CN110949399B - Crosswind early warning method for cars passing through highway bridge - Google Patents

Crosswind early warning method for cars passing through highway bridge Download PDF

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CN110949399B
CN110949399B CN201911277791.1A CN201911277791A CN110949399B CN 110949399 B CN110949399 B CN 110949399B CN 201911277791 A CN201911277791 A CN 201911277791A CN 110949399 B CN110949399 B CN 110949399B
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early warning
vehicle
sideslip
rear axle
front axle
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CN110949399A (en
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陈涛
赵重阳
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Changan University
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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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—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
    • 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
    • B60W50/0097—Predicting future conditions
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
    • G06V20/63—Scene text, e.g. street names
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
    • G06V20/625—License plates
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/08—Detecting or categorising vehicles

Abstract

The invention discloses a crosswind early warning method for a car passing through a highway bridge, which comprises the steps of calculating a vehicle speed threshold value of the front axle sideslip of an upper curved slope section according to a front axle side sliding mode of the upper curved slope section; calculating a vehicle speed threshold value of the rear axle sideslip of the upper curved slope section according to the rear axle side sliding mode of the upper curved slope section; comparing the vehicle speed threshold value of the front axle sideslip with the vehicle speed threshold value of the rear axle sideslip; when the speed threshold value of the front axle generating sideslip is smaller than that of the rear axle generating sideslip, and the speed of the early warning vehicle is smaller than that of the front axle generating sideslip, sending out early warning for keeping the current speed; otherwise, sending out a parking waiting early warning; when the speed threshold value of the front axle generating sideslip is larger than that of the rear axle generating sideslip, and the speed of the early warning vehicle is smaller than that of the rear axle generating sideslip, sending out early warning for keeping the current speed; otherwise, a parking waiting early warning is sent out. The invention provides a proper crosswind early warning for the cars passing through the highway bridge, and improves the safety when the cars pass through the highway bridge.

Description

Crosswind early warning method for cars passing through highway bridge
Technical Field
The invention belongs to the field of traffic early warning, and particularly relates to a crosswind early warning method for cars passing through a highway bridge.
Background
According to the data of highway traffic accidents, severe weather is a great important reason for road traffic accidents, and particularly when the automobile passes through a highway bridge, the probability of the car sideslip under certain meteorological conditions is great. The vehicle running on the highway bridge has complex and changeable road surface conditions due to the combination of different curves and ramps, and the probability of the car sideslipping under the action of crosswind is increased. The existing crosswind early warning only gives certain early warning by combining wind speed when passing through a road bridge curve, most of the crosswind early warning is established by a whole vehicle, crosswind early warning when some curves and ramps are combined is not considered, and the working condition that a front axle and a rear axle are respectively positioned at a wind pressure center, namely the working condition that sideslip is most easily generated is not considered, so that the running safety potential hazard of a running vehicle is caused to a certain degree. Therefore, in order to reduce the potential safety hazard of the car at the bent slope of the passing highway bridge, the more accurate crosswind early warning is necessary for the vehicle to be driven by combining the meteorological information.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a crosswind early warning method for a car passing through a highway bridge, which can provide proper crosswind early warning for the working condition that a wind pressure center is positioned at front and rear shafts of the car when the car passes through the highway bridge, thereby improving the driving safety of the car when passing through the highway bridge.
In order to solve the technical problems, the invention is realized by the following technical scheme:
a crosswind early warning method for cars passing through a highway bridge comprises the following steps:
step 1: calculating a vehicle speed threshold value of the front axle sideslip of the upper curved slope section according to the front axle side sliding mode of the upper curved slope section;
step 2: calculating a vehicle speed threshold value of the rear axle sideslip of the upper curved slope section according to the rear axle side sliding mode of the upper curved slope section;
and step 3: comparing the vehicle speed threshold value of the front axle sideslip with the vehicle speed threshold value of the rear axle sideslip, which is obtained in the step (2);
when the speed threshold value of the front axle generating sideslip is smaller than that of the rear axle generating sideslip, if the speed of the early-warning vehicle is smaller than that of the front axle generating sideslip, an early warning for keeping the current speed is sent out; otherwise, sending out a parking waiting early warning;
when the speed threshold value of the front axle generating sideslip is larger than that of the rear axle generating sideslip, if the speed of the early-warning vehicle is smaller than that of the rear axle generating sideslip, the early warning for keeping the current speed is sent out; otherwise, a parking waiting early warning is sent out.
Further, in step 1, the front axle sideslip model of the upward slope road section is as follows:
Figure BDA0002313749670000021
wherein:
Figure BDA0002313749670000022
Figure BDA0002313749670000023
Figure BDA0002313749670000024
in the formula, UFA vehicle speed threshold value for the front axle sideslip; u shapewThe wind speed of the early warning road section is obtained; rho is the air density, and 1.282Kg/m is taken3(ii) a g is gravity acceleration, and is 9.8m/s2(ii) a A is the frontal area of the early warning vehicle;
Figure BDA0002313749670000025
the lateral adhesion coefficient of the road surface of the early warning road section is obtained; h is the height of the mass center of the early warning vehicle; cyThe lateral aerodynamic coefficient of the vehicle is pre-warned; cdThe aerodynamic drag coefficient of the vehicle is early-warned; clThe aerodynamic lift coefficient of the vehicle is early-warned; m is the mass of the early warning vehicle; l is the wheelbase of the early warning vehicle; l is2The distance between a rear axle and the mass center of the vehicle is early warned; beta is a longitudinal slope angle of the road surface of the early warning road section; alpha is the road surface cross slope angle of the early warning road section; and R is the radius of the curve of the early warning road section.
Further, in step 2, the rear axle side slip form of the upward-curved slope section is:
Figure BDA0002313749670000026
wherein:
Figure BDA0002313749670000031
Figure BDA0002313749670000032
Figure BDA0002313749670000033
in the formula, URA vehicle speed threshold value for the rear axle to sideslip; l is1The distance between the front axle and the mass center of the vehicle is pre-warned.
Further, the lateral aerodynamic coefficient C of the vehicle is warnedyExpressed as:
Figure BDA0002313749670000034
aerodynamic drag coefficient C of early warning vehicledExpressed as:
Figure BDA0002313749670000035
aerodynamic lift coefficient C of early warning vehiclelExpressed as:
Figure BDA0002313749670000036
in the formula, betaαFor warning of yaw angle of vehicle, betaα＝tan-1(Uw/Uc) Wherein, UcThe vehicle speed of the vehicle is early-warned.
Further, acquiring a road longitudinal slope angle alpha of the early warning road section, a road transverse slope angle beta of the early warning road section and a curve radius R of the early warning road section from a road management system; wind speed U for monitoring early warning road section by adopting meteorological observation equipmentw(ii) a Acquiring the mass m of the early warning vehicle from a toll station system; looking up relevant standards to obtain the wheel base L of the early warning vehicle and the distance L from the front axle of the early warning vehicle to the center of mass1Early warning of distance L from rear axle to center of mass of vehicle2The frontal windward area A of the early warning vehicle and the height h of the mass center of the early warning vehicle; adopt speed of a motor vehicle monitoring devices monitoring early warning vehicle's speed of a motor vehicleUc。
Further, the lateral adhesion coefficient of the road surface of the early warning road section
Figure BDA0002313749670000037
The values of (A) are as follows:
when the road surface is dry, the value is 0.5; the value is 0.35 in rainy days; the value is 0.15 in snowy days; and when the road surface is frozen, the value is 0.08.
Compared with the prior art, the invention has at least the following beneficial effects: the invention considers the more complex curve section when cars pass through the highway bridge, and compared with the prior crosswind early warning technology only in the curve, the invention has wider application range. Compared with the prior art of calculating the sideslip threshold by taking an automobile as a whole, the method takes the influence of the curved slope section on the front and rear axle loads of the car into consideration, divides the car into a front axle and a rear axle, calculates the sideslip threshold, and calculates the speed threshold of the front axle of the curved slope section for sideslip according to the front axle side sliding mode of the upper curved slope section; calculating a vehicle speed threshold value of the rear axle sideslip of the upper curved slope section according to the rear axle side sliding mode of the upper curved slope section; comparing a vehicle speed threshold value of the front axle with a vehicle speed threshold value of the rear axle with sideslip, and pre-warning according to the magnitude of the front axle and rear axle sideslip threshold values, wherein when the vehicle speed threshold value of the front axle with sideslip is smaller than the vehicle speed threshold value of the rear axle with sideslip, if the vehicle speed of the pre-warning vehicle is smaller than the vehicle speed threshold value of the front axle with sideslip, the pre-warning for keeping the current vehicle speed is sent out; otherwise, sending out a parking waiting early warning; when the speed threshold value of the front axle generating sideslip is larger than that of the rear axle generating sideslip, if the speed of the early-warning vehicle is smaller than that of the rear axle generating sideslip, the early warning for keeping the current speed is sent out; otherwise, a parking waiting early warning is sent out. When the wind pressure center is at the front and rear axles of the car, the pneumatic lateral force borne by the car at the front and rear axles is the largest, and the side slipping phenomenon is most likely to occur. Compared with the prior art that the wind pressure center is fixed at one point on the car body, the invention considers the working conditions that the wind pressure centers are respectively positioned at the front axle and the rear axle of the car, and can more accurately calculate the sideslip threshold value of the car on an upward slope under different wind speeds. The method provides a proper crosswind early warning for the car passing through the highway bridge, thereby improving the driving safety of the car passing through the highway bridge.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a cross wind early warning method for car and highway bridge traffic;
FIG. 2 is a schematic diagram of cross wind early warning of a passenger car, highway bridge and passing bridge;
FIG. 3 is a diagram of a front axle cross-slope force of an early warning vehicle;
FIG. 4 is a rear axle cross slope force diagram of the early warning vehicle;
FIG. 5 is a longitudinal slope force diagram of the early warning vehicle;
FIG. 6 is an SAE vehicle aerodynamic coordinate system.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, as a specific embodiment of the present invention, a crosswind warning method for cars passing through a highway bridge includes the following steps:
step 1: according to the front axle side sliding mode of the upward-bending road section, calculating a vehicle speed threshold value of the front axle sideslip of the upward-bending road section, specifically, a front axle sideslip model of the upward-bending road section is as follows:
Figure BDA0002313749670000051
wherein:
Figure BDA0002313749670000052
Figure BDA0002313749670000053
Figure BDA0002313749670000054
in the formula, UFA vehicle speed threshold value for the front axle sideslip; u shapewThe wind speed of the early warning road section is obtained; rho is the air density, and 1.282Kg/m is taken3(ii) a g is gravity acceleration, and is 9.8m/s2(ii) a A is the frontal area of the early warning vehicle;
Figure BDA0002313749670000061
for warning the lateral adhesion coefficient of road surface in road section, when the road surface is dry
Figure BDA0002313749670000062
The value is 0.5, when it is rainy
Figure BDA0002313749670000063
The value is 0.35, when it is snowy
Figure BDA0002313749670000064
The value is 0.15, and when the road surface is frozen, the value is 0.08; h is the height of the mass center of the early warning vehicle; cyThe lateral aerodynamic coefficient of the vehicle is pre-warned; cdThe aerodynamic drag coefficient of the vehicle is early-warned; clThe aerodynamic lift coefficient of the vehicle is early-warned; m being a warning vehicleQuality; l is the wheelbase of the early warning vehicle; l is2The distance between a rear axle and the mass center of the vehicle is early warned; alpha is a longitudinal slope angle of the road surface of the early warning road section; beta is the road surface cross slope angle of the early warning road section; r is the radius of a curve of the early warning road section; a. the1、B1、C1Has no specific meaning and is set for concise expression of the threshold value formula.
Wherein the lateral aerodynamic coefficient C of the early warning vehicleyExpressed as:
Figure BDA0002313749670000065
aerodynamic drag coefficient C of early warning vehicledExpressed as:
Figure BDA0002313749670000066
aerodynamic lift coefficient C of early warning vehiclelExpressed as:
Figure BDA0002313749670000067
βαfor warning of yaw angle of vehicle, betaα＝tan-1(Uw/Uc) Wherein, UcThe vehicle speed of the vehicle is early-warned.
Step 2: according to the rear axle side sliding mode of the upward-bending road section, calculating a vehicle speed threshold value of the rear axle side slip of the upward-bending road section, specifically, the rear axle side sliding mode of the upward-bending road section is as follows:
Figure BDA0002313749670000068
wherein:
Figure BDA0002313749670000069
Figure BDA00023137496700000610
Figure BDA0002313749670000071
in the formula, URA vehicle speed threshold value for the rear axle to sideslip; l is1The distance from a front axle of the vehicle to the mass center is early-warned; a. the2、B2、C2Has no specific meaning and is set for concise expression of the threshold value formula.
The acquisition of the related parameters in the invention is a conventional technical number section in the field, and a road longitudinal slope angle beta of an early warning road section, a road transverse slope angle alpha of the early warning road section and a curve radius R of the early warning road section are acquired from a road management system; wind speed U for monitoring early warning road section by adopting meteorological observation equipmentw(ii) a The method comprises the steps of looking up relevant standards to obtain model data information of early-warning vehicles, leading the model data information into a toll station system, acquiring license plate information of the early-warning vehicles, and then obtaining the mass m of the early-warning vehicles, the axle distance L of the early-warning vehicles and the distance L from the front axle of the early-warning vehicles to the mass center from the toll station system1Early warning of distance L from rear axle to center of mass of vehicle2The frontal windward area A of the early warning vehicle and the height h of the mass center of the early warning vehicle; vehicle speed U for monitoring early warning vehicle by adopting vehicle speed monitoring devicec。
And step 3: the vehicle speed threshold U of the sideslip of the front axle obtained in the step 1 is used forFAnd step 2, obtaining a vehicle speed threshold U of the rear axle sideslipRAnd comparing, and carrying out early warning according to two conditions of the front and rear axle sideslip threshold values:
vehicle speed threshold U for sideslip of current shaftFVehicle speed threshold U smaller than rear axle sideslipRIf the vehicle speed U of the vehicle is early-warnedcVehicle speed threshold U smaller than sideslip of front axleFIf so, sending out an early warning for keeping the current vehicle speed; otherwise, sending out a parking waiting early warning;
vehicle speed threshold U for sideslip of current shaftFVehicle speed threshold U larger than rear axle sideslipRIf the vehicle speed U of the vehicle is early-warnedcVehicle speed threshold less than rear axle sideslipURIf so, sending out an early warning for keeping the current vehicle speed; otherwise, a parking waiting early warning is sent out.
The following is to calculate the vehicle risk by combining the measured wind speed, wind direction, road, vehicle type and vehicle speed information according to fig. 3 to 5, and respectively model the front and rear axles in consideration of the fact that the order of sideslip of the front and rear axles of the early warning vehicle may be different. And analyzing the front axle cross slope force diagram of the early warning vehicle to obtain the condition that the front axle of the early warning vehicle sideslips on the upper slope road section, and calculating the front axle sideslip threshold and the rear axle sideslip threshold.
(1) According to the early warning vehicle front axle cross slope force diagram in the figure 3, a front axle sideslip generation model on an upper curved slope section is established:
Ff+Wfsinβ≤Fy+Fjcosβ
according to the longitudinal slope force diagram of the early warning vehicle shown in the figure 5, the load W of the front axle of the early warning vehicle is calculatedf：
Figure BDA0002313749670000081
Calculating and early warning air resistance F borne by front axle of vehiclew：
Figure BDA0002313749670000082
Calculating and early warning friction force F borne by front axle of vehiclef：
Figure BDA0002313749670000083
Calculating and early warning inertial force F borne by front axle of vehiclej:
Figure BDA0002313749670000084
Calculating and early warning crosswind lateral force F borne by front axle of vehicley：
Figure BDA0002313749670000085
Calculating and early warning longitudinal lift force F borne by front axle of vehiclez：
Figure BDA0002313749670000086
Subjecting the front axle of the vehicle to a frictional force FfFront axle load Wr, air resistance F of front axlewInertial force FjCrosswind lateral force FyLongitudinal lifting force FzThe front axle sideslip threshold value U is obtained by being brought into a front axle sideslip model of an upward slope road sectionF:
Figure BDA0002313749670000087
Wherein:
Figure BDA0002313749670000088
Figure BDA0002313749670000089
Figure BDA00023137496700000810
(2) according to the early warning vehicle rear axle cross slope force diagram in fig. 4, a rear axle sideslip generation model on an upper curved slope section is established:
Ff+Wrsinβ≤Fy+Fjcosβ
according to the longitudinal slope force diagram of the early warning vehicle in the figure 5, calculating the rear axle load Wr of the early warning vehicle:
Figure BDA0002313749670000091
calculation early warning vehicleAir resistance F to the rear axle of the vehiclew：
Figure BDA0002313749670000092
Calculating and early warning friction force F borne by rear axle of vehiclef：
Figure BDA0002313749670000093
Calculating and early warning inertia force F borne by rear axle of vehiclej:
Figure BDA0002313749670000094
Calculating and early warning crosswind lateral force F borne by rear axle of vehicley：
Figure BDA0002313749670000095
Calculating and early warning longitudinal lift force F borne by rear axle of vehiclez：
Figure BDA0002313749670000096
Subjecting the rear axle of the vehicle to a frictional force FfRear axle load Wr, air resistance F borne by the rear axlewInertial force FjCrosswind lateral force FyLongitudinal lifting force FzThe rear axle lateral slip form is brought into the rear axle lateral slip form of the upward-bending slope section to obtain a rear axle lateral slip threshold value UR:
Figure BDA0002313749670000097
Wherein:
Figure BDA0002313749670000098
Figure BDA0002313749670000099
Figure BDA0002313749670000101
to better illustrate the technical solution of the present invention, a specific embodiment is provided as follows.
In the embodiment, a section of highway bridge with the design speed of 120km/h is adopted, and the basic parameters are selected from highway linear design specifications (JTGD20-2006) in China. Fig. 2 is a schematic diagram of the crosswind early warning of the road bridge passing bridge of the present embodiment.
The method comprises the following steps: for road sections needing early warning, the wind speed U is obtained through monitoring of meteorological observation equipmentwIs 20m/s
(Typha wind class 8); the vehicle speed Uc of the automobile at the moment is measured to be 90km/h by the vehicle speed monitoring device.
Calculating the yaw angle using the formula:
βα＝tan-1(Uw/Uc)＝29°；
calculating the lateral aerodynamic coefficient by using a fitting formula:
Figure BDA0002313749670000102
calculating the aerodynamic lift coefficient by using a fitting formula:
Figure BDA0002313749670000103
calculating the aerodynamic drag coefficient by using a fitting formula:
Figure BDA0002313749670000104
the road management system obtains that the road surface transverse slope angle alpha of the early warning road section is 1.14 degrees, the road surface longitudinal slope angle beta of the early warning road section is 1.71 degrees, the curve radius R of the early warning road section is 1000m, and the lateral adhesion coefficient of the road surface
Figure BDA0002313749670000105
And the value is 0.35 in rainy days.
The toll station system acquires the mass m of the early-warning vehicle as 1500kg and the wheel base L as 2800mm, the video detection equipment identifies the license plate of the early-warning vehicle to obtain the vehicle type information of the early-warning vehicle at the moment, the relevant standard is consulted to obtain the vehicle type data information of the early-warning vehicle, and the distance L from the front axle to the center of mass11480mm, rear axle to centroid distance L21320mm, frontal windward area A2.23 m2The height h of the mass center is 660 mm.
Step two: calculating a vehicle speed threshold value of the front axle sideslip of the upper curved slope section according to the front axle side sliding mode of the upper curved slope section by using the acquired parameter information:
Figure BDA0002313749670000111
wherein:
Figure BDA0002313749670000112
Figure BDA0002313749670000113
Figure BDA0002313749670000114
substituting the corresponding parameters into the calculation to obtain UF＝85.9km/h。
Step three: calculating a vehicle speed threshold value of the rear axle sideslip of the upper curved slope section according to the rear axle side sliding mode of the upper curved slope section by using the acquired parameter information, wherein specifically, the rear axle side sliding mode of the upper curved slope section is as follows:
Figure BDA0002313749670000115
wherein:
Figure BDA0002313749670000116
Figure BDA0002313749670000117
Figure BDA0002313749670000118
substituting the corresponding parameters into the calculation to obtain UR＝93.8km/h。
Step four: the method comprises the following steps of carrying out early warning according to two conditions of the sideslip threshold value of the front axle and the rear axle:
automobile front axle sideslip threshold UF85.9km/h < rear axle sideslip threshold UR93.8km/h and a threshold value U for the front axle sideslip of the vehicleF85.9km/h < automobile running speed UCAnd (5) giving a parking waiting early warning to the automobile when the speed is 90 km/h.
The invention fills the gap of highway driving early warning at the curved slope of a highway bridge, considers the practical applicability in reality, considers wind as steady-state crosswind in the invention, always vertical to the Z axis under an SAE aerodynamic coordinate system in the wind speed direction, and the SAE aerodynamic coordinate system is shown in figure 6. The working conditions of the wind pressure centers acting on the front axle and the rear axle are respectively considered, and the sideslip threshold value of the car on the upward slope under different wind speeds and wind directions is calculated through modeling. The method provides proper crosswind early warning under different working conditions when the car passes through the highway bridge, thereby improving the driving safety of the car when the car passes through the highway bridge.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (6)

1. A crosswind early warning method for cars passing through a highway bridge is characterized by comprising the following steps:
step 1: calculating a vehicle speed threshold value of the front axle sideslip of the upper curved slope section according to the front axle side sliding mode of the upper curved slope section;
step 2: calculating a vehicle speed threshold value of the rear axle sideslip of the upper curved slope section according to the rear axle side sliding mode of the upper curved slope section;
and step 3: comparing the vehicle speed threshold value of the front axle sideslip with the vehicle speed threshold value of the rear axle sideslip, which is obtained in the step (2);
when the speed threshold value of the front axle generating sideslip is smaller than that of the rear axle generating sideslip, if the speed of the early-warning vehicle is smaller than that of the front axle generating sideslip, an early warning for keeping the current speed is sent out; otherwise, sending out a parking waiting early warning;
when the speed threshold value of the front axle generating sideslip is larger than that of the rear axle generating sideslip, if the speed of the early-warning vehicle is smaller than that of the rear axle generating sideslip, the early warning for keeping the current speed is sent out; otherwise, a parking waiting early warning is sent out.
2. The crosswind early warning method for cars passing through highway bridges according to claim 1, wherein in the step 1, the front axle sideslip model of the uphill slope road section is as follows:
Figure FDA0002710894680000011
wherein:
Figure FDA0002710894680000012
Figure FDA0002710894680000013
Figure FDA0002710894680000014
in the formula, UFA vehicle speed threshold value for the front axle sideslip; u shapewThe wind speed of the early warning road section is obtained; rho is the air density, and 1.282Kg/m is taken3(ii) a g is gravity acceleration, and is 9.8m/s2(ii) a A is the frontal area of the early warning vehicle;
Figure FDA0002710894680000015
the lateral adhesion coefficient of the road surface of the early warning road section is obtained; h is the height of the mass center of the early warning vehicle; cyThe lateral aerodynamic coefficient of the vehicle is pre-warned; cdThe aerodynamic drag coefficient of the vehicle is early-warned; clThe aerodynamic lift coefficient of the vehicle is early-warned; m is the mass of the early warning vehicle; l is the wheelbase of the early warning vehicle; l is2The distance between a rear axle and the mass center of the vehicle is early warned; beta is a longitudinal slope angle of the road surface of the early warning road section; alpha is the road surface cross slope angle of the early warning road section; and R is the radius of the curve of the early warning road section.
3. The crosswind early warning method for cars passing through highway bridges according to claim 2, wherein in the step 2, the rear axle side sliding mode of the upward-curved slope section is as follows:
Figure FDA0002710894680000021
wherein:
Figure FDA0002710894680000022
Figure FDA0002710894680000023
Figure FDA0002710894680000024
in the formula, URA vehicle speed threshold value for the rear axle to sideslip; l is1The distance between the front axle and the mass center of the vehicle is pre-warned.
4. The crosswind early warning method for cars passing through highway bridges as claimed in claim 3, wherein the lateral aerodynamic coefficient C of the early warning vehicleyExpressed as:
Figure FDA0002710894680000025
aerodynamic drag coefficient C of early warning vehicledExpressed as:
Figure FDA0002710894680000026
aerodynamic lift coefficient C of early warning vehiclelExpressed as:
Figure FDA0002710894680000027
in the formula, betaαFor warning of yaw angle of vehicle, betaα＝tan-1(Uw/Uc) Wherein, UcThe vehicle speed of the vehicle is early-warned.
5. The crosswind early warning method for cars passing through a highway bridge according to claim 4, wherein the method comprises the following steps: acquiring a road longitudinal slope angle beta of the early warning road section, a road transverse slope angle alpha of the early warning road section and a curve radius R of the early warning road section from a road management system; wind speed U for monitoring early warning road section by adopting meteorological observation equipmentw(ii) a Obtaining the mass m of the early warning vehicle, the axle distance L of the early warning vehicle and the distance L from the front axle of the early warning vehicle to the mass center from a toll station system1Early warning of distance L from rear axle to center of mass of vehicle2The frontal windward area A of the early warning vehicle and the height h of the mass center of the early warning vehicle; vehicle speed U for monitoring early warning vehicle by adopting vehicle speed monitoring devicec。
6. The crosswind early warning method for cars passing through highway bridges as claimed in claim 5, wherein the lateral adhesion coefficient of the road surface of the early warning road section
Figure FDA0002710894680000031
The values of (A) are as follows:
when the road surface is dry, the value is 0.5; the value is 0.35 in rainy days; the value is 0.15 in snowy days; and when the road surface is frozen, the value is 0.08.
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