CN109823333A - The control system and control method for preventing vehicle bend from turning on one's side - Google Patents
The control system and control method for preventing vehicle bend from turning on one's side Download PDFInfo
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- CN109823333A CN109823333A CN201811613409.5A CN201811613409A CN109823333A CN 109823333 A CN109823333 A CN 109823333A CN 201811613409 A CN201811613409 A CN 201811613409A CN 109823333 A CN109823333 A CN 109823333A
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Abstract
The invention discloses a kind of control systems and its control method for preventing vehicle bend from turning on one's side, the control system includes detection device, control device and executing agency, the detection device and the control device are arranged on the vehicle body of vehicle, feedback signal is formed for detecting the current tilt angle of the vehicle, and by the current tilt angle；The control device sends control instruction for receiving and handling the feedback signal, and according to processing result；One end of the executing agency is connect with the power output end of the vehicle bridge of the vehicle, and the other end is connect with the wheel of the vehicle, and the executing agency receives the control instruction, and stretches out or retract according to control instruction control wheel.It has the advantage that: stretching out the arm of force that can effectively increase wheel by the wheel of actuating mechanism controls inclination of vehicle side, improve the stability of vehicle during the turn, the rollover phenomenon for avoiding vehicle from occurring during the turn, avoids the influence to surrounding road condition.
Description
Technical field
The present invention relates to technical field of vehicle control more particularly to a kind of control systems for preventing vehicle bend from turning on one's side.This
Invention further relates to a kind of control method for preventing vehicle bend from turning on one's side.
Background technique
With economic continuous development, people's lives level is constantly being promoted, and automobile has become must in people's life
Indispensable tool, for car while meeting people's daily trip demand, truck then carries the key player of Material Transportation.
It handling during straight-line travelling of truck and has good stability, still, when truck is turned, due to fortune
The quality of defeated cargo is big, turning speed is high, generates the reasons such as lateral centripetal force easily during turning leads to showing for truck rollover
As even causing traffic accident so as to cause traffic jam, in turn resulting in the loss of the life and property that can not retrieve.
Summary of the invention
The purpose of the present invention is at least solving one of above-mentioned problems of the prior art, which is by following skill
What art scheme was realized:
The present invention provides a kind of control system for preventing vehicle bend from turning on one's side, comprising:
Detection device, the detection device are arranged on the vehicle body of vehicle, for detecting the current tilt angle of the vehicle
Degree, and the current tilt angle is formed into feedback signal；
Control device, the control device are arranged on the vehicle body, for receiving and handling the feedback signal, and according to
Control instruction is sent according to processing result；
Executing agency, one end of the executing agency are connect with the power output end of the vehicle bridge of the vehicle, the execution
The other end of mechanism is connect with the wheel of the vehicle, and the executing agency receives the control instruction, and according to the control
Instruction control wheel is stretched out or is retracted.
Optionally, the detection device includes the first detection piece, and the tail portion of the vehicle body is arranged in first detection piece,
And it is located on the central axes of the vehicle body.
Optionally, the detection device further includes the second detection piece, and the head of the vehicle body is arranged in second detection piece
Portion, and be located on the central axes of the vehicle body.
Optionally, first detection piece and second detection piece are gyroscope.
Optionally, the control device includes processor and touch controller, the touch controller respectively with the processor, described
Detection device and executing agency electrical connection.
Optionally, the touch controller has display screen, and the display screen is capable of the feedback of detection device described in real-time display
Information, also, the display screen can be inputted the instruction for directly operating the touch controller and working by driver, thus directly
Control the stretching or retraction of wheel.
Optionally, the executing agency includes connector, oil cylinder, oil pump, motor and hydraulic oil container, and the oil cylinder passes through pipe
Road is connected to the hydraulic oil container, and the oil pump is arranged on the pipeline, and the motor is connect with the oil pump transmission；It is described
The cylinder body of oil cylinder is connect with the wheel, and the cylinder rod of the oil cylinder is connect by the connector with the power output end.
Optionally, the executing agency further includes limit assembly, and the limit assembly includes limit plate, gag lever post and limit
Block, is spaced apart on the limit plate and is equipped with mounting hole and through-hole, and the mounting hole is located at the center of the limit plate, the cylinder body
In the mounting hole, one end of the gag lever post and the connector are affixed, the limit for one end grafting far from the wheel
The other end of position bar is affixed with the limited block after the through-hole, to limit the stroke of the cylinder rod.
Optionally, the quantity of the through-hole is multiple, and each through-hole is around the equally circumferentially spaced of the mounting hole, institute
The quantity for stating gag lever post is consistent with the quantity of the through-hole, and the quantity of the limited block is consistent with the quantity of the gag lever post.
The present invention also provides a kind of control methods for preventing vehicle bend from turning on one's side, by preventing vehicle curved as described above
The control system of road rollover is implemented, which includes the following steps:
S1: the tilt angle of Ackermann steer angle is acquired；
S2: judging whether the tilt angle of Ackermann steer angle is greater than predetermined angle, if so, S3 is transferred to, if it is not, not locating then
Reason；
S3: the current vehicle speed of vehicle is acquired；
S4: the stretching speed of wheel is calculated according to current vehicle speed；
S5: it is stretched out according to the calculated wheel for stretching out speed control inclination of vehicle side；
S6: the tilt angle after acquisition vehicle turning；
S7: whether the tilt angle after judging vehicle turning is zero, if so, S8 is transferred to, if it is not, not handling then；
S8: the wheels retracted of stretching is controlled.
Compared with prior art, the control system and its control method for preventing vehicle bend from turning on one's side of offer of the present invention
Have the beneficial effect that
1, it acquires the tilt angle of Ackermann steer angle and combines predetermined angle, to realize to the effective of inclination of vehicle degree
Judgement, and then the control precision of vehicle is improved, guarantee the safety of vehicle during the turn.
2, the arm of force that can effectively increase wheel is stretched out by the wheel of actuating mechanism controls inclination of vehicle side, thus effectively
The stability of vehicle during the turn is improved, the rollover phenomenon for avoiding vehicle from occurring during the turn was avoided to week
Enclose the influence of road conditions.
3, when vehicle is by turning vehicle body Hui Zhenghou, vehicle driving mistake can be guaranteed effectively by wheel retraction by executing structure
Safety in journey.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
The structure framework of Fig. 1 control system provided by the present invention for preventing vehicle bend from turning on one's side；
The connection signal of executing agency and wheel in Fig. 2 control system provided by the present invention for preventing vehicle bend from turning on one's side
Figure；
Fig. 3 is the attachment structure schematic diagram of limit plate shown in Fig. 2, gag lever post, limited block and oil cylinder；
Fig. 4 is the flow chart of the control method of the present invention that prevent vehicle bend from turning on one's side provided.
Appended drawing reference
1 is detection device, and 11 be the first detection piece, and 12 be the second detection piece；
2 be control device, and 21 be processor, and 22 be touch controller；
3 be executing agency, and 31 be oil cylinder, and 311 be cylinder body, and 312 be cylinder rod, and 32 be limited block, and 33 be gag lever post, and 34 be company
Fitting, 35 be limit plate, and 351 be through-hole, and 36 be pipeline；
4 be wheel；
5 be vehicle bridge.
Specific embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although showing this public affairs in attached drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.It is to be able to thoroughly understand the disclosure on the contrary, providing these embodiments, and can be by this public affairs
The range opened is fully disclosed to those skilled in the art.
Fig. 1 to Fig. 3 is please referred to, in a kind of specifically embodiment, the present invention provides one kind to prevent vehicle bend side
The control system turned over, comprising: detection device 1, detection device 1 are arranged on the vehicle body of vehicle, lean forward for detecting working as vehicle
Rake angle, and current tilt angle is formed into feedback signal；Control device 2, control device 2 is arranged on vehicle body, for receiving
With processing feedback signal, and according to processing result send control instruction；Executing agency 3, one end of executing agency 3 and the vehicle of vehicle
The power output end of bridge 5 connects, and the other end of executing agency 3 and the wheel 4 of vehicle connect, and executing agency 3 receives control instruction,
And it stretches out or retracts according to control instruction control wheel 4.
Specifically, in the driving process of truck, detection device 1 in real time detects the current tilt angle of vehicle,
And the result that will test forms feedback signal and is fed back, and the feedback signal that 2 receiving detection device 1 of control device issues is sentenced
Whether the tilt angle of disconnected detection is greater than zero, if more than zero, then proves that truck is in turn condition, then judges the inclination angle of detection
Whether degree is greater than or equal to preset angle in control device 2, if so, proving that this is the risk that vehicle has rollover, touch-control
Device 22 issue control instruction, executing agency 3 receive control instruction, and drive have rollover hidden danger side wheel 4 stretch out, pass through by
Wheel 4 stretches out, to increase the arm of force of vehicle, to improve the stability of Ackermann steer angle, avoids there is a situation where turning on one's side,
It avoids having an impact surrounding road condition, life i.e. property safety is avoided to incur loss.After vehicle turning, detection device 1
Detect that the current tilt angle of vehicle revert to original state, control device 2 starts executing agency 3, and executing agency 3 makes vehicle
Wheel 4 is retracted into original state, to meet the needs of of normally forming, guarantees the safety to be formed.
It is to be appreciated that the power output end of the vehicle bridge 5 of one end and vehicle of executing agency 3 connects, executing agency 3
Power is transferred on wheel 4 by the connection of the wheel 4 of the other end and vehicle, power output end by executing agency 3, thus effectively real
The transmitting of existing power, guarantees the normal orderly function of wheel 4, and during power transmitting, executing agency 3 is synchronous with wheel 4
Rotation, so that the intensity of wheel 4 is guaranteed, so that the ability that wheel 4 drives vehicle driving be effectively ensured.
It should be pointed out that the intensity and rigidity of above-mentioned executing agency 3 can satisfy the requirement of support wheel 4, avoid out
The case where existing fracture of executing agency 3 causes vehicle tyre to fall off, so that the safety of driving be effectively ensured.
It is further understood that, detection device 1 includes the first detection piece 11, and the tail of vehicle body is arranged in the first detection piece 11
Portion, and be located on the central axes of vehicle body.Since the vehicle turning process vehicle that always occurs turning on one's side is toppled over to two sides, pass through by
First detection piece 11 be arranged in the tail portion of vehicle body and be located at vehicle body central axes on, can effectively improve detection sensitivity and
To guarantee the accuracy of detection, and then the safety during vehicle turning is effectively ensured in precision.
Further, the first detection piece 11 is the first gyroscope.The structure of first gyroscope is simple, the sensitivity of detection
Height can effectively capture the tilt angle of vehicle when vehicle tilts, to improve the precision of detection, and then improve
Executing agency 3 controls the precision of wheel 4 extending action.
Further, detection device 1 further includes the second detection piece 12, and the head of vehicle body is arranged in the second detection piece 12, and
And it is located on the central axes of vehicle body.Since the vehicle turning process vehicle that always occurs turning on one's side is toppled over to two sides, and by the
Detection piece is arranged in the head of vehicle body and is located on the central axes of vehicle body, can effectively improve the sensitivity and precision of detection,
To guarantee the accuracy of detection, and then the safety during vehicle turning is effectively ensured.
It should be pointed out that above-mentioned second detection piece 12 is used cooperatively with the first detection piece 11, only when two detection pieces
Simultaneously when feedback signal, control device 2 could start according to the result control executing agency 3 of feedback, to control stretching for wheel 4
It acts out, avoids due to detection piece failure or being damaged causes control device 2 to judge the case where causing wheel 4 to stretch out without reason by accident
Occur, effectively increases the precision of control, and then ensure that the traffic safety of vehicle.
Further, the second detection piece 12 is the second gyroscope.And the structure of gyroscope is simple, the sensitivity of detection
Height can effectively capture the tilt angle of vehicle when vehicle tilts, to improve the precision of detection, and then improve
Executing agency 3 controls the precision of wheel 4 extending action.
Further, control device 2 include processor 21 and touch controller 22, touch controller 22 respectively with processor 21, detection
Device 1 and executing agency 3 are electrically connected.It is provided with predetermined angle in processor 21, when which is vehicle rollover
Critical valueTimes, after processing receives the signal of the feedback of detection device 1, it will test working as vehicle detected by device 1
Top rake angle is compared with predetermined angle, and when the current tilt angle of vehicle is greater than or equal to predetermined angle, vehicle is
It is in critical state, needs to start immediately executing agency 3 at this time, touch controller 22 sends control instruction to structure is executed, and executes
Mechanism 3 is stretched out according to control diameter driving wheel 4, so that the stability during guaranteeing vehicle turning, avoids that vehicle side occurs
The phenomenon that turning over, so that surrounding road condition is not affected.
In addition, touch controller 22 is generally located in the driver's cabin of vehicle, touch controller 22 has display screen, and detection device 1 is anti-
The information of feedback can real-time display on a display screen, allow the operator in real time understand vehicle situation, meanwhile, on display screen also
The working condition and running parameter of simultaneous display executing agency 3 allow the operator to quickly and effectively grasp executing agency 3
Current working status, in person, driver can directly operate the input that touch controller 22 carries out work order, thus direct controlled wheel
4 stretching or retract action, when encountering emergency case, can effectively shorten so as to effectively improve the convenience used
The time of reaction timely and effectively eliminates danger in budding state.
Specifically understand, executing agency 3 includes connector 34, oil cylinder 31, oil pump, motor and hydraulic oil container, oil cylinder 31
It is connected to by pipeline 36 with hydraulic oil container, oil pump is arranged on pipeline 36, and motor is connect with oil pump transmission；The cylinder body of oil cylinder 31
311 connect with wheel 4, and the cylinder rod 312 of oil cylinder 31 is connect by connector 34 with power output end.2 electricity of motor and control device
Connection, when needing to stretch out wheel 4, control device 2 controls electric motor starting, and the rotation of motor driven oil pump, oil pump is by hydraulic oil
Hydraulic oil in case 36 is sent into oil cylinder 31 by the road, and under the promotion of high pressure oil, 312 opposing cylinder 311 of cylinder rod of oil cylinder 31 is stretched
Out, it being connect with power output end (link position is fixed) due to cylinder rod 312 by connector 34, cylinder body 311 is connect with wheel 4,
Cylinder body 311 and 312 relative motion of cylinder rod, so that cylinder body 311 is protruding with motor car wheel 4, to utilize 312 principle of cylinder rod
Increase the arm of force of vehicle, to improve the stability of vehicle, and then guarantees the safety of vehicle during the turn.When need by
When wheel 4 retracts, motor reversal, so that oil pump be driven to invert, the hydraulic oil in oil cylinder 31 is drawn back by oil pipe to hydraulic station,
Due to the pressure reduction of high pressure oil, cylinder body 311 and cylinder rod 312 think about it movement so that, the relative length of the two shortens, to realize
The retraction of wheel 4.This kind of structure is simple, can effectively realize extending and retracting for wheel 4, can effectively improve use it is convenient
Property.
It should be pointed out that position limiting structure is provided in cylinder rod 312, when cylinder body 311 and cylinder rod 312 reach preset length
When, due to the presence of position limiting structure, cylinder body 311 and cylinder rod 312 can not continue to extend, to avoid due to cylinder body 311 and cylinder rod
312 excessively stretch out and device damage the phenomenon that, then reduce the maintenance cost of device.
Specifically, executing agency 3 further includes limit assembly, and limit assembly includes limit plate 35, gag lever post 33 and limited block
32, it is spaced apart on limit plate 35 and is equipped with mounting hole and through-hole 351, mounting hole is located at the center of limit plate 35, and cylinder body 311 is far from vehicle
One end of wheel 4 is plugged in mounting hole, and one end of gag lever post 33 and connector 34 are affixed, and the other end of gag lever post 33 passes through through-hole
It is affixed with limited block 32 after 351, to limit the stroke of cylinder rod 312.The cylinder rod 312 of oil cylinder 31 passes through connector 34 and vehicle bridge 5
Power output end connection, the power of power output end is transferred on oil cylinder 31 by connector 34, to turn with motor car wheel 4
Dynamic, the cylinder body 311 of oil cylinder 31 passes through clamping, bonding, welding etc. far from the mounting hole of one end of wheel 4 insertion limit plate 35
Connection type is fixed, meanwhile, on connector 34 and limit plate 35 between be provided with gag lever post 33, the one of the gag lever post 33
End connects with reinforcement by connection, and the other end of gag lever post 33 is affixed with limited block 32 after through-hole 351, and limit plate 35 is in cylinder body 311
Drive under can relative limit bar 33 it is mobile, since limited block 32 is connect with gag lever post 33, and the size of limited block 32 is greater than
The diameter of through-hole 351, limited block 32 cannot be introduced into through-hole 351, when connector 34 leans with limit plate 35, wheel 4
Extreme position in retraction, when limit plate 35 is resisted against on limited block 32, at this point, wheel 4 is in the extreme position stretched out.It is logical
Crossing above structure can effectively ensure that the position of wheel 4 extended and retracted, to avoid since oil cylinder 31 stretches out or retracts
The case where degree annunciator damages, and then the cost of plant maintenance is effectively reduced.
It is pointed out that the above-mentioned generally rectangular cross-section hole of mounting hole, the external surface shape of cylinder body 311 is mutually fitted with mounting hole
Match, when cylinder body 311 is inserted in the inside of mounting hole, can be realized the circumferential direction limit to the two link position using rectangular configuration,
It avoids occurring loosening the phenomenon that causing connection to fall off in rotation process, so that the safety used be effectively ensured.In addition, above-mentioned limit
Bar 33 simultaneously limits the circumferential of link position between cylinder rod 312 and limit plate 35, thus further increase connection intensity and
Stability, to guarantee that wheel 4 smoothly can be stretched out or be retracted, so that the safety of vehicle turning is guaranteed.
Specifically, the quantity of through-hole 351 is multiple, and each through-hole 351 is around the equally circumferentially spaced of mounting hole, gag lever post 33
Quantity it is consistent with the quantity of through-hole 351, the quantity of limited block 32 is consistent with the quantity of gag lever post 33.By the way that multiple limits are arranged
Bar 33 and limited block 32 can effectively realize the limit that stroke is extended and retracted to wheel 4, further improve the stretching of wheel 4
With the stabilization row of retraction, the safety of vehicle is guaranteed, and by the way that each gag lever post 33 is equally circumferentially spaced around mounting hole, mentions
The bonding strength and stability of high oil cylinder 31 so as to which smoothly extending and retracting for wheel 4 is effectively ensured, and then improve vehicle
The safety of turning.
Referring to FIG. 4, the present invention also provides a kind of control methods for preventing vehicle bend from turning on one's side, by as described above
The step of control system for preventing vehicle bend from turning on one's side is implemented, the control system for preventing vehicle bend from turning on one's side is as follows:
S1: acquiring the tilt angle of Ackermann steer angle, acquire compartment turn when tilt angle when, pass through first detection
Part 11 and the second detection piece 12 carry out simultaneously, and the first detection piece 11 is located on the central axis of tail of the body, the second monitoring site
In on vehicle body head center line, when vehicle is turned, two detection pieces are respectively acquired the tilt angle of vehicle, and
And respectively feed back the data of acquisition, only when two detection pieces feedback data simultaneously, control device 2, which just can be carried out, to be sentenced
It is disconnected, to effectively improve the precision of data acquisition, and then the control precision of control system is improved, so that the safety of Ackermann steer angle
Property is guaranteed.
S2: judging whether the tilt angle of Ackermann steer angle is greater than predetermined angle, if so, S3 is transferred to, if it is not, not locating then
Reason, specifically, above-mentioned predetermined angle is the critical value that vehicle is able to carry out roll-over stateTimes, in other words, preset
Angle is greater than critical value, by reducing the numerical value of predetermined angle, can be realized the prior involvement of the stretching of wheel 4, so that vehicle mentions
The prevention stage is advanced into, so that safety is further ensured that.
S3: acquiring the current vehicle speed of vehicle, and due to speed difference, centrifugal force of the vehicle in turning is also different, that is,
It says, when speed is high, vehicle is turned, and it is that vehicle is turned when speed is low that the probability turned on one's side is high, is occurred
The probability bottom of rollover can provide good foundation by acquisition current vehicle speed for subsequent control executing agency 3, to effectively improve
The accuracy of control.
It is to be appreciated that the above-mentioned acquisition tested the speed generally is obtained by entire car controller, to reduce data acquisition
Cost, ensure that the accuracy of data.
S4: the stretching speed of wheel 4, since speed and the speed of rollover are closely bound up, wheel 4 are calculated according to current vehicle speed
Stretching speed it is directly proportional to current vehicle speed, that is to say, that when speed is high, need wheel 4 quickly stretch out, to avoid vehicle
It turns on one's side, when the vehicle speed is low, the stretching speed of wheel 4 can be reduced suitably.
S5: it is stretched out according to the calculated wheel 4 for stretching out speed control inclination of vehicle side, control device 2 starts execution machine
Structure 3, executing agency 3, which processes vehicle, will occur the stretching of wheel 4 of rollover side, to avoid vehicle from turning on one's side, so that vehicle
Safety during turning is guaranteed.
It should be pointed out that the quantity of above-mentioned executing agency 3 is consistent with the quantity of wheel, judged by detection device 1
There is the hidden danger turned on one's side, the corresponding executing agency 3 for starting the side of control device 2, so that effectively corresponding stretch out positioned at that side
Vehicle spiral shell, thus the safety during guaranteeing vehicle turning.
S6: the tilt angle after acquisition vehicle turning can be control by the tilt angle after acquisition vehicle turning
Follow-up process provides the foundation of judgement, to effectively increase the accurate of control process.
S7: whether the tilt angle after judging vehicle turning is zero, if so, being transferred to S8, if it is not, not handling then, works as vehicle
Turning after inclination angle be zero, vehicle is in execution form state at this time, wheel 4 is stretched out without using 312 principle of cylinder rod,
The wheel 4 stretched out is in order to guarantee that the safety of driving is withdrawn in time, to improve the safety of vehicle travel process.
S8: the wheel 4 for controlling stretching retracts.
Compared with prior art, the control system and its control method for preventing vehicle bend from turning on one's side of offer of the present invention
Have the beneficial effect that
1, it acquires the tilt angle of Ackermann steer angle and combines predetermined angle, to realize to the effective of inclination of vehicle degree
Judgement, and then the control precision of vehicle is improved, guarantee the safety of vehicle during the turn.
2, the arm of force that can effectively increase wheel 4 is stretched out by the wheel 4 that executing agency 3 controls inclination of vehicle side, thus
The stability of vehicle during the turn is effectively increased, the rollover phenomenon for avoiding vehicle from occurring during the turn avoids
Influence to surrounding road condition.
3, when vehicle is by turning vehicle body Hui Zhenghou, can effectively wheel 4 be withdrawn by executing structure, guarantee vehicle driving mistake
Safety in journey.
It should be understood that term used herein merely for description particular example embodiment purpose, and have no intention into
Row limitation.Unless the context clearly indicates otherwise, otherwise singular " one " as used in the text, "one" and " described "
Can also indicate to include plural form.The terms "include", "comprise", " containing " and " having " are inclusives, and therefore
It indicates the presence of stated feature, step, operations, elements, and/or components, but presence or addition one or more is not precluded
A other feature, step, operation, component, assembly unit, and/or their combination.Method and step, process, the Yi Jicao of described in the text
It is not interpreted as that them is necessarily required to execute with described or explanation particular order, executes sequence unless explicitly stated otherwise.Also answer
The step of working as understanding, can be used additionally or alternatively.
Although can be described in the text using term first, second, third, etc. multiple element, component, region, layer and/
Or section still these component, assembly units, region, layer and/or is limited by these terms than Duan Buying.These terms can be only
For a component, assembly unit, region, layer or section are distinguished with another component, assembly unit, region, layer or section.Unless up and down
Text is it is manifestly intended that when otherwise the term and other numerical terms of such as " first ", " second " etc use in the text not
Imply sequence or order.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Subject to enclosing.
Claims (10)
1. a kind of control system for preventing vehicle bend from turning on one's side characterized by comprising
Detection device, the detection device are arranged on the vehicle body of vehicle, for detecting the current tilt angle of the vehicle, and
The current tilt angle is formed into feedback signal；
Control device, the control device is arranged on the vehicle body, for receiving and handling the feedback signal, and according to place
It manages result and sends control instruction；
Executing agency, one end of the executing agency are connect with the power output end of the vehicle bridge of the vehicle, the executing agency
The other end connect with the wheel of the vehicle, the executing agency receives the control instruction, and according to the control instruction
Wheel is controlled to stretch out or retract.
2. the control system according to claim 1 for preventing vehicle bend from turning on one's side, which is characterized in that the detection device packet
The first detection piece is included, the tail portion of the vehicle body is arranged in first detection piece, and is located on the central axes of the vehicle body.
3. the control system according to claim 2 for preventing vehicle bend from turning on one's side, which is characterized in that the detection device is also
Including the second detection piece, the head of the vehicle body is arranged in second detection piece, and is located on the central axes of the vehicle body.
4. the control system according to claim 3 for preventing vehicle bend from turning on one's side, which is characterized in that first detection piece
It is gyroscope with second detection piece.
5. the control system according to claim 1 for preventing vehicle bend from turning on one's side, which is characterized in that the control device packet
Processor and touch controller are included, the touch controller is electrically connected with the processor, the detection device and the executing agency respectively.
6. the control system according to claim 5 for preventing vehicle bend from turning on one's side, which is characterized in that the touch controller has
Display screen, the display screen is capable of the information of the feedback of detection device described in real-time display, also, the display screen can be by driving
Member's input directly operates the instruction that the touch controller works, thus the stretching or retraction of direct controlled wheel.
7. the control system according to claim 1 for preventing vehicle bend from turning on one's side, which is characterized in that executing agency's packet
Connector, oil cylinder, oil pump, motor and hydraulic oil container are included, the oil cylinder is connected to by pipeline with the hydraulic oil container, the oil pump
It is arranged on the pipeline, the motor is connect with the oil pump transmission；The cylinder body of the oil cylinder is connect with the wheel, described
The cylinder rod of oil cylinder is connect by the connector with the power output end.
8. the control system according to claim 7 for preventing vehicle bend from turning on one's side, which is characterized in that the executing agency is also
Including limit assembly, the limit assembly includes limit plate, gag lever post and limited block, is spaced apart on the limit plate and is equipped with installation
Hole and through-hole, the mounting hole are located at the center of the limit plate, and the cylinder body is plugged on described far from one end of the wheel
In mounting hole, one end of the gag lever post and the connector are affixed, the other end of the gag lever post pass through after the through-hole with
The limited block is affixed, to limit the stroke of the cylinder rod.
9. the control system according to claim 8 for preventing vehicle bend from turning on one's side, which is characterized in that the quantity of the through-hole
To be multiple, each through-hole is around the equally circumferentially spaced of the mounting hole, the number of the quantity of the gag lever post and the through-hole
Amount is consistent, and the quantity of the limited block is consistent with the quantity of the gag lever post.
10. a kind of control method for preventing vehicle bend from turning on one's side prevents vehicle curved by the way that claim 1-9 is described in any item
The control system of road rollover is implemented, which is characterized in that the control method for preventing vehicle bend from turning on one's side includes the following steps:
S1: the tilt angle of Ackermann steer angle is acquired；
S2: judging whether the tilt angle of Ackermann steer angle is greater than predetermined angle, if so, S3 is transferred to, if it is not, not handling then；
S3: the current vehicle speed of vehicle is acquired；
S4: the stretching speed of wheel is calculated according to current vehicle speed；
S5: it is stretched out according to the calculated wheel for stretching out speed control inclination of vehicle side；
S6: the tilt angle after acquisition vehicle turning；
S7: whether the tilt angle after judging vehicle turning is zero, if so, S8 is transferred to, if it is not, not handling then；
S8: the wheels retracted of stretching is controlled.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811613409.5A CN109823333B (en) | 2018-12-27 | 2018-12-27 | Control system and control method for preventing vehicle from turning on side at curve |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811613409.5A CN109823333B (en) | 2018-12-27 | 2018-12-27 | Control system and control method for preventing vehicle from turning on side at curve |
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| CN109823333A true CN109823333A (en) | 2019-05-31 |
| CN109823333B CN109823333B (en) | 2021-01-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN109823333B (en) | 2021-01-15 |
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