be given out, and the vehicle is prevented from being in danger of rollover.

Therefore, the roll early warning of the corresponding roll early warning level is carried out according to different roll early warning levels under the condition that the posture of the vehicle body of the vehicle is unstable, so that the roll early warning of different roll conditions is clear and intuitive, a user can conveniently check or listen to the roll early warning, and appropriate treatment under the corresponding roll condition is given in time.

Or, in step S540, if the vehicle body posture is stable or is adjusted to be stable through the vehicle body posture under the condition that the vehicle body posture is not stable, the roll warning is not performed, or the roll warning under the condition that the vehicle body posture is not stable is released.

For example: the obtained loads are grouped into loads F on the left and right sides of the vehicle_L、F_RAfter the lateral load transfer rate LTR is calculated and compared with a set threshold value according to the LTR, load early warning can be selectively added as an additional judgment condition, and then multiple levels of roll early warning are obtained and are sent to an instrument panel for displaying.

Therefore, the transverse load transfer rate of the vehicle is determined according to the load value of the air spring, and whether the posture of the vehicle body of the vehicle is stable or not is further determined according to the transverse vehicle load rate, so that corresponding tilting early warning is carried out when the posture of the vehicle body is not stable, and a user can be reminded to adjust the posture of the vehicle body in time, so that the reliability and the safety of the vehicle operation are improved; or the tilting early warning is not carried out under the condition that the posture of the car body is stable or the tilting early warning is released, so that a user can conveniently know the state of the posture of the car body at any time, and the humanization is good.

More optionally, the step S540 of not performing the roll warning or releasing the roll warning in the case that the posture of the vehicle body is not stable may include: and displaying the indication information of non-tilting or tilting warning removal of the third set color, and/or tilting warning removal of the first set reminding message or the second set reminding message.

For example: when | LTR | < LIMIT is satisfied₂When the emergency warning safety is in operation, the ECU sends out the heeling emergency warning safety_tiltThe dashboard displays a third color (e.g., green) setting and deactivates the audible alarm. The instrument can visually give a prompt to a driver, so that the driver can conveniently standardize the load and the driving behavior of the driver, and rollover accidents are avoided.

Therefore, corresponding display is carried out under the condition that the posture of the vehicle body of the vehicle is stable or the pre-warning condition of the vehicle tilting is relieved, so that the user can conveniently check the vehicle, and the humanization is good.

Through a large amount of tests verification, adopt the technical scheme of this embodiment, through the condition at commercial car not having installation pressure sensor, through the displacement sensor data of the automatically controlled air suspension of gathering commercial car, make the aassessment to the vehicle load, carry out the load early warning to the overload, prevent that the vehicle from taking place the danger of turning on one's side under the condition of overload, promote the reliability and the security of vehicle operation.

According to the embodiment of the invention, the invention further provides a control device for preventing the vehicle from rolling over, which corresponds to the control method for preventing the vehicle from rolling over. Referring to fig. 8, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The control device for preventing the vehicle from rolling over may include: an acquisition unit 102 and a control unit 104.

In an alternative example, the acquisition unit 102 may be configured to acquire displacement sensor data of an electronically controlled air suspension of the vehicle. The specific functions and processes of the acquiring unit 102 are referred to in step S110.

In an alternative example, the control unit 104 may be adapted to determine a load value of an air spring of said electronically controlled air suspension based on said displacement sensor data. The specific function and processing of the control unit 104 are referred to in step S120.

Alternatively, the determining, by the control unit 104, the load value of the air spring of the electronically controlled air suspension according to the displacement sensor data may include:

the control unit 104 may be further configured to determine an atmospheric pressure p of an environment to which the vehicle belongs_aAnd air polytropic exponent n, set height h and internal pressure p of the air spring in initial state_e0And the effective bearing area A of the air spring itself_e. The specific functions and processes of the control unit 104 are also referred to in step S210.

The control unit 104 may be further configured to determine the atmospheric pressure p_aThe air polytropic exponent n, the set height h, the internal pressurep_e0And the effective bearing area A_eAnd calculating the load value F of the air spring by using the following formula in combination with the displacement sensor data x:

the specific functions and processes of the control unit 104 are also referred to in step S220.

For example: the load values are:

In an optional example, the control unit 104 may be further configured to perform an overload warning and/or a roll warning according to the load value, so as to implement anti-rollover control on the vehicle. The specific function and processing of the control unit 104 are also referred to in step S130.

Optionally, the performing, by the control unit 104, an overload warning according to the load value may include:

the control unit 104 may be further configured to determine whether the vehicle is overloaded according to the individual load and/or the total load when the vehicle is not running. For example: and determining whether the vehicle is overloaded according to the first position of the single load in the set single load range and/or the second position of the total load in the set total load range. The specific functions and processes of the control unit 104 are also referred to in step S310.

More optionally, the control unit 104 determining whether the vehicle is overloaded according to the individual load and/or the total load may include:

the control unit 104 may be further configured to determine whether the individual load of any of the air springs is greater than or equal to a set first individual load threshold, or whether the total load is greater than or equal to a set first total load threshold. The specific functions and processes of the control unit 104 are also referred to in step S410.

The control unit 104 may be further configured to determine that the vehicle is overloaded and determine that an overload warning level under the current load value is a set first overload warning level if the single load of any one of the air springs is greater than or equal to the first single load threshold or the total load is greater than or equal to the first total load threshold. The specific function and processing of the control unit 104 are also referred to in step S420.

The control unit 104 may be specifically configured to further determine whether the individual load of any one of the air springs is greater than or equal to a second set individual load threshold value, or whether the total load is greater than or equal to a second set total load threshold value, if the individual load of any one of the air springs is less than the first individual load threshold value, and the total load is less than the first total load threshold value. The second individual loading threshold is less than the first individual loading threshold, and the second total loading threshold is less than the first total loading threshold. The specific functions and processes of the control unit 104 are also referred to in step S430.

The control unit 104 may be further configured to determine that the vehicle is overloaded and determine that the overload warning level under the current load value is the set second overload warning level if the single load of any one of the air springs is greater than or equal to the second single load threshold or the total load is greater than or equal to the second total load threshold. The second overload warning level is less than the first overload warning level. The specific functions and processes of the control unit 104 are also referred to in step S440.

Alternatively, the control unit 104 may be specifically configured to determine that the vehicle is not overloaded if the individual load of any one of the air springs is smaller than the second individual load threshold and the total load is smaller than the second total load threshold. The specific functions and processes of the control unit 104 are also referred to in step S450.

The control unit 104 may be further configured to perform overload warning according to a set overload warning level according to a current load value if the vehicle is overloaded. The specific functions and processes of the control unit 104 are also referred to in step S320.

More optionally, the performing, by the control unit 104, overload warning according to the current load value and a set overload warning level may include: the control unit 104 may be further configured to display an overload warning indication message with a first set color and/or initiate an overload warning of a first set reminding message if the overload warning level is a set first overload warning level; or, the control unit 104 may be further specifically configured to display an overload warning indication message with a second set color and/or initiate an overload warning of a second set reminding message if the overload warning level is a second set overload warning level.

Give out overload emergency warning danger_loadThe dashboard displays a first color (e.g., red) warning and an audible alarm.

Or, the control unit 104 may be further specifically configured to not perform the overload warning or release the overload warning when the vehicle is overloaded if the vehicle is not overloaded or is unloaded to be not overloaded when the vehicle is overloaded. The specific functions and processes of the control unit 104 are also referred to in step S330.

More optionally, the controlling unit 104 does not perform the overload warning or releases the overload warning in case of the vehicle overload, and may include: the control unit 104 may be further configured to display indication information of a third set color indicating that the vehicle is not overloaded or the overload warning is released, and/or release the overload warning of the first set warning message or the second set warning message.

Optionally, the controlling unit 104 performs the roll warning according to the load value, and may include:

the control unit 104 may be further configured to determine a lateral load transfer rate of the vehicle according to the load value. The specific functions and processes of the control unit 104 are also referred to in step S510.

More optionally, the determining, by the control unit 104, the lateral load transfer rate according to the load value may include:

the control unit 104 may be further configured to group the load values into a left load value and a right load value on the left and right sides of the vehicle. The specific functions and processes of the control unit 104 are also referred to in step S610.

The control unit 104 may be further configured to determine a difference between vertical loads of left and right tires of the vehicle and a sum of vertical loads of the left and right tires according to the left load value and the right load value. The specific functions and processes of the control unit 104 are also referred to in step S620.

The control unit 104 may be further configured to divide the difference between the vertical loads by the sum of the vertical load values to obtain a lateral load transfer rate of the vehicle. The specific function and processing of the control unit 104 are also referred to in step S630.

The control unit 104 may be further configured to determine whether the body posture of the vehicle is stable according to the lateral load transfer rate. The specific functions and processes of the control unit 104 are also referred to in step S520.

More optionally, the control unit 104 determines whether the body posture of the vehicle is smooth according to the lateral load transfer rate, and may include:

the control unit 104 may be further specifically configured to determine whether the lateral load transfer rate is greater than or equal to an upper limit of a set transfer rate range. The specific functions and processes of the control unit 104 are also referred to in step S710.

The control unit 104 may be further specifically configured to determine that the vehicle body posture is not stable if the lateral load transfer rate is greater than or equal to the upper limit of the set transfer rate range, and determine that the roll early warning level at the current lateral load transfer rate is the set first roll early warning level. The specific functions and processes of the control unit 104 are also referred to in step S720.

when the condition of LTR | ≧ LIMIT is satisfied₁When the vehicle is running, the ECU sends out a roll emergency warning danger_tiltThe dashboard displays a first color (e.g., red) warning and an audible alarm.

The control unit 104 may be further configured to determine whether the lateral load transfer rate is greater than or equal to a lower limit of the set transfer rate range if the lateral load transfer rate is less than an upper limit of the set transfer rate range. The specific functions and processes of the control unit 104 are also referred to in step S730.

The control unit 104 may be further configured to, if the lateral load transfer rate is smaller than the upper limit of the set transfer rate range and greater than or equal to the lower limit of the set transfer rate range, further determine whether the vehicle body posture is stable in combination with an overload warning level for performing overload warning on the vehicle under the condition of performing overload warning according to the load value. The specific functions and processes of the control unit 104 are also referred to in step S740.

Still further optionally, the control unit 104 further determines whether the body posture is stable in combination with an overload warning level for warning the vehicle of overload, which may include any one of the following situations:

the first case: the control unit 104 may be further configured to determine that the posture of the vehicle body is unstable if an overload early warning level for performing overload early warning on the vehicle is a first overload early warning level or a second overload early warning level, and determine that a roll early warning level at the current lateral load transfer rate is a set first roll early warning level.

The second case: the control unit 104 may be further configured to determine that the posture of the vehicle body is unstable if an overload warning level for performing overload warning on the vehicle is an overload warning level that is not performed, or an overload warning under the condition that the vehicle is overloaded is cancelled, or determine that a roll warning level at the current lateral load transfer rate is a second roll warning level that is set if the overload warning level for performing overload warning on the vehicle is not considered. The second roll warning level is less than the first roll warning level.

(a) when the load early warning reaches danger_loadOr war_loadThe ECU sends out a roll emergency warning danger_tiltThe instrument panel displays red early warning and sound alarm.

Alternatively, the control unit 104 may be specifically configured to determine that the vehicle body posture is stable if the lateral load transfer rate is smaller than the lower limit of the set transfer rate range. The specific function and processing of the control unit 104 are also referred to in step S750.

The control unit 104 may be further configured to perform a roll warning according to a set roll warning level according to the current lateral load transfer rate if the posture of the vehicle body is not stable. The specific functions and processes of the control unit 104 are also referred to in step S530.

More optionally, the performing, by the control unit 104, a roll warning according to the current lateral load transfer rate at a set roll warning level may include: the control unit 104 may be further specifically configured to display the indication information of the roll warning with a first set color and/or initiate the roll warning with a first set prompt message if the roll warning level is the set first roll warning level; or, the control unit 104 may be further specifically configured to display the indication information of the roll warning with a second set color and/or initiate the roll warning with a second set reminding message if the roll warning level is the set second roll warning level.

Or, the control unit 104 may be further specifically configured to not perform the roll warning or remove the roll warning when the posture of the vehicle body is stable or is adjusted to be stable through the posture of the vehicle body when the posture of the vehicle body is not stable. The specific functions and processes of the control unit 104 are also referred to in step S540.

More alternatively, the control unit 104 may not perform the roll warning or cancel the roll warning in the case where the posture of the vehicle body is not stable, and the method may include: the control unit 104 may be further configured to display indication information of non-tilting or tilting warning cancellation in a third set color, and/or tilting warning cancellation of the first set warning message or the second set warning message.

Since the processes and functions implemented by the apparatus of this embodiment substantially correspond to the embodiments, principles and examples of the method shown in fig. 1 to fig. 7, the description of this embodiment is not detailed, and reference may be made to the related descriptions in the foregoing embodiments, which are not described herein again.

Through a large number of tests, the technical scheme of the invention is adopted to evaluate the vehicle body posture after the vehicle load is evaluated, and when the vehicle body posture is not stable, an early warning is sent out, so that the rollover danger of the vehicle under the condition that the vehicle body posture is not stable is prevented, and the reliability and the safety of the vehicle operation are improved.

According to the embodiment of the invention, the vehicle corresponding to the control device for preventing the vehicle from rolling over is also provided. The vehicle may include: the control device for preventing the vehicle from rolling over.

In an alternative embodiment, in the case of a commercial vehicle without a pressure sensor, the solution of the invention relates to the field of vehicles and also to other fields of possible application, in particular: through the displacement sensor data of the electric control air suspension of the commercial vehicle, the vehicle load can be evaluated through algorithm calculation, the vehicle posture is evaluated, early warning is carried out in advance, and rollover danger is prevented. Therefore, under the condition of not using a pressure sensor, by utilizing the data of the self displacement sensor of the electric control air suspension and calculating through an algorithm, at least the beneficial effects which can be achieved can comprise that: evaluating the vehicle load and carrying out early warning on overload; when the posture of the vehicle body is not stable, an early warning is sent out to prevent the vehicle from generating rollover danger.

In particular, in some vehicle load estimation schemes, a model-based calculation vehicle load estimation algorithm may be employed that involves variables and parameters such as vehicle roll angle, roll angle rate, suspension stiffness, damping coefficient, and axle track. The scheme of the invention utilizes the definition formula of load transfer, namely directly obtains the difference of loads; the specific implementation is as follows: aiming at the air spring, under the condition of not using a pressure sensor, the data of an electric control air suspension displacement sensor is directly utilized to obtain the load and calculate the vehicle side-rolling condition.

In this case, the load difference can be directly obtained by using the lateral load transfer rate LTR, i.e., the difference F between the vertical loads of the left and right tires of the vehicle_L-F_RDivided by the sum of vertical load values F_L+F_RObtaining LTR ═ F_L-F_R)/(F_L+F_R) As a rollover threshold.

In an optional example, the invention provides a vehicle load evaluation algorithm based on an electric control air suspension displacement sensor, and the algorithm is used for early warning of vehicle overload and roll. Specifically, the distinction can be made by dashboard display, for example: use a third color (e.g., green) -safe, a second color (e.g., yellow) -primary warning, a first color (e.g., red) -emergency warning, and audible alarm, etc.). Therefore, under the condition of not using a pressure sensor, the data of the displacement sensor of the electrically controlled air suspension is utilized, and the algorithm calculation is carried out, so that on one hand, the vehicle load can be evaluated, and the overload can be early warned; on the other hand, when the posture of the vehicle body is not stable, early warning can be given out, and the vehicle is prevented from being in danger of rollover.

Generally, an air spring used for a commercial vehicle air suspension is a membrane type air spring, and is characterized in that the change of the spring stiffness is small, the change rate of an effective area is small, the natural vibration frequency is very low and the change is not changed along with the change of a load in a normal working range. Specific calculation algorithms may include:

1. the pressure state equation:

according to the ideal state gas equation, the internal gas state of the air spring can be expressed as:

pVⁿ＝const

in this formula: p is the internal pressure of the air spring; v is the effective volume of the air spring; const — a constant.

Namely, the method comprises the following steps:

in formula (I): p is a radical of_e0、p_e-initial and final state gauge pressures (also called relative gas pressure or effective pressure) inside the air spring, respectively; v₀V-is the effective volume of the air spring in the initial state and the final state respectively; p is a radical of_a-atmospheric pressure; n is a gas polytropic index, which is specifically referred to herein as an air polytropic index, and the value of the gas polytropic index is 1.3-1.38 in the working process of the air spring.

From equation (i), the final expressed pressure is:

2. standard height of air spring:

according to the national standard GB/T13061-91, the standard height of the air spring is a set height h, and the height is taken as a starting point for calculating the deformation, wherein the compression is positive, and the extension is negative. The compression or extension amount can be measured by a displacement sensor and is recorded as +/-x.

3. The stress condition of the air spring is as follows:

effective bearing area A provided with air spring_eI.e. the load F applied to the air spring and the gauge pressure p inside the spring_eIn equilibrium, the air spring force F can be expressed as: f ═ p_eA_e③。

Substituting the formula II into the formula III can obtain:

4. and (3) load evaluation:

for a cylindrical piston base membrane air spring for commercial vehicles, the following can be approximated:

V₀＝A_eh；

V＝A_e(h+x)；

the load values at this time are:

in the formula (V): p is a radical of_a-atmospheric pressure; h, designing height of the air spring in an initial state; x is the height measured by the displacement sensor; n is a gas polytropic index, wherein the gas polytropic index is an air polytropic index, and the value is 1.3-1.38 according to the magnitude of the altitude change rate dx/dt measured by the displacement sensor; p is a radical of_e0The gauge pressure (also called relative gas pressure or effective pressure) of the internal initial state of the air spring can be obtained according to the height of the designed air spring and the self weight of the vehicle body; a. the_eThe effective bearing area of the air spring, which is determined by the specific air spring, can be built into the ECU.

For example: gauge pressure p_eIs relative to an atmospheric pressure p_aThe absolute pressure is atmospheric pressure p_a+ gauge pressure p_e(ii) a When the vehicle is unloaded, the self weight F of the vehicle body is distributed to the i air springs, and the distributed weight F/i of each air spring is obtained. According to the above, if the air spring height is designed to be h, that is, the displacement x is 0, the effective pressure-bearing area a; when F/i is equal to p_e0A_e(ii) a The gauge pressure p of the initial state can be obtained_e0。

That is, after the approximation and operation of the algorithm, the change in the value of the load is only related to the displacement x; the load condition on each axle can be obtained by measuring through an electric control air suspension displacement sensor.

5. Load early warning:

and setting the bearing threshold of a single air spring and the bearing threshold of the whole vehicle according to the used air springs and the vehicle type of the whole vehicle.

For example: the air springs used by different vehicle types are different, for example, the air springs used by buses and trucks, buses and trucks with different nuclear loads and the like are different. Therefore, it is necessary to select parameters and set threshold values according to different vehicle models and different air springs used therein.

When the vehicle is not running, the ECU detects and calculates the load F of the single air spring, and calculates the total load F_T＝∑F_iI is the number of the installed air springs, and i is more than or equal to 2; and respectively comparing the load and the total load of a single air spring with set thresholds to obtain load early warnings at multiple levels, and sending the early warnings.

6. Roll early warning:

the lateral load transfer rate LTR is used as the rollover threshold value. Wherein the lateral load transfer rate LTR is used (F)_L-F_R)/(F_L+F_R) I.e., the difference between the vertical loads of the left and right tires of the vehicle divided by the sum of the vertical load values.

F_L＝∑F_Li；F_R＝∑F_Ri(ii) a i is the number of the installed air springs, and i is more than or equal to 2; f_Li、F_RiThe load condition of each air spring at the left side and the right side is shown; after the load is evaluated, the load F on the left side and the right side of the vehicle can be obtained_L、F_R(ii) a And calculating to obtain LTR, comparing the LTR with a set threshold value, obtaining multiple levels of rolling early warnings, and sending the early warnings. Wherein LTR is the lateral load transfer rate; f_LIs the left axle load of the vehicle; f_RIs the right axle load of the vehicle.

In an alternative embodiment, a specific implementation process of the scheme of the present invention may be exemplarily described with reference to the examples shown in fig. 9 and fig. 10.

In FIG. 10, Σ F_i: i corresponds to the number of air springs, Sigma F_iI.e. the sum of the individual air spring loads; f_set1、F_set2Is a single air spring load threshold set in the program;F_max1、F_max2the total load threshold value of all the air springs set in the program; LIMIT1, LIMIT2 are lateral load transfer rate thresholds set in the program.

In an alternative embodiment, as shown in the schematic diagram of fig. 9, the ECU obtains the corresponding effective pressure bearing area a of the air spring according to the selection of the air spring_eThe threshold value corresponding to a single air spring; according to the selected specific vehicle type (such as vehicle type parameters), the ECU acquires the weight of the corresponding vehicle (namely under the condition of no load of the vehicle) and the corresponding early warning threshold value; then, according to the designed height, the relative pressure of the internal initial state of the air spring can be obtained; and (3) acquiring data of the displacement sensor on each air spring in real time, and calculating the corresponding air polytropic index by the ECU. Thus, the stress condition of each air spring, namely the load condition of each air spring can be obtained through calculation; thereby obtaining the spring load mass of the whole vehicle.

In a further optional specific example, the obtained sprung mass can be compared with a set early warning threshold value to obtain load early warnings of multiple levels, and the load early warnings are sent to an instrument panel for display; see the flow chart of fig. 10.

When the vehicle does not run, the ECU sends out an early warning when detecting that the following conditions are met:

(1) when the load of any air spring meets the condition that F is more than or equal to F_set1Or, total load F_T≥F_max1

(2) If the above condition (1) is not satisfied, F < F_set1And F_T＜F_max1When the load of any air spring exceeds F ≧ F_set2Or, total load F_T≥F_max2Then, an overload primary early warning is sent out_loadThe instrument panel displays a set second color (such as yellow) early warning and sound alarm; wherein F_set1＞F_set2，F_max1＞F_max2。

(3) When the loads of all the air springs meet F < F_setAnd the total load F_T＜F_maxIn time, the early warning state is released, safe_loadThe dashboard displays a third color (e.g., green) that is set, deactivating the audible alarm.

In a further alternative embodiment, the individual loads obtained are grouped into loads F on the left and right sides of the vehicle_L、F_RAfter the lateral load transfer rate LTR is calculated and compared with a set threshold value according to the LTR, load early warning can be selectively added as an additional judgment condition, and then multiple levels of roll early warning are obtained and are sent to an instrument panel for displaying.

Specifically, the load warning can be exemplarily explained by referring to the flowchart shown in fig. 10:

(1) when the condition of LTR | ≧ LIMIT is satisfied₁When the vehicle is running, the ECU sends out a roll emergency warning danger_tiltThe dashboard displays a first color (e.g., red) warning and an audible alarm.

(2) When LIMIT is satisfied₁＞|LTR|≥LIMIT₂In time, in combination with load early warning, the following two situations can be distinguished:

(b) When the load early warning is safe_loadWhen the ECU sends out the primary side-tipping early warning war_tiltThe instrument panel displays yellow warning and sound alarm.

Specially, the ECU can directly send out the primary side-tipping early warning war without considering the load early warning_tiltAnd the instrument panel displays a set second color (such as yellow) early warning and sound alarm.

(3) When | LTR | < LIMIT is satisfied₂When the emergency warning safety is in operation, the ECU sends out the heeling emergency warning safety_tiltThe dashboard displays a third color (e.g., green) setting and deactivates the audible alarm.

The instrument can visually give a prompt to a driver, so that the driver can conveniently standardize the load and the driving behavior of the driver, and rollover accidents are avoided.

Since the processes and functions implemented by the vehicle of this embodiment substantially correspond to the embodiments, principles and examples of the apparatus shown in fig. 8, the description of this embodiment is not given in detail, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.

Through a large number of tests, the technical scheme of the invention is adopted, under the condition of not using a pressure sensor, the data of the displacement sensor of the electric control air suspension is utilized, and the algorithm calculation is carried out, so that the load of the vehicle can be evaluated, the posture of the vehicle body can be evaluated, the early warning is carried out, the rollover danger is prevented, and the reliability and the safety of the vehicle operation are improved.

According to an embodiment of the present invention, there is also provided a storage medium corresponding to a control method of preventing rollover of a vehicle. The storage medium may include: the storage medium has stored therein a plurality of instructions; the instructions are used for loading and executing the vehicle rollover prevention control method by the processor.

Since the processing and functions implemented by the storage medium of this embodiment substantially correspond to the embodiments, principles, and examples of the methods shown in fig. 1 to fig. 7, details are not described in the description of this embodiment, and reference may be made to the related descriptions in the foregoing embodiments, which are not described herein again.

Through a large number of tests, the technical scheme of the invention is adopted, and aiming at the air spring, under the condition of not using a pressure sensor, the data of the electric control air suspension displacement sensor is directly utilized to obtain the load and calculate the vehicle side-tipping condition, so that the side-tipping danger can be prevented, and the reliability and the safety of the vehicle operation are improved.

According to the embodiment of the invention, the vehicle corresponding to the control method for preventing the vehicle from rolling over is also provided. The vehicle may include: a processor for executing a plurality of instructions; a memory to store a plurality of instructions; the instructions are stored in the memory, and are loaded by the processor and execute the control method for preventing the vehicle from rolling over.

Since the processes and functions implemented by the vehicle of the present embodiment substantially correspond to the embodiments, principles and examples of the method shown in fig. 1 to fig. 7, the description of the present embodiment is not detailed, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.

Through a large number of tests, the technical scheme of the invention is adopted, and under the condition of not using a pressure sensor, the vehicle load evaluation algorithm based on the electric control air suspension displacement sensor is used for giving early warning to the overload and the side inclination of the vehicle, so that on one hand, the vehicle load can be evaluated, and the overload can be given early warning; on the other hand, when the posture of the vehicle body is not stable, early warning can be given out, and the vehicle is prevented from being in danger of rollover.

In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.

The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A control method for preventing a vehicle from rolling over, comprising:

acquiring displacement sensor data of an electronically controlled air suspension of the vehicle;

determining a load value of an air spring of the electrically controlled air suspension according to the displacement sensor data;

carrying out overload early warning and/or rollover early warning according to the load value so as to realize rollover prevention control on the vehicle;

wherein, according to the selection of the air spring, the ECU acquires the corresponding effective pressure-bearing area A of the air spring_eThe threshold value corresponding to a single air spring; according to the selected specific vehicle type, the ECU acquires the corresponding self weight of the vehicle and the corresponding early warning threshold value; then, according to the designed height, the relative pressure of the internal initial state of the air spring can be obtained; the data of the displacement sensor on each air spring is collected in real time, and the ECU calculates the correspondenceThe air polytropic exponent of (a); the stress condition of each air spring, namely the load condition of each air spring can be obtained through calculation; thereby obtaining the spring load mass of the whole vehicle;

when the load of any air spring meets the condition that F is more than or equal to F_set1Or, total load F_T≥F_max1Give out overload emergency warning danger_loadThe instrument panel displays a set first color early warning and a set sound alarm;

if F < F is satisfied_set1And F_T＜F_max1When the load of any air spring exceeds F ≧ F_set2Or, total load F_T≥F_max2Then, an overload primary early warning is sent out_loadThe instrument panel displays a set second color early warning and sound alarm; wherein F_set1＞F_set2，F_max1＞F_max2；

When the loads of all the air springs meet F < F_setAnd the total load F_T＜F_maxIn time, the early warning state is released, safe_loadThe third color set by the instrument panel is displayed, and the sound alarm is released;

the obtained loads are grouped into loads F on the left and right sides of the vehicle_L、F_RWhen the lateral load transfer rate LTR is calculated and the LTR is compared with a set threshold value, the load warning can be selectively added as an additional determination condition, and then the roll warning of a plurality of levels can be obtained and displayed on the instrument panel.

2. The method of claim 1, wherein determining a load value for an air spring of the electronically controlled air suspension from the displacement sensor data comprises:

determining the atmospheric pressure p of the environment to which the vehicle belongs_aAnd air polytropic exponent n, set height h and internal pressure p of the air spring in initial state_e0And the effective bearing area A of the air spring itself_e；

According to the atmospheric pressure p_aThe air polytropic exponent n, the set height h, the internal pressure p_e0And the effective bearing area A_eAnd calculating the load value F of the air spring by using the following formula in combination with the displacement sensor data x:

3. the method of claim 2, wherein,

the air spring includes: a diaphragm type air spring; the diaphragm air spring includes: a cylindrical piston base membrane type air spring;

and/or the presence of a gas in the gas,

the air polytropic index can be determined according to the change rate of the displacement sensor data of the electric control air suspension; and/or the presence of a gas in the gas,

the internal pressure can be determined based on the set height and the body weight of the vehicle.

4. A method according to any of claims 1-3, wherein the load values comprise: the single load of each air spring in the electric control air suspension and the total load of the whole vehicle are controlled by the electric control air suspension;

wherein the content of the first and second substances,

carrying out overload early warning according to the load value, comprising the following steps:

determining whether the vehicle is overloaded according to the individual load and/or the total load in a case where the vehicle is not running;

if the vehicle is overloaded, carrying out overload early warning according to the current load value and a set overload early warning level;

or if the vehicle is not overloaded or is unloaded to be not overloaded under the condition that the vehicle is overloaded, not carrying out overload early warning or relieving the overload early warning under the condition that the vehicle is overloaded.

5. The method of claim 4, wherein determining whether the vehicle is overloaded based on the individual loads and/or the total load comprises:

determining whether the single load of any one air spring is larger than or equal to a set first single load threshold value or whether the total load is larger than or equal to a set first total load threshold value;

if the single load of any one air spring is larger than or equal to the first single load threshold value, or the total load is larger than or equal to the first total load threshold value, determining that the vehicle is overloaded, and determining that the overload early warning level under the current load value is a set first overload early warning level;

if the single load of any air spring is smaller than the first single load threshold value and the total load is smaller than the first total load threshold value, further determining whether the single load of any air spring is larger than or equal to a set second single load threshold value or whether the total load is larger than or equal to a set second total load threshold value; the second individual loading threshold is less than the first individual loading threshold, and the second total loading threshold is less than the first total loading threshold;

if the single load of any one air spring is larger than or equal to the second single load threshold value, or the total load is larger than or equal to the second total load threshold value, determining that the vehicle is overloaded, and determining that the overload early warning level under the current load value is a set second overload early warning level; the second overload warning level is less than the first overload warning level;

or if the single load of any one air spring is smaller than the second single load threshold value and the total load is smaller than the second total load threshold value, determining that the vehicle is not overloaded.

6. The method of claim 5, wherein,

carrying out overload early warning according to the current load value and a set overload early warning level, wherein the overload early warning comprises the following steps:

if the overload early warning level is a set first overload early warning level, displaying the indication information of the overload early warning with a first set color and/or initiating the overload early warning of a first set reminding message;

or if the overload early warning level is a set second overload early warning level, displaying overload early warning indication information of a second set color and/or initiating overload early warning of a second set reminding message;

and/or the presence of a gas in the gas,

not carrying out overload early warning or releasing the overload early warning under the condition of the overload of the vehicle, comprising the following steps:

displaying indication information of the third set color for not overloading or removing the overload early warning, and/or removing the overload early warning of the first set reminding message or the second set reminding message;

and/or the presence of a gas in the gas,

7. Method according to one of claims 1-3, 5, 6, characterized in that the roll warning according to the load value comprises:

determining the transverse load transfer rate of the vehicle according to the load value;

determining whether the vehicle body posture of the vehicle is stable or not according to the transverse load transfer rate;

if the posture of the vehicle body is not stable, performing a tilting early warning according to the current transverse load transfer rate and a set tilting early warning level;

or if the posture of the vehicle body is stable or the vehicle body posture is adjusted to be stable through the posture adjustment under the condition that the posture of the vehicle body is not stable, the roll early warning is not carried out or the roll early warning under the condition that the posture of the vehicle body is not stable is removed.

8. The method of claim 4, wherein performing a roll warning based on the load value comprises:

9. The method of claim 7, wherein,

determining a lateral load transfer rate from the load value, comprising:

grouping the load values into left and right load values on the left and right sides of the vehicle;

determining the sum of the difference of the vertical loads of the left and right side tires of the vehicle and the vertical load values of the left and right side tires according to the left load value and the right load value;

dividing the difference of the vertical loads by the sum of the vertical load values to obtain the transverse load transfer rate of the vehicle;

and/or the presence of a gas in the gas,

determining whether the body posture of the vehicle is stable according to the lateral load transfer rate, including:

determining whether the lateral load transfer rate is greater than or equal to an upper limit of a set transfer rate range;

if the transverse load transfer rate is larger than or equal to the upper limit of the set transfer rate range, determining that the posture of the vehicle body is not stable, and determining that the roll early warning level under the current transverse load transfer rate is a set first roll early warning level;

if the lateral load transfer rate is less than the upper limit of the set transfer rate range, further determining whether the lateral load transfer rate is greater than or equal to the lower limit of the set transfer rate range;

if the transverse load transfer rate is smaller than the upper limit of the set transfer rate range and is larger than or equal to the lower limit of the set transfer rate range, under the condition of carrying out overload early warning according to the load value, further determining whether the posture of the vehicle body is stable or not by combining with an overload early warning level for carrying out overload early warning on the vehicle;

or if the transverse load transfer rate is smaller than the lower limit of the set transfer rate range, determining that the posture of the vehicle body is stable.

10. The method of claim 8, wherein,

determining a lateral load transfer rate from the load value, comprising:

and/or the presence of a gas in the gas,

11. The method of claim 9 or 10, wherein determining whether the body attitude is stable is further determined in conjunction with an overload warning level for overload warning of the vehicle, comprising:

if the overload early warning level for carrying out overload early warning on the vehicle is a first overload early warning level or a second overload early warning level, determining that the posture of the vehicle body is unstable, and determining that the roll early warning level under the current transverse load transfer rate is a set first roll early warning level;

alternatively, the first and second electrodes may be,

if the overload early warning level for carrying out overload early warning on the vehicle is not overload early warning, or the overload early warning under the condition of vehicle overload is removed, or if the overload early warning level for carrying out overload early warning on the vehicle is not considered, determining that the posture of the vehicle body is not stable, and determining that the roll early warning level under the current transverse load transfer rate is a set second roll early warning level; the second roll warning level is less than the first roll warning level.

12. The method of claim 11, wherein,

according to the present horizontal load transfer rate according to the early warning rank of bank of settlement bank early warning rank carry out the early warning of bank, include:

if the roll early warning level is a set first roll early warning level, displaying the indication information of the roll early warning with a first set color and/or initiating the roll early warning of a first set reminding message;

or if the roll early warning level is a set second roll early warning level, displaying the indication information of the roll early warning with a second set color and/or initiating the roll early warning of a second set reminding message;

and/or the presence of a gas in the gas,

not carrying out the early warning of heeling, or removing the early warning of heeling under the unstable condition of automobile body gesture includes:

and displaying the indication information of non-tilting or tilting warning removal of the third set color, and/or tilting warning removal of the first set reminding message or the second set reminding message.

13. A control device for preventing a vehicle from rolling over, comprising:

an acquisition unit for acquiring displacement sensor data of an electronically controlled air suspension of the vehicle;

the control unit is used for determining the load value of an air spring of the electric control air suspension according to the data of the displacement sensor;

the control unit is also used for carrying out overload early warning and/or rollover early warning according to the load value so as to realize rollover prevention control on the vehicle;

wherein, according to the selection of the air spring, the ECU acquires the corresponding effective pressure-bearing area A of the air spring_eThe threshold value corresponding to a single air spring; according to the selected specific vehicle type, the ECU acquires the corresponding self weight of the vehicle and the corresponding early warning threshold value; then, according to the designed height, the relative pressure of the internal initial state of the air spring can be obtained; the method comprises the steps that data of a displacement sensor on each air spring are collected in real time, and an ECU calculates a corresponding air polytropic index; the stress condition of each air spring, namely the load condition of each air spring can be obtained through calculation; thereby obtaining the spring load mass of the whole vehicle;

when the load of any air spring meets the condition that F is more than or equal to F_set1Or, total loadF_T≥F_max1Give out overload emergency warning danger_loadThe instrument panel displays a set first color early warning and a set sound alarm;

14. The apparatus of claim 13, wherein the control unit determines a load value of an air spring of the electronically controlled air suspension from the displacement sensor data, comprising:

15. the apparatus of claim 14, wherein,

and/or the presence of a gas in the gas,

16. The apparatus according to any one of claims 13-15, wherein the load value comprises: the single load of each air spring in the electric control air suspension and the total load of the whole vehicle are controlled by the electric control air suspension;

wherein the content of the first and second substances,

the control unit carries out overload early warning according to the load value, and the overload early warning comprises the following steps:

17. The apparatus of claim 16, wherein the control unit determines whether the vehicle is overloaded based on the individual loads and/or the total load, comprising:

18. The apparatus of claim 17, wherein,

the control unit carries out overload early warning according to the current load value and a set overload early warning level, and the overload early warning method comprises the following steps:

and/or the presence of a gas in the gas,

the control unit does not carry out overload early warning or releases the overload early warning under the condition of vehicle overload, and the method comprises the following steps:

and/or the presence of a gas in the gas,

19. The apparatus according to any of claims 13-15, 17, 18, wherein the control unit performs a roll warning based on the load value, comprising:

20. The apparatus of claim 16, wherein the control unit performs a roll warning based on the load value, comprising:

21. The apparatus of claim 19, wherein,

the control unit determines the transverse load transfer rate according to the load value, and comprises the following steps:

and/or the presence of a gas in the gas,

the control unit determines whether the vehicle body posture of the vehicle is stable according to the lateral load transfer rate, including:

22. The apparatus of claim 20, wherein,

and/or the presence of a gas in the gas,

23. The apparatus of claim 21 or 22, wherein the control unit further determines whether the body attitude is stable in conjunction with an overload warning level for overload warning of the vehicle, comprising:

alternatively, the first and second electrodes may be,

24. The apparatus of claim 23, wherein,

the control unit performs the roll early warning according to the current transverse load transfer rate and according to the set roll early warning level, and the roll early warning method comprises the following steps:

and/or the presence of a gas in the gas,

the control unit does not perform the roll early warning or removes the roll early warning under the unstable condition of the posture of the vehicle body, and the control unit comprises:

25. A vehicle, characterized by comprising: a control apparatus for preventing a vehicle from rolling over as claimed in any one of claims 13 to 24.

26. A storage medium having a plurality of instructions stored therein; the instructions are used for loading and executing the control method for preventing the rollover of the vehicle according to any one of claims 1 to 12 by the processor.

27. A vehicle, characterized by comprising:

a processor for executing a plurality of instructions;

a memory to store a plurality of instructions;

wherein the instructions are stored by the memory and loaded by the processor to execute the method for controlling vehicle rollover prevention according to any one of claims 1 to 12.