CN110901629B - Rollover early warning method and rollover early warning device for heavy vehicle - Google Patents

Rollover early warning method and rollover early warning device for heavy vehicle Download PDF

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CN110901629B
CN110901629B CN201911159960.1A CN201911159960A CN110901629B CN 110901629 B CN110901629 B CN 110901629B CN 201911159960 A CN201911159960 A CN 201911159960A CN 110901629 B CN110901629 B CN 110901629B
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vehicle
early warning
heavy
height
rollover
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CN110901629A (en
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钱永产
金顶云
陈友谊
马长征
王国宁
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Sergeant School Academy Of Armored Forces Pla
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention
    • B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to the technical field of vehicle active safety early warning, in particular to a rollover early warning method and a rollover early warning device for a heavy vehicle, wherein the rollover early warning method comprises the following steps: acquiring the current running state of the heavy vehicle; calculating the gravity center height and the steering angle of the heavy vehicle according to the acquired running state; according to the method, when the heavy vehicle normally turns at a curve, the gravity center height can be corrected after the vehicle normally turns through calculation of a digital formula, the gravity center height which is not accurate enough can be corrected when the vehicle normally turns, the gravity center height which is not accurate enough can only play a role in the first curve, the corrected value of the gravity center height which is more accurate can be used as a parameter in the following course, the corrected value of the gravity center height which is more accurate can be obtained, and therefore the rollover early warning which is more accurate can be provided for the heavy vehicle.

Description

Rollover early warning method and rollover early warning device for heavy vehicle
Technical Field
The invention relates to the technical field of vehicle active safety early warning, in particular to a rollover early warning method and device for a heavy vehicle.
Background
The rollover accident is the most dangerous accident of the heavy vehicle, and almost all drivers cannot detect the rollover accident when the rollover accident occurs. According to the statistics of the American university of Michigan traffic research center (UMTRI), the rollover accidents of various heavy commercial vehicles in the United states are 5,200 on average in 2002-2006 every year. Meanwhile, the number of people dying from the rollover accident of the heavy commercial vehicle every year is also increased from 5,314 in 2002 to 5,537 in 2006. The serious loss caused by the rollover accident, especially the heavy freight vehicle with very large load capacity, is an important problem in the research field of road traffic safety and vehicle safety. With the continuous development of vehicle sensors, effective sensing signals are provided for vehicle motion state identification, and the method plays an important role in vehicle pre-accident prevention.
The existing rollover warning system is generally a device for performing wagon curve rollover warning based on lateral acceleration, but the above patents determine rollover risks based on a static threshold value (lateral acceleration threshold value), and the rollover risks of heavy vehicles occurring in a period of time in the future cannot be predicted by the method. Meanwhile, parameters such as load, gravity height and rotational inertia of the heavy vehicle are changed frequently, and the density and the placing randomness of the goods make the gravity height difficult to measure, so that inaccurate early warning or failure is caused. In order to realize the dynamic rollover warning of the heavy vehicle, a rollover warning method and a rollover warning device for the heavy vehicle are required to be provided, wherein the rollover warning method and the rollover warning device can be used for correcting the height of the center of gravity in real time when the vehicle turns normally.
Disclosure of Invention
The invention provides a rollover early warning method and a rollover early warning device for a heavy vehicle, and aims to solve the problems that the density and the placement randomness of goods make the height of the center of gravity difficult to measure and cause inaccurate early warning or failure.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a rollover warning method for a heavy vehicle comprises the following steps:
step 1, acquiring the current running state of a heavy vehicle;
step 2, calculating the gravity center height and the steering angle of the heavy vehicle according to the acquired running state;
step 3, correcting the height of the center of gravity according to the vertical force applied to the inner and outer wheels by the ground when the heavy vehicle normally turns at the curve;
step 4, calculating an early warning threshold value according to the corrected gravity height, the vehicle speed, the load capacity and the wheel base information;
and 5, comparing the calculated vehicle steering angle with an early warning threshold value, and performing early warning according to the generated early warning signals of corresponding levels when the vehicle steering angle is larger than the early warning threshold value.
Further, the running state of the load-carrying vehicle acquired in step 1 includes a vehicle speed, a wheel base of the load-carrying vehicle, a load capacity of the load-carrying vehicle, a height of the load-carrying vehicle for carrying cargo, a vertical force applied to the inner side wheel by the ground, a vertical force applied to the outer side wheel by the ground, and a wheel speed difference of two wheels of the steering wheel.
Further, the calculation formula of the height of the center of gravity described in step 2 is:
Figure GDA0002891566620000021
in the formula: h is the height of the center of gravity of the load-carrying vehicle; m1The weight of cargo consigned for the load-carrying vehicle; m2The weight of the load-carrying vehicle; l is1A height for consignment of cargo for a load-carrying vehicle; l is2The height of the load-carrying vehicle itself;
the calculation formula of the steering angle in step 2 is:
Figure GDA0002891566620000022
in the formula: a theta steering angle; delta is the camber value of the vehicle steering angle; l is the wheelbase of the vehicle; b is the wheel track of the vehicle; delta omega is the wheel speed difference of two wheels of the steering wheel; v is the vehicle speed.
Further, in step 3, the process of correcting the gravity center height is as follows:
Figure GDA0002891566620000031
in the formula: friA vertical force applied to the inside wheel for the ground; fliA vertical force applied to the outboard wheel for the ground; k is a basic constant; hrecA gravity height correction value; i is a number corresponding to the axle; n is the total number of axles.
Further, in step 4, the calculation formula of the early warning threshold value is as follows:
Figure GDA0002891566620000032
in the formula: k is an early warning level parameter; thetaThreshold(s)Is an early warning threshold value.
Furthermore, the early warning level is divided into two levels, wherein the first level is primary early warning, and the second level is serious early warning.
A rollover early warning device for a heavy vehicle comprises a vehicle-mounted sensor, a data calculation module, a data comparison module, a rollover early warning controller, a warning device and a display device; the vehicle-mounted sensor is used for detecting the motion information of the heavy vehicle and sending the motion information to the data calculation module; the data calculation module is used for calculating the steering angle and the early warning threshold value of the vehicle, the data comparison module compares the steering angle with the early warning threshold value, and when the steering angle is larger than the early warning threshold value, the vehicle rollover early warning controller sends the result to the display device; the display device displays the received rollover warning result and sends the rollover warning result to the warning device, and the warning device comprises two working modes of primary warning and serious warning, so that a driver can correct dangerous operation in time, and rollover accidents are effectively avoided.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, through calculation of a digital formula, the gravity center height can be corrected after the vehicle normally turns, and the gravity center height which is not accurate enough can be corrected when the vehicle normally turns, so that the gravity center height which is not accurate enough only can play a role at the first curve, and the corrected value of the gravity center height which is more accurate can be used as a parameter in the following course, and the corrected value of the gravity center height which is more accurate can be obtained, thereby providing more accurate rollover warning for the heavy vehicle. After the goods pulled by the heavy vehicle are partially unloaded, the gravity center height can be estimated again by using the gravity center height calculation formula, the calculation function is performed at the first passing curve, the gravity center height correction value can be calculated again by using the gravity center height correction formula after passing through the first passing curve, at the moment, the early warning threshold value is recalculated by using the early warning threshold value calculation formula, the accurate early warning threshold value is obtained, and the rollover early warning is realized.
Drawings
FIG. 1 is a flowchart illustrating a rollover warning method for a heavy vehicle according to the present invention;
fig. 2 is a structural block diagram of a rollover warning method for a heavy vehicle according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The following provides a preferred embodiment:
as shown in fig. 1, a rollover warning method for a heavy vehicle includes the following steps:
step 1, acquiring the current running state of a heavy vehicle; the obtained running state of the load-carrying vehicle comprises the vehicle speed, the wheelbase of the load-carrying vehicle, the wheel base of the load-carrying vehicle, the load capacity of the load-carrying vehicle, the cargo carrying height of the load-carrying vehicle, the vertical force applied to the inner side wheels by the ground, the vertical force applied to the outer side wheels by the ground and the wheel speed difference of two wheels of the steering wheel.
Step 2, calculating the gravity center height and the steering angle of the heavy vehicle according to the acquired running state; the calculation formula of the gravity center height is as follows:
Figure GDA0002891566620000051
in the formula: h is the height of the center of gravity of the load-carrying vehicle; m1The weight of cargo consigned for the load-carrying vehicle; m2The weight of the load-carrying vehicle; l is1A height for consignment of cargo for a load-carrying vehicle; l is2The height of the load-carrying vehicle itself; the height of the center of gravity calculated here is calculated according to the weight of the cargo consigned by the load vehicle and by default the density of the cargo is evenly distributed, so that the calculation of the height of the center of gravity of the load vehicle here is an estimate obtained by conventional methods and is not accurate enough.
The calculation formula of the steering angle in step 2 is:
Figure GDA0002891566620000052
in the formula: a theta steering angle; delta is the camber value of the vehicle steering angle; l is the wheelbase of the vehicle; b is the wheel track of the vehicle; delta omega is the wheel speed difference of two wheels of the steering wheel; v is the vehicle speed;
step 3, correcting the height of the center of gravity according to the vertical force applied to the inner and outer wheels by the ground when the heavy vehicle normally turns at the curve; the process of correcting the height of the center of gravity is as follows:
Figure GDA0002891566620000053
in the formula: friA vertical force applied to the inside wheel for the ground; fliA vertical force applied to the outboard wheel for the ground; k is a basic constant; hrecA gravity height correction value; i is a number corresponding to the axle; n is the total number of axles; the gravity center height correction value is obtained by calculating the vertical force applied to the inner side wheels by the ground and the vertical force applied to the outer side wheels by the ground after the vehicle turns, and the gravity center height can be corrected after the vehicle normally turns, so that the gravity center height which is not accurate enough in the step 2 can be corrected when the vehicle normally turns, the gravity center height which is not accurate enough can only play a role at the first curve, and the correction value of the gravity center height which is more accurate in the following course can be used as a parameter;
step 4, calculating an early warning threshold value according to the corrected gravity height, the vehicle speed, the load capacity and the wheel base information; the calculation formula of the early warning threshold value is as follows:
Figure GDA0002891566620000061
in the formula: k is an early warning level parameter, thetaThreshold(s)To give an early warningA threshold value; the early warning threshold value is obtained by a more accurate correction value technology of the gravity center height, so that more accurate rollover early warning can be provided for the heavy vehicle, after the goods pulled by the heavy vehicle are partially unloaded, the gravity center height can be estimated again by using a calculation formula of the gravity center height, the early warning threshold value is acted at the first passing bend, after the goods pass through the first passing bend, the correction value of the gravity center height can be calculated again by using a formula for correcting the gravity center height, at the moment, the early warning threshold value is recalculated through the calculation formula of the early warning threshold value, the accurate early warning threshold value is obtained, and rollover early warning is realized.
Step 5, comparing the calculated vehicle steering angle with an early warning threshold value, and when the vehicle steering angle is larger than the early warning threshold value, early warning is carried out according to the generated early warning signals of the corresponding level; the early warning level is divided into two levels, wherein the first level is primary early warning, and the second level is serious early warning.
As shown in fig. 2, the rollover warning device for the heavy vehicle comprises a vehicle-mounted sensor, a data calculation module, a data comparison module, a rollover warning controller, an alarm device and a display device; the vehicle-mounted sensor is used for detecting the motion information of the heavy vehicle and sending the motion information to the data calculation module; the data calculation module is used for calculating the steering angle and the early warning threshold value of the vehicle, the data comparison module compares the steering angle with the early warning threshold value, and when the steering angle is larger than the early warning threshold value, the vehicle rollover early warning controller sends the result to the display device; the display device displays the received rollover warning result and sends the rollover warning result to the warning device, and the warning device comprises two working modes of primary warning and serious warning, so that a driver can correct dangerous operation in time, and rollover accidents are effectively avoided.
While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the various features of the disclosed embodiments of the invention may be used in any combination, provided that no structural conflict exists, and the combinations are not exhaustively described in this specification merely for the sake of brevity and resource conservation. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims (6)

1. A rollover warning method for a heavy vehicle is characterized by comprising the following steps:
step 1, acquiring the current running state of a heavy vehicle;
step 2, calculating the gravity center height and the steering angle of the heavy vehicle according to the acquired running state;
step 3, correcting the height of the center of gravity according to the vertical force applied to the inner and outer wheels by the ground when the heavy vehicle normally turns at the curve;
step 4, calculating an early warning threshold value according to the corrected gravity height, the vehicle speed, the load capacity and the wheel base information;
and 5, comparing the calculated vehicle steering angle with an early warning threshold value, and performing early warning according to the generated early warning signals of corresponding levels when the vehicle steering angle is larger than the early warning threshold value.
2. The method for early warning of rollover of a heavy-duty vehicle as claimed in claim 1, wherein the operation status of the heavy-duty vehicle obtained in step 1 includes vehicle speed, wheelbase of the heavy-duty vehicle, payload of the heavy-duty vehicle, cargo carrying height of the heavy-duty vehicle, vertical force applied to the inner wheels by the ground, vertical force applied to the outer wheels by the ground, and wheel speed difference of two wheels of the steering wheel.
3. The method for warning rollover of a heavy-duty vehicle as set forth in claim 1, wherein the calculation formula of the height of the center of gravity in step 2 is:
Figure FDA0003045678540000011
in the formula: h is the height of the center of gravity of the load-carrying vehicle; m1The weight of cargo consigned for the load-carrying vehicle; m2The weight of the load-carrying vehicle; l is1A height for consignment of cargo for a load-carrying vehicle; l is2The height of the load-carrying vehicle itself;
the calculation formula of the steering angle in step 2 is:
Figure FDA0003045678540000021
in the formula: a theta steering angle; delta is the camber value of the vehicle steering angle; l is the wheelbase of the vehicle; b is the wheel track of the vehicle; delta omega is the wheel speed difference of two wheels of the steering wheel; v is the vehicle speed.
4. The rollover warning method for a heavy-duty vehicle as claimed in claim 1, wherein in step 3, the process of correcting the height of the center of gravity is as follows:
Figure FDA0003045678540000022
in the formula: friA vertical force applied to the inside wheel for the ground; fliA vertical force applied to the outboard wheel for the ground; k is a basic constant; hrecA gravity height correction value; i is a number corresponding to the axle; n is the total number of axles.
5. The rollover warning method for the heavy-duty vehicle as recited in claim 1, wherein in the step 4, the warning threshold value is calculated by the formula:
Figure FDA0003045678540000023
in the formula: k is an early warning level parameter; thetaThreshold(s)Is an early warning threshold value.
6. The method as claimed in claim 1, wherein the pre-warning level is divided into two levels, one level is primary pre-warning and the second level is severe pre-warning.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006312446A (en) * 2006-04-26 2006-11-16 Mitsubishi Fuso Truck & Bus Corp Device for preventing vehicle from turnover
CN103661366A (en) * 2012-09-18 2014-03-26 财团法人车辆研究测试中心 Vehicle curve overturn prevention system and method thereof
CN104554439A (en) * 2014-12-25 2015-04-29 郑州宇通客车股份有限公司 Dial pointer-type dynamic display method and rollover warning dynamic display method
CN104553992A (en) * 2014-12-25 2015-04-29 郑州宇通客车股份有限公司 Vehicle rollover warning method
CN106965804A (en) * 2017-02-21 2017-07-21 梁晓娟 A kind of method that lorry rollover risk is estimated
CN107985318A (en) * 2017-11-29 2018-05-04 吉林大学 The wheel loader logitudinal centre of gravity and height of C.G. method for dynamic estimation

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006312446A (en) * 2006-04-26 2006-11-16 Mitsubishi Fuso Truck & Bus Corp Device for preventing vehicle from turnover
CN103661366A (en) * 2012-09-18 2014-03-26 财团法人车辆研究测试中心 Vehicle curve overturn prevention system and method thereof
CN104554439A (en) * 2014-12-25 2015-04-29 郑州宇通客车股份有限公司 Dial pointer-type dynamic display method and rollover warning dynamic display method
CN104553992A (en) * 2014-12-25 2015-04-29 郑州宇通客车股份有限公司 Vehicle rollover warning method
CN106965804A (en) * 2017-02-21 2017-07-21 梁晓娟 A kind of method that lorry rollover risk is estimated
CN107985318A (en) * 2017-11-29 2018-05-04 吉林大学 The wheel loader logitudinal centre of gravity and height of C.G. method for dynamic estimation

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