CN109977500A - Semi-mounted tank car Multi-source Information Fusion rollover method for early warning based on DS evidence theory - Google Patents
Semi-mounted tank car Multi-source Information Fusion rollover method for early warning based on DS evidence theory Download PDFInfo
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Abstract
The semi-mounted tank car Multi-source Information Fusion that the invention proposes a kind of based on DS evidence theory is turned on one's side method for early warning, this method defines three rollover characterization parameters and real-time acquisition modes first, then the corresponding probability estimating rollover and occurring of three rollover characterization parameters is calculated separately, then these probability are handled using DS evidence theory fusion and obtains the optimum probability for estimating and turning on one's side and occurring, it is last that early warning is not carried out according to the optimum probability size fractionation for estimating rollover generation.Rollover method for early warning proposed by the present invention is without considering complicated kinetics equation and vehicle body parameter, multiple inexpensive sensor informations need to be only handled by redundancy, semi-mounted tank car is calculated currently to turn on one's side the probability of generation, to turn on one's side dangerous precise quantification, it being capable of accurate, timely early warning, so that driver is taken preventive measures as early as possible, reduces the generation of rollover event.
Description
Technical field
The present invention relates to a kind of semi-mounted tank car rollover method for early warning, more particularly, to a kind of semi-mounted based on DS evidence theory
Tank car Multi-source Information Fusion rollover method for early warning, belongs to technical field of vehicle safety.
Background technique
In recent years, flourishing with Transportation Industry, semi-mounted tank car already becomes the main of dangerous material highway transportation
Carrier is responsible for various inflammable, the explosive liquid of transport and pulverized goods etc..Since position of centre of gravity is higher, wheelspan is relatively small and
The reason of vulnerable to liquid perturbation, under semi-mounted tank car is in ice and snow wet-skid road surface, turning radius is too small and the operating conditions such as travel speed is larger,
It easily turns on one's side, so as to cause dangerous material leakage, causes environmental pollution and traffic congestion, it is serious to damage life and society
Property.Show according to the relevant statistics of National Highway Traffic Safety Administration in all motorbus or transport vehicle traffic thing
In therefore, the extent of injury of rollover event is only second to collision accident, occupies the 2nd.
The rollover of semi-mounted tank car always occurs in a very short period of time, so that driver can not perceive rollover danger.According to
Data is shown, can be to avoid most if driver 1s can take appropriate measures before semi-mounted tank car occurs to turn on one's side
Rollover event.Therefore, the method for research semi-mounted tank car rollover early warning, has biggish social effect and reality to traffic safety
With value.
In semi-mounted tank car rollover early warning field, common characterization parameter of turning on one's side has angle of heel, side acceleration and transverse direction
Load transfer rate, most of existing rollover method for early warning are based on single rollover characterization parameter, by rollover when vehicle driving
The actual value of characterization parameter is compared with preset threshold value, the early warning when actual value is more than threshold value.Since semi-mounted tank car travels
When body gesture variation is fast, stability is low, and cause the factor of rollover more, although these methods can rise to a certain extent
Forewarning function, but there may be because caused by sensor failure in the safety traffic of semi-mounted tank car false alarm and in semi-mounted tank car
Alert problem is failed to report when having rollover danger；If preset rollover threshold is larger simultaneously, when actual value is close to threshold value, semi-mounted tank car
It is dangerous to have existed rollover, therefore when actual value is more than threshold value early warning again, it is possible that early warning not in time the problem of.
Summary of the invention
Turn on one's side in semi-mounted tank car driving process early warning inaccuracy and not in time aiming at the problem that, the invention proposes based on DS
(Dempster-Shafer) the semi-mounted tank car Multi-source Information Fusion rollover method for early warning of evidence theory.It is complete that this method analyzes data
Face, will turn on one's side dangerous precise quantification, accurately, stagewise early warning can timely be carried out, to reduce rollover under different operating conditions
Occurrence risk improves drive safety.
In order to achieve the above object, the invention provides the following technical scheme:
Semi-mounted tank car Multi-source Information Fusion rollover method for early warning based on DS evidence theory, includes the following steps:
1) clear three rollover characterization parameters and real-time acquisition modes
Semi-mounted tank car rollover characterization parameter are as follows: angle of heel α, side acceleration A and leaf spring pressure horizontal transfer rate L, leaf spring
Pressure horizontal transfer rate L calculation formula are as follows:
In formula, FliIt is leaf spring pressure on the left of i-th axle of semi-mounted tank car, FriIt is i-th axle of semi-mounted tank car
Right side leaf spring pressure, i are semi-mounted tank car axle location numbers, and i=1,2 ..., n, n are the total axles of semi-mounted tank car
Quantity；
The sensor of selection has MEMS gyroscope and several pressure sensors, obtains side according to MEMS gyroscope output information
Leaf spring pressure horizontal transfer rate is calculated according to pressure sensor output information and formula (1) in inclination alpha and side acceleration A
L；MEMS gyroscope is fixed on semi-mounted tank car center chassis, and pressure sensor is installed on the junction of leaf spring and wheel, pressure
Force snesor quantity depends on semi-mounted tank car two sides leaf spring number；
2) the corresponding probability estimating rollover and occurring of three rollover characterization parameters is calculated separately
It defines and judges the probability of rollover generation for P based on angle of heel α1,
In formula, α is the angle of heel of semi-mounted tank car, αTFor preset angle of heel threshold value, αT> 0,0≤P1≤ 1, P1Decimal point
Retain two effective digitals afterwards；
It defines and judges the probability of rollover generation for P based on side acceleration A2,
In formula, A is the side acceleration of semi-mounted tank car, ATFor preset side acceleration threshold value, AT> 0,0≤P2≤ 1,
P2Retain two effective digitals after decimal point；
It defines and judges the probability of rollover generation for P based on leaf spring pressure horizontal transfer rate L3,
In formula, L is the leaf spring pressure horizontal transfer rate of semi-mounted tank car, L >=0, LTFor preset leaf spring pressure horizontal transfer
Rate threshold value, LT> 0,0≤P3≤ 1, P3Retain two effective digitals after decimal point；
Definition judges the probability that do not turn on one's side as Q based on above three rollover characterization parameterj,
Qj=1-PjJ=1,2,3 (5)
In formula, 0≤Qj≤ 1, QjRetain two effective digitals after decimal point；
3) optimum probability estimating rollover and occurring is obtained using DS evidence theory
The optimum probability for estimating rollover generation that definition uses DS evidence theory to handle is R, 0≤R≤1, R decimal point
Retain two effective digitals afterwards；
If proposition " rollover " is C, proposition " not turning on one's side " isM1For the probability assignments judged based on angle of heel α
Function, i.e. M1(C)=P1,M2For the probability distribution function judged based on side acceleration A, i.e. M2(C)=P2,M3For the probability distribution function judged based on leaf spring pressure horizontal transfer rate L, i.e. M3(C)=P3,M is M1、M2And M3It is orthogonal and, i.e. M (C)=R,
Calculate normaliztion constant K, calculation formula are as follows:
Obtain K=P1·P2·P3+Q1·Q2·Q3；
It calculates and estimates the optimum probability R that rollover occurs, calculation formula are as follows:
It obtains
4) early warning is not carried out according to the optimum probability size fractionation for estimating rollover generation
Estimate rollover occur optimum probability R have been calculated after, early warning, warning module are not carried out according to the size fractionation of R
It is made of, is fixed in tractor cab voice alerting unit and buzzer, early warning rule is as follows:
When not alarming, voice alerting unit and buzzer do not work；When level-one is alarmed, voice alerting unit is played: " wishing good health
It is complete to drive ", buzzer low-frequency vibration；When secondary alarm, voice alerting unit is played: " please drive with caution ", the shake of buzzer intermediate frequency
It is dynamic；When three-level is alarmed, voice alerting unit is played: " dangerous, i.e., will to turn on one's side ", buzzer high-frequency vibration.
Compared with prior art, the invention has the advantages that and the utility model has the advantages that
1. the sensor that method for early warning of the invention uses is at low cost, calculation method is clear, convenient for big in semi-mounted tank car
Scale is promoted.
2. present invention analysis data are comprehensive, method for early warning is enabled to monitor the roll stability of semi-mounted tank car on-line, very
The good various possible environment of adaptation.
3. method for early warning of the invention handles data using DS evidence theory fusion, will turn on one's side dangerous precise quantification, can be with
The dangerous amplification of rollover accurately, is timely estimated semi-mounted tank car rollover risk by the interference for reducing sensor error information.
Detailed description of the invention
Fig. 1 is rollover method for early warning master-plan flow chart provided by the invention.
Fig. 2 is source of early warning schematic view of the mounting position.
Fig. 3 is single pressure sensor schematic view of the mounting position.
Specific embodiment
Technical solution provided by the invention is described in detail below with reference to specific embodiment, it should be understood that following specific
Embodiment is only illustrative of the invention and is not intended to limit the scope of the invention.
The semi-mounted tank car Multi-source Information Fusion that the invention proposes a kind of based on DS evidence theory is turned on one's side method for early warning.The party
Method defines three rollover characterization parameters and real-time acquisition modes first, and it is corresponding pre- then to calculate separately three rollover characterization parameters
Estimate the probability turned on one's side and occurred, the acquisition of these probability is then handled using DS evidence theory fusion and estimates the optimal general of rollover generation
Rate, it is last that early warning is not carried out according to the optimum probability size fractionation for estimating rollover generation.Rollover method for early warning proposed by the present invention
Without considering complicated kinetics equation and vehicle body parameter, multiple inexpensive sensor informations need to be only handled by redundancy, are calculated
Semi-mounted tank car is currently turned on one's side the probability of generation out, and will turn on one's side dangerous precise quantification.This method can reduce sensor error information
Interference, can to avoid the false alarm in the safety traffic of semi-mounted tank car and semi-mounted tank car have rollover it is dangerous when fail to report alert ask
Topic, improves the accuracy of early warning；When semi-mounted tank car is dangerous there are lesser rollover, this method can amplify rollover danger,
Timely early warning, makes driver take preventive measures as early as possible, reduces the generation of rollover event.The master-plan process of the method for the present invention
As shown in Figure 1, comprising the following specific steps
1) clear three rollover characterization parameters and real-time acquisition modes
Existing semi-mounted tank car rollover method for early warning often estimates the rollover wind of vehicle individually to turn on one's side characterization parameter
Danger, these methods can only substantially estimate the trend of rollover, there are problems that early warning inaccuracy and not in time.In order to accurately and timely
Rollover risk is estimated, the present invention chooses following three rollover characterization parameter.
When angle of heel and side acceleration increase to certain value, semi-mounted tank car can just turn on one's side, the two rollover characterizations
Parameter can intuitively assess the lateral stability of semi-mounted tank car, and acquisition modes are simple, therefore the present invention chooses half hanging pot
Vehicle angle of heel α and side acceleration A is rollover characterization parameter.The transverse load rate of transform is common rollover characterization parameter, however
The load measurement of wheel is extremely difficult under the state that runs at high speed, and the transverse load rate of transform is caused to calculate inaccuracy.For using steel
The semi-mounted tank car of flat spring suspension, since the load of leaf spring pressure and wheel has certain corresponding relationship at wheel,
And leaf spring branch bilateral symmetry, leaf spring pressure can also directly by sensor acquisition, therefore the present invention with
Leaf spring pressure replaces wheel weight, proposes this rollover characterization parameter of leaf spring pressure horizontal transfer rate L, calculation formula
Are as follows:
In formula, FliIt is leaf spring pressure on the left of i-th axle of semi-mounted tank car, FriIt is i-th axle of semi-mounted tank car
Right side leaf spring pressure, i are semi-mounted tank car axle location numbers, and i=1,2 ..., n, n are the total axles of semi-mounted tank car
Quantity.
The sensor that the present invention selects has MEMS gyroscope and several pressure sensors.According to MEMS gyroscope output information
Angle of heel α and side acceleration A are obtained, it is lateral that leaf spring pressure is calculated according to pressure sensor output information and formula (1)
Rate of transform L.Sensor mounting location is as shown in Fig. 2, MEMS gyroscope is fixed on semi-mounted tank car center chassis, pressure sensor peace
Junction loaded on leaf spring and wheel, pressure sensor quantity depend on semi-mounted tank car two sides leaf spring number, individually
Pressure sensing implement body installation site is as shown in Figure 3.
2) the corresponding probability estimating rollover and occurring of three rollover characterization parameters is calculated separately
The present invention estimates rollover risk with Probability Forms, for accurate, timely early warning, when rollover characterization parameter actual value
When smaller, estimate that probability that rollover occurs is smaller but quick increase；When characterization parameter actual value of turning on one's side is close to preset threshold, in advance
The probability for estimating rollover generation should be close to 1；When characterization parameter actual value of turning on one's side is greater than preset threshold, the general of rollover generation is estimated
Rate is 1.In view of the above-mentioned Variation Features for estimating rollover probability of happening, the complexity of calculating is combined, therefore is based on sin function
To establish probability-distribution function:
It defines and judges the probability of rollover generation for P based on angle of heel α1,
In formula, α is the angle of heel of semi-mounted tank car, αTFor preset angle of heel threshold value, αT> 0,0≤P1≤ 1, P1Decimal point
Retain two effective digitals afterwards.
It defines and judges the probability of rollover generation for P based on side acceleration A2,
In formula, A is the side acceleration of semi-mounted tank car, ATFor preset side acceleration threshold value, AT> 0,0≤P2≤ 1,
P2Retain two effective digitals after decimal point.
It defines and judges the probability of rollover generation for P based on leaf spring pressure horizontal transfer rate L3,
In formula, L is the leaf spring pressure horizontal transfer rate of semi-mounted tank car, L >=0, LTFor preset leaf spring pressure horizontal transfer
Rate threshold value, LT> 0,0≤P3≤ 1, P3Retain two effective digitals after decimal point.
Definition judges the probability that do not turn on one's side as Q based on above three rollover characterization parameterj,
Qj=1-PjJ=1,2,3 (5)
In formula, 0≤Qj≤ 1, QjRetain two effective digitals after decimal point；
According to above-mentioned probability, table 1 is obtained.
| α | A | L | |
| It turns on one's side | P1 | P2 | P3 |
| It does not turn on one's side | Q1 | Q2 | Q3 |
Table 1
3) optimum probability estimating rollover and occurring is obtained using DS evidence theory
P1、P2And P3It indicates to judge the probability that the rollover of semi-mounted tank car occurs according to three characterization parameters of turning on one's side, but due to depositing
Lead to the uncertainty of each sensor local decisions result in various interference, needs these probability of fusion treatment, estimated
The optimum probability that rollover occurs.In the present invention, definition estimates the optimal general of rollover generation using what DS evidence theory was handled
Rate is R, 0≤R≤1, and two effective digitals are retained after R decimal point.
If proposition " rollover " is C, proposition " not turning on one's side " isM1For the probability assignments judged based on angle of heel α
Function, i.e. M1(C)=P1,M2For the probability distribution function judged based on side acceleration A, i.e. M2(C)=P2,M3For the probability distribution function judged based on leaf spring pressure horizontal transfer rate L, i.e. M3(C)=P3,M is M1、M2And M3It is orthogonal and, i.e. M (C)=R,Therefore table 2 can be obtained.
Table 2
Calculate normaliztion constant K, calculation formula are as follows:
Obtain K=P1·P2·P3+Q1·Q2·Q3。
It calculates and estimates the optimum probability R that rollover occurs, calculation formula are as follows:
It obtains
4) early warning is not carried out according to the optimum probability size fractionation for estimating rollover generation
Estimate rollover occur optimum probability R have been calculated after, early warning, warning module are not carried out according to the size fractionation of R
It is made of, is fixed in tractor cab voice alerting unit and buzzer, early warning rule is as follows:
When not alarming, voice alerting unit and buzzer do not work；When level-one is alarmed, voice alerting unit is played: " wishing good health
It is complete to drive ", buzzer low-frequency vibration；When secondary alarm, voice alerting unit is played: " please drive with caution ", the shake of buzzer intermediate frequency
It is dynamic；When three-level is alarmed, voice alerting unit is played: " dangerous, i.e., will to turn on one's side ", buzzer high-frequency vibration.
For verify rollover method for early warning proposed by the present invention can accurate, timely early warning, carry out following Numerical Validation:
When semi-mounted tank car drives safely, pressure sensor failure, the leaf spring pressure horizontal transfer rate L value of output is larger, connects
Nearly threshold value LT, and MEMS gyroscope output valve is normal, obtains table 3 according to above-mentioned formula (1) to formula (5):
| α | A | L | |
| It turns on one's side | 0.30 | 0.32 | 0.80 |
| It does not turn on one's side | 0.70 | 0.68 | 0.20 |
Table 3
Single to be judged with the leaf spring pressure transverse load rate of transform, semi-mounted tank car will turn on one's side, and not be inconsistent with actual conditions,
There are problems that false alarm when the safety traffic of semi-mounted tank car；And current rollover probability of happening is calculated with method for early warning of the inventionWithout rollover risk, it is accurate currently to estimate rollover risk for semi-mounted tank car.
When semi-mounted tank car has rollover danger, pressure sensor failure, the leaf spring pressure horizontal transfer rate L value of output is smaller,
And MEMS gyroscope output valve is normal, obtains table 4 according to above-mentioned formula (1) to formula (5):
| α | A | L | |
| It turns on one's side | 0.80 | 0.78 | 0.35 |
| It does not turn on one's side | 0.20 | 0.22 | 0.65 |
Table 4
Single to be judged with the leaf spring pressure transverse load rate of transform, semi-mounted tank car is currently without rollover risk, not with actual conditions
Symbol there is a problem of failing to report when semi-mounted tank car has rollover danger alert；And current rollover is calculated with method for early warning of the invention and is occurred
ProbabilitySemi-mounted tank car degree of danger of currently turning on one's side is higher, needs two
Grade alarm.
There is lesser rollover danger in semi-mounted tank car, each working sensor is normal when driving, according to above-mentioned formula (1) to public affairs
Formula (5) obtains table 5:
| α | A | L | |
| It turns on one's side | 0.60 | 0.61 | 0.63 |
| Safe driving | 0.40 | 0.39 | 0.37 |
Table 5
With characterization parameter of individually turning on one's side judge semi-mounted tank car currently turn on one's side generation most probable value for 0.63, rollover is dangerous
Degree is lower, it is understood that there may be early warning not in time the problem of；And current rollover is calculated with method for early warning of the invention and is occurred most
Excellent probabilityWill the dangerous amplification of rollover, improve warning grade, can be
Rollover reminds driver to take preventive measures when dangerous smaller.
In view of above-mentioned contrast verification, the dangerous precise quantification of rollover can reduce sensing by method for early warning proposed by the present invention
The interference of device error message, can be to avoid false alarm and the leakage when semi-mounted tank car has rollover danger in the safety traffic of semi-mounted tank car
The problem of alarm, improves the accuracy of early warning；When semi-mounted tank car is dangerous there are lesser rollover, this method can endanger rollover
Danger amplification, timely early warning can make driver take preventive measures as early as possible, reduce the generation of rollover event.
Claims (1)
- The method for early warning 1. the semi-mounted tank car Multi-source Information Fusion based on DS evidence theory is turned on one's side, which is characterized in that including walking as follows It is rapid:1) clear three rollover characterization parameters and real-time acquisition modesSemi-mounted tank car rollover characterization parameter are as follows: angle of heel α, side acceleration A and leaf spring pressure horizontal transfer rate L, leaf spring pressure Horizontal transfer rate L calculation formula are as follows:In formula, FliIt is leaf spring pressure on the left of i-th axle of semi-mounted tank car, FriIt is on the right side of i-th axle of semi-mounted tank car Leaf spring pressure, i are semi-mounted tank car axle location numbers, and i=1,2 ..., n, n are the total axle quantity of semi-mounted tank car；The sensor of selection has MEMS gyroscope and several pressure sensors, obtains angle of heel according to MEMS gyroscope output information Leaf spring pressure horizontal transfer rate L is calculated according to pressure sensor output information and formula (1) in α and side acceleration A； MEMS gyroscope is fixed on semi-mounted tank car center chassis, and pressure sensor is installed on the junction of leaf spring and wheel, pressure Number of sensors depends on semi-mounted tank car two sides leaf spring number；2) the corresponding probability estimating rollover and occurring of three rollover characterization parameters is calculated separatelyIt defines and judges the probability of rollover generation for P based on angle of heel α1,In formula, α is the angle of heel of semi-mounted tank car, αTFor preset angle of heel threshold value, αT> 0,0≤P1≤ 1, P1Retain after decimal point Two effective digitals；It defines and judges the probability of rollover generation for P based on side acceleration A2,In formula, A is the side acceleration of semi-mounted tank car, ATFor preset side acceleration threshold value, AT> 0,0≤P2≤ 1, P2Decimal Retain two effective digitals after point；It defines and judges the probability of rollover generation for P based on leaf spring pressure horizontal transfer rate L3,In formula, L is the leaf spring pressure horizontal transfer rate of semi-mounted tank car, L >=0, LTFor preset leaf spring pressure horizontal transfer rate threshold Value, LT> 0,0≤P3≤ 1, P3Retain two effective digitals after decimal point；Definition judges the probability that do not turn on one's side as Q based on above three rollover characterization parameterj,Qj=1-PjJ=1,2,3 (5)In formula, 0≤Qj≤ 1, QjRetain two effective digitals after decimal point；3) optimum probability estimating rollover and occurring is obtained using DS evidence theoryThe optimum probability for estimating rollover generation that definition uses DS evidence theory to handle is R, 0≤R≤1, protects after R decimal point Stay two effective digitals；If proposition " rollover " is C, proposition " not turning on one's side " isM1For the probability assignments letter judged based on angle of heel α Number, i.e. M1(C)=P1,M2For the probability distribution function judged based on side acceleration A, i.e. M2(C)=P2,M3For the probability distribution function judged based on leaf spring pressure horizontal transfer rate L, i.e. M3(C)=P3,M is M1、M2And M3It is orthogonal and, i.e. M (C)=R,Calculate normaliztion constant K, calculation formula are as follows:Obtain K=P1·P2·P3+Q1·Q2·Q3；It calculates and estimates the optimum probability R that rollover occurs, calculation formula are as follows:It obtains4) early warning is not carried out according to the optimum probability size fractionation for estimating rollover generationEstimate rollover occur optimum probability R have been calculated after, early warning is not carried out according to the size fractionation of R, warning module is by language Sound prompt unit and buzzer composition, are fixed in tractor cab, early warning rule is as follows:When not alarming, voice alerting unit and buzzer do not work；When level-one is alarmed, voice alerting unit is played: " please driving safely Sail ", buzzer low-frequency vibration；When secondary alarm, voice alerting unit is played: " please drive with caution ", the vibration of buzzer intermediate frequency；Three When grade alarm, voice alerting unit is played: " dangerous, i.e., will to turn on one's side ", buzzer high-frequency vibration.
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| CN110533796A (en) * | 2019-07-11 | 2019-12-03 | 肇庆学院 | Vehicle rollover prediction algorithm based on truncation importance sampling failure probability method |
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| CN111695196A (en) * | 2020-05-23 | 2020-09-22 | 东南大学 | Tank car side-tipping state pre-judging method based on vehicle body kinematics information |
| CN111645697A (en) * | 2020-05-23 | 2020-09-11 | 东南大学 | Tank car rollover multistage early warning strategy based on fuzzy logic |
| CN111645698A (en) * | 2020-05-23 | 2020-09-11 | 东南大学 | Self-adaptive estimation method for rollover threshold value of heavy-duty vehicle |
| CN111695196B (en) * | 2020-05-23 | 2023-04-18 | 东南大学 | Tank car side-tipping state prejudging method based on vehicle body kinematics information |
| CN111775912A (en) * | 2020-06-24 | 2020-10-16 | 东南大学 | Tank car rollover relieving type control method based on electronic braking deceleration |
| CN111775912B (en) * | 2020-06-24 | 2021-06-11 | 东南大学 | Tank car rollover relieving type control method based on electronic braking deceleration |
| WO2021258813A1 (en) * | 2020-06-24 | 2021-12-30 | 东南大学 | Electronic braking deceleration-based relieving control method for tank truck rollover |
| US11603081B2 (en) | 2020-06-24 | 2023-03-14 | Southeast University | Tank truck rollover relieved control method based on electronic braking deceleration |
| CN112874413A (en) * | 2021-01-26 | 2021-06-01 | 浙江双友物流器械股份有限公司 | Transport cargo rollover early warning method based on matrix type pressure sensor |
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