CN110962595A - Safe speed limiting method based on turning angle - Google Patents

Safe speed limiting method based on turning angle Download PDF

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Publication number
CN110962595A
CN110962595A CN201911103993.4A CN201911103993A CN110962595A CN 110962595 A CN110962595 A CN 110962595A CN 201911103993 A CN201911103993 A CN 201911103993A CN 110962595 A CN110962595 A CN 110962595A
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China
Prior art keywords
speed
vehicle
angle
maximum
turning
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CN201911103993.4A
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李飞
姚欣
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Zhengzhou Jiachen Electric Co ltd
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Zhengzhou Jiachen Electric Co ltd
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Priority to CN201911103993.4A priority Critical patent/CN110962595A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0066—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature
    • B60K31/0075—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature responsive to vehicle steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K2031/0091—Speed limiters or speed cutters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Vehicle Body Suspensions (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

A safe speed limiting method based on turning angle with simple structure comprises the following steps: the method comprises the following steps: measuring the turning angle; the steering angle sensor is arranged on a suspension shaft of a tire, the rotation size of a steering wheel is measured and sent to a controller, and the controller captures a pulse signal to calculate the rotation angle of the steering wheel; the second step is that: calculating the maximum driving speed; and sending the rotation angle obtained by calculation to a motor controller, and limiting the maximum driving speed of the vehicle by the motor controller according to the safe speed corresponding to the rotation angle. Through the scheme, the motor controller can acquire the turning angle of the vehicle in real time, and different maximum vehicle speeds are limited according to different turning angles, so that the vehicle is prevented from sideslipping and turning on one side.

Description

Safe speed limiting method based on turning angle
Technical Field
The invention relates to a vehicle speed limiting method, in particular to a safe speed limiting method based on a vehicle turning angle.
Background
Industrial vehicles are important equipment for modern logistics storage, are widely applied to places such as ports, docks, goods yards, oil fields, airports and the like, along with the rapid development of the logistics industry, the safety problem of industrial vehicles is increasingly prominent, when the industrial vehicles make sharp turns in the driving process, the gravity centers of the vehicles change, and when the gravity centers of the vehicles shift to unstable areas, the vehicles easily sideslip and roll over, so that safety accidents are caused.
As shown in FIG. 1, the larger the vehicle steering wheel angle, the smaller the radius of the turn; conversely, the smaller the angle of the steering wheel of the vehicle is, the larger the turning radius is; when the vehicle is at a large turning angle and at a high speed, the vehicle is very easy to slip or roll over due to the centrifugal force. The conventional engineering vehicle cannot know the turning angle during turning, the safe speed of braking during turning must be judged by the experience of a driver, the braking and the deceleration are actively carried out in advance, and the operation difficulty is high and the control is difficult.
Known prior art documents such as CN 201420133897.0 disclose a forklift steering axle with a turning speed limiting mechanism, which has a relatively complex structure, and a vehicle needs to install a proximity switch and an inductive switch on a steering axle web and a steering cylinder piston rod respectively, which are matched with each other for induction, so as to induce the steering conversion of the steering axle and limit the speed of the vehicle through a feedback signal; another document CN201710845054.1 discloses a turning speed-limiting electric vehicle controller, which utilizes a speed measuring device, a comparator, a steering wheel angle sensor and a plurality of a/D conversion modules to monitor the turning angle of the vehicle, and the circuit structure is relatively complex.
Disclosure of Invention
In order to overcome the defects of the prior art and reduce the occurrence of accidents, the invention provides a safe speed limiting method based on a turning angle, which has a simple structure and comprises the following steps: the method comprises the following steps: measuring the turning angle; the steering angle sensor is arranged on a suspension shaft of a tire, the rotation size of a steering wheel is measured and sent to a controller, and the controller captures a pulse signal to calculate the rotation angle of the steering wheel; the second step is that: calculating the maximum driving speed; and sending the rotation angle obtained by calculation to a motor controller, and limiting the maximum driving speed of the vehicle by the motor controller according to the safe speed corresponding to the rotation angle.
The invention further provides a safe speed limiting method based on the turning angle, wherein the step of calculating the maximum driving speed in the second step comprises the following steps: the motor controller has the following maximum speed algorithm according to the matched turning angle: the side friction force of the object to the ground is F(Mo)Must F(in)<F(Mo)And F is(in)＝mv2R, i.e. mv2/r<F(Mo)And then:
Figure BDA0002270703060000011
according to the formula (1), the maximum speed which can be borne by different steering angles can be obtained through experimental data, and the motor controller sets the speed as the maximum driving speed; if the vehicle is not turning, the speed is not limited separately.
The invention further provides a safe speed limiting method based on the turning angle, wherein the step of calculating the maximum driving speed in the second step comprises the following steps: the motor controller has the following maximum speed algorithm according to the matched turning angle:
Figure BDA0002270703060000021
centripetal force is FTo the direction ofV is the linear velocity, m/s, omega is the angular velocity, rad/s, m is the mass of the object, kg, r is the radius of motion of the object. The side friction force of the object to the ground is F(Mo)Must F(in)<F(Mo)On the basis, according to the formula (2), the maximum speed which can be borne by different steering angles can be obtained through experimental data, and the motor controller sets the speed as the maximum driving speed; if the vehicle is not turning, the speed is not limited separately.
The invention also provides a safe speed limiting method based on the turning angle, wherein the turning angle sensor adopts an encoder.
The method is simple and easy to implement, and can effectively solve the problem that the vehicle sideslips and turns over by detecting the angle of the steering wheel of the vehicle.
Drawings
FIG. 1 is a schematic diagram of a vehicle undergoing side-slip or rollover.
Fig. 2 is a control schematic diagram of the present invention.
Fig. 3 is a circuit diagram of the steering angle sensor.
Detailed Description
Referring to the content shown in fig. 2, the steering angle sensor is adopted to detect the actual steering angle of the steering wheel in real time, and after the motor controller obtains the steering angle, the maximum speed of the vehicle is limited according to the vehicle safety algorithm, so that the safety situation of the vehicle during turning is ensured, and the vehicle is prevented from sideslipping and turning over.
The method comprises the following steps: measuring the turning angle;
as shown in fig. 3, the steering angle sensor is mounted on the suspension shaft of the tire. The steering angle sensor adopts an encoder to measure the rotation size of the steering wheel, the encoder is driven to rotate when the steering wheel rotates, the encoder outputs pulse signals and sends the pulse signals to the controller, and the controller captures the pulse signals to calculate the rotation angle of the steering wheel.
The second step is that: calculating the maximum driving speed; and sending the rotation angle obtained by calculation to a motor controller, and limiting the maximum driving speed of the vehicle by the motor controller according to the safe speed corresponding to the rotation angle.
The motor controller has the following maximum speed algorithm according to the matched turning angle: assuming that the side friction of the object to the ground is F (Moire), when F(in)>F(Mo)In time, the vehicle can turn over, so F is needed to avoid the vehicle turning over(in)<F(Mo)And F is(in)＝mv2R, i.e. mv2/r<F(Mo)And then:
Figure BDA0002270703060000031
i.e. maximum speed Vmax
Figure BDA0002270703060000032
In the running process of a vehicle, a steering angle and a speed are controlled by a driver, and the larger the speed and the larger the steering angle are, the larger the centripetal force is, and the rollover is easy to occur. According to the formula (1), the maximum speed which can be borne by different steering angles can be obtained through experimental data, and the motor controller sets the speed as the maximum driving speed; if the vehicle is not turning, the speed is not limited separately.
In alternative embodiments, the manner in which the center of gravity detects the speed limit or the centripetal force detects the speed limit may be utilized; the gravity center detection or the centripetal force detection do not need to use a sensor, and only the running speed and the steering angle of the vehicle need to be detected, such as:
the formula of the centripetal force is
Figure BDA0002270703060000033
Centripetal force is FTo the direction ofV is the linear velocity, m/s, omega is the angular velocity, rad/s, m is the mass of the object, kg, r is the radius of motion of the object.
In the running process of a vehicle, a steering angle and a speed are controlled by a driver, and the larger the speed and the larger the steering angle are, the larger the centripetal force is, and the rollover is easy to occur. The side friction force of the object to the ground is F(Mo)Due to F(in)<F(Mo)On the basis, according to the formula (2), the maximum speed which can be borne by different steering angles can be obtained through experimental data, and the motor controller sets the speed as the maximum driving speed; if the vehicle is not turning, the speed is not limited separately.
According to the scheme, the motor controller can acquire the turning angle of the vehicle in real time, and different maximum vehicle speeds are limited according to different turning angles, so that the vehicle is prevented from sideslipping and turning over.

Claims (4)

1. A safety speed limiting method based on vehicle turning angle comprises the following steps:
the method comprises the following steps: measuring the turning angle; the steering angle sensor is arranged on a suspension shaft of a tire, the rotation size of a steering wheel is measured and sent to a controller, and the controller captures a pulse signal to calculate the rotation angle of the steering wheel;
the second step is that: calculating the maximum driving speed; and sending the rotation angle obtained by calculation to a motor controller, and limiting the maximum driving speed of the vehicle by the motor controller according to the safe speed corresponding to the rotation angle.
2. The vehicle turning angle-based safety speed limiting method of claim 1, wherein the second step of calculating the maximum traveling speed includes:
the motor controller has the following maximum speed algorithm according to the matched turning angle: the side friction force of the object to the ground is F(Mo)Must F(in)<F(Mo)And F is(in)＝mv2R, i.e. mv2/r<F(Mo)And then:
Figure FDA0002270703050000011
according to the formula (1), the maximum speed which can be borne by different steering angles can be obtained through experimental data, and the motor controller sets the speed as the maximum driving speed; if the vehicle is not turning, the speed is not limited separately.
3. The vehicle turning angle-based safety speed limiting method of claim 1, wherein the second step of calculating the maximum traveling speed includes:
the motor controller has the following maximum speed algorithm according to the matched turning angle:
Figure FDA0002270703050000012
centripetal force is FTo the direction ofV is the linear velocity, m/s, omega is the angular velocity, rad/s, m is the mass of the object, kg, r is the radius of motion of the object. The side friction force of the object to the ground is F(Mo)Due to F (in)<F (Momo), on the basis, according to the formula (2), obtaining the maximum speed which can be borne by different steering angles through experimental data, and setting the speed as the maximum driving speed by the motor controller; if the vehicle is not turning, the speed is not limited separately.
4. The vehicle turning angle-based safety speed limiting method according to claim 1, characterized in that: the steering angle sensor adopts an encoder.
CN201911103993.4A 2019-11-13 2019-11-13 Safe speed limiting method based on turning angle Pending CN110962595A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112728068A (en) * 2020-12-21 2021-04-30 厦门雅迅网络股份有限公司 Vehicle energy-saving control method, storage medium, vehicle control system and vehicle
CN113246726A (en) * 2020-09-22 2021-08-13 郑州嘉晨电器有限公司 Driving safety control method based on dynamic planning

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4354568A (en) * 1979-03-12 1982-10-19 Jungheinrich Unternehmensverwaltung Kg Electrically controlled travel drive control system for steerable vehicles, particularly fork lift trucks
CN201895745U (en) * 2010-11-25 2011-07-13 浙江绿源电动车有限公司 Turning speed limiting device for vehicle
CN203254978U (en) * 2013-04-09 2013-10-30 奇瑞重工股份有限公司 Veering angle changing speed limiting system
CN204354839U (en) * 2014-12-10 2015-05-27 林德（中国）叉车有限公司 A kind of fork truck carries out the device of automatic speed-limiting when different angle of turn
CN109808679A (en) * 2017-11-17 2019-05-28 郑州宇通客车股份有限公司 A kind of bend method for controlling driving speed, bend vehicle speed control system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4354568A (en) * 1979-03-12 1982-10-19 Jungheinrich Unternehmensverwaltung Kg Electrically controlled travel drive control system for steerable vehicles, particularly fork lift trucks
CN201895745U (en) * 2010-11-25 2011-07-13 浙江绿源电动车有限公司 Turning speed limiting device for vehicle
CN203254978U (en) * 2013-04-09 2013-10-30 奇瑞重工股份有限公司 Veering angle changing speed limiting system
CN204354839U (en) * 2014-12-10 2015-05-27 林德（中国）叉车有限公司 A kind of fork truck carries out the device of automatic speed-limiting when different angle of turn
CN109808679A (en) * 2017-11-17 2019-05-28 郑州宇通客车股份有限公司 A kind of bend method for controlling driving speed, bend vehicle speed control system

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* Cited by examiner, † Cited by third party
Title
阳兆祥: "《交通事故力学鉴定教程》", 31 October 2002, 广西科学技术出版社 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113246726A (en) * 2020-09-22 2021-08-13 郑州嘉晨电器有限公司 Driving safety control method based on dynamic planning
CN113246726B (en) * 2020-09-22 2022-05-17 河南嘉晨智能控制股份有限公司 Driving safety control method based on dynamic planning
CN112728068A (en) * 2020-12-21 2021-04-30 厦门雅迅网络股份有限公司 Vehicle energy-saving control method, storage medium, vehicle control system and vehicle
US11982347B2 (en) 2020-12-21 2024-05-14 Xiamen Yaxon Network Co., Ltd. Vehicle energy saving control method, storage medium, vehicle control system, and vehicle

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