CN116424301A - Anti-rollover safety mechanism of active rolling vehicle and control method thereof - Google Patents
Anti-rollover safety mechanism of active rolling vehicle and control method thereof Download PDFInfo
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- CN116424301A CN116424301A CN202310415791.3A CN202310415791A CN116424301A CN 116424301 A CN116424301 A CN 116424301A CN 202310415791 A CN202310415791 A CN 202310415791A CN 116424301 A CN116424301 A CN 116424301A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000005096 rolling process Methods 0.000 title claims abstract description 24
- 230000008569 process Effects 0.000 claims abstract description 14
- 230000002265 prevention Effects 0.000 claims description 31
- 230000001133 acceleration Effects 0.000 claims description 18
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 238000005381 potential energy Methods 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 7
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- 238000010586 diagram Methods 0.000 description 9
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
- B60S9/205—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams
- B60S9/21—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams comprising a rotatably driven auxiliary wheel or endless track, e.g. driven by ground wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
Abstract
The invention relates to an anti-rollover safety mechanism of an active rolling vehicle and a control method thereof, belonging to the technical field of vehicle chassis, in particular to a driving safety redundancy technology of the active rolling vehicle; in the driving process of a vehicle with active side rolling, if the vehicle automatically controls the side rolling to a limit side inclination angle, when the vehicle needs to avoid an obstacle to enlarge a steering angle or is interfered by adverse factors of road conditions such as a downhill road, the centrifugal force is suddenly increased and exceeds a limit value which can be borne by the vehicle, and the vehicle can be turned over outwards in the curve; the redundant safety measures are as follows: when the vehicle works to the limit camber angle and the inner driving wheel slips, the outer safety tug pops up, the tug contacts the road surface with the outer wheel, the vehicle slides and decelerates, the vehicle is prevented from turning over outwards in a curve, the safety of drivers and passengers is protected, and the safety redundancy of the running of the vehicle is realized.
Description
Technical Field
The invention relates to an active side-tipping vehicle side-tipping prevention safety mechanism and a control method thereof, which belong to the technical field of vehicle running safety control and are applied to an active side-tipping vehicle running control technology.
Background
The active roll control system improves the steering stability, smoothness, passing speed and safety of the vehicle when the vehicle turns by controlling the inclination degree of the vehicle to the inner side of the curve, and for small-track and narrow-body vehicles, the active roll technology can enable the vehicle to automatically incline for a certain angle when the vehicle turns, and generate a balance moment to resist the centrifugal force born by the vehicle and avoid the vehicle from turning over so as to keep the stable running posture of the vehicle.
Aiming at the driving safety of the active roll vehicle, the invention discloses a vehicle roll control method CN2020105579660, which is provided with a maximum allowable roll angle of the vehicle, and in the steering driving process of the vehicle, whether to execute vehicle deceleration is judged according to the relation between the calculated required roll angle and the maximum allowable roll angle, so that the driving stability of the vehicle is ensured; the key technical measures are that the vehicle is decelerated, the roll angle required by the vehicle to overcome the centrifugal force is prevented from exceeding the allowable maximum roll angle of the vehicle, and the vehicle is controlled by an active safety control technology.
For the driving roll vehicle, if the vehicle automatically controls to work to the limit roll angle in the process of driving the vehicle at the curve, when the vehicle needs to avoid an obstacle to enlarge a steering angle or is interfered by adverse factors of road conditions such as downhill, the centrifugal force is suddenly increased and exceeds the limit value which can be borne by the vehicle, and the vehicle can be turned over outwards at the curve; for a small-track and narrow-body light vehicle, drivers and passengers sit in a front single row and a rear single row, the space at two sides in the vehicle is small, and side safety protection measures are inconvenient to install; when the vehicle works to the limit roll angle and once the positive pressure of the ground of the wheel at the inner side of the curve is zero, the wheel at the inner side leaves the ground, so that the vehicle can turn over outwards in the curve; the safety mechanism for the equipment is added on the outer side of the vehicle, is a passive safety technical measure for preventing the vehicle from turning over outwards in a curve, ensures the safety of passengers, and is applied to the driving redundancy safety technology of the active-side-tilting vehicle.
Disclosure of Invention
The invention aims to provide an anti-rollover safety mechanism of an active rolling vehicle and a control method thereof, wherein when the active rolling vehicle runs at a limit roll angle of the vehicle, once the active rolling vehicle is interfered by adverse factors of road surface conditions, the ground positive pressure of an inner side wheel is zero, an outer side safety tug pops up, the tug contacts with the outer side wheel to enable the road surface and the vehicle to slide and decelerate, and the vehicle is prevented from rolling over outwards at the curve.
The technical scheme adopted for achieving the purpose of the invention is as follows:
the anti-rollover safety mechanism comprises: a positioning surface (10 a) and a mounting hole (10 b) are formed in the box body (10), one end of a supporting rod (12) is rotationally connected with the box body (10) and is rotationally connected with a rotation axis L, the other end of the supporting rod (12) is rotationally connected with a towing wheel (11), the towing wheel (11) rotates freely relative to the supporting rod (12), the rotation axes at the two connection points are parallel to each other and are perpendicular to the positioning surface (10 a), a spring (13) is arranged on the box body (10), the displacement of the cylindrical spring (13) is vertically staggered with the axis L, a locking pin (14) is movably connected with the box body (10) and is perpendicular to the positioning surface (10 a), the locking pin (14) is reset, then the rotation limit of the supporting rod (12) behind the compression spring (13) is kept, an unlocking switch (15) is arranged on the box body (10), the limit of the supporting rod (12) is rapidly released by triggering the unlocking switch (15) and the locking pin (14), a buffer block (16) is fixedly arranged on the box body (10) and is used for slowing down the impact of the supporting rod (12) and forming a safe side-turning limit mechanism for the supporting rod (12) around the axis L and the compression limit spring (16);
wherein: the supporting rod (12) rotates around the axis L under the action of external force, the spring (13) is compressed, elastic potential energy is reserved, ejection force is generated, the locking pin (14) is reset to limit the rotation of the supporting rod (12), and the locking state of the rollover prevention safety mechanism is achieved; triggering the unlocking switch (15) and rapidly releasing the limit of the locking pin (14) on the supporting rod (12), wherein the ejection force presses the supporting rod (12) to rotate around the axis L together with the tug (11) until the buffer block (16) limits the ejected supporting rod (12) and releases the tug (11) in place, so that the anti-rollover safety mechanism is in a working state.
In the rollover prevention safety mechanism, the unlocking switch (15) is controlled by the vehicle-mounted VCU by selecting a millisecond delay electric detonator so as to rapidly remove the limit of the locking pin (14) on the support rod (12) and meet the rapid ejection requirement of the tug (11).
An active roll vehicle employing an anti-roll safety mechanism comprising: on a narrow light vehicle chassis with active rolling function, wherein drivers take the vehicle in a front-back single row, two groups of anti-rollover safety mechanisms are symmetrically arranged at the side surface of a driver seat and under the vehicle body at the rear part, a box body (10) is fixed on the vehicle body through a mounting hole (10 b) by a positioning surface (10 a), a supporting rod is kept parallel to the floor of the vehicle body, and a tug rises forwards to form an anti-rollover safe redundant active rolling vehicle;
wherein: in the vehicle-mounted rollover prevention safety mechanism, a supporting rod (12) compresses a spring (13), stores elastic potential energy, generates ejection force, and a locking pin (14) resets to limit the rotation of the supporting rod (12), so that the vehicle-mounted rollover prevention safety mechanism is in a vehicle-mounted standby mode in a locking state;
in the process of driving a roll vehicle to run at a curve, the vehicle works to a limit roll angle, and when the positive pressure of the ground of the inner side wheel is zero or the inner side wheel leaves the ground, the vehicle is a triggering condition of the anti-rollover safety mechanism on the active roll vehicle;
after the vehicle obtains the triggering information, an unlocking switch (15) in the anti-rollover safety mechanism at the outer side of the vehicle rapidly releases the limit of a locking pin (14) on a supporting rod (12), and ejection force presses the supporting rod (12) to rotate until a buffer block (16) limits the supporting rod and a tug (11) is released in place; if the vehicle turns outwards around the road surface of the road, the tug (11) contacts the road surface, the reverse thrust prevents the vehicle from continuing to turn, the tug (11) contacts the road surface with the road surface of the road, the vehicle slides and decelerates, the vehicle is prevented from turning over outwards in the road, the safety of drivers and passengers is protected, and the vehicle is applied to the active rolling vehicle running safety redundancy technology for the working mode of the tug in a pop-up state after the rollover prevention safety mechanism is unlocked.
The control program of the anti-rollover safe redundant active rolling vehicle comprises the following steps: when the vehicle works to the limit roll angle and the ground positive pressure of the inner wheel is zero in the process of driving the roll vehicle to run on the curve, the vehicle can be caused to roll outwards around the connecting line of the grounding point of the outer wheel of the curve; when the ground positive pressure of the inner side wheel is zero, the inner side wheel leaves the ground, the inner side driving wheel slips, and the rotating speed suddenly increases; because the wheel ground positive pressure is not easy to dynamically acquire, the rotation speed of the driving wheel is a vehicle running control parameter, and the abrupt change of the rotation speed of the inner driving wheel under the condition of the limit camber angle is used as a judgment condition that the wheel ground positive pressure is zero; the detection parameters are therefore: under the condition of limiting roll angle, the rotation speed of the inner driving wheel suddenly increases, and the inner driving wheel is a triggering condition of an unlocking switch in the vehicle-mounted outer side rollover prevention safety mechanism.
The anti-rollover safe redundant active rolling vehicle control method comprises the following steps:
the method comprises the following steps of: extreme roll angle beta m Sensor sampling period t, driving wheel slip angular acceleration threshold value a and control parameter initial value beta 0 =0、θ 0 =0、N L0 =0、N R0 =0；
Secondly, driving intention information is read in, wherein the driving intention information comprises vehicle acceleration and deceleration information and direction control information;
thirdly, executing acceleration, deceleration and steering angles of the vehicle;
the vehicle-mounted sensor dynamically reads the running speed v, the steering angle theta and the rotation speed N of the left driving wheel and the right driving wheel L 、N R ；
Fifthly, calculating the turning radius r=f (theta) of the vehicle, and the left and right driving wheel angular acceleration T L =(N L -N L0 )/t、T R =(N R -N R0 )/t；
Force balance conditions during cornering are satisfied: mg×tan β=mv 2 R, from tanβ=v 2 (g×r) calculating the roll angle β;
sixth step if beta is less than or equal to beta m Performing a roll angle correction of beta = beta-beta 0 ，β 0 =β, go to step ii;
otherwise, the following logic judgment is performed:
if beta is 0 ＜β m Performing a roll angle correction amount β=β m -β 0 Turning to step x;
otherwise, the next step is carried out;
⑺、β 0 =β m if T L < a and T R < a, go to step II;
otherwise, triggering judgment is carried out on unlocking switches of the left side and the right side rollover prevention safety mechanism:
if the vehicle turns left, an unlocking switch in the right side rollover prevention safety mechanism triggers and tug pops up, an alarm is sent, and the program operation is finished;
if the vehicle turns right, an unlocking switch in the left side rollover prevention safety mechanism triggers and tug pops up, an alarm is sent, and the program operation is finished;
otherwise, the next step is carried out;
and performing steering angle correction amount, i.e., fatter θ=θ - θ 0 ；
⑼、θ 0 =θ，N L0 =N L 、N R0 =N R And returning to the step (c) and continuing.
Wherein: gravitational acceleration g, vehicle roll part mass m, sensor sampling period t, drive wheel slip angular acceleration threshold a; the vehicle turning radius function f (θ) is affected by the vehicle wheelbase, track, steering mode, etc., and the larger the steering angle θ, the smaller the turning radius r=f (θ).
In the above-mentioned anti-rollover safe redundant active roll vehicle control method, the step is a step, the steering angle correction amount is a step θ=θ - θ 0 Is an optional execution item, and ensures that the running direction of the vehicle is controlled by the driving intention.
Limiting vehicle roll angle beta by vehicle hardware m In the steering running process of the vehicle, calculating the required roll angle beta for eliminating the centrifugal force of the curve running according to the running parameters of the vehicle, and if the beta is less than or equal to the beta m When the roll angle correction is performed, the correction is performed with beta=beta-beta 0 Then, the steering angle correction amount is performed, which is defined as θ=θ - θ 0 The centrifugal force of curve driving is eliminated, and the vehicle rolls and turns to drive;
for the driving roll vehicle, if the vehicle automatically controls the roll to the limit roll angle in the process of running the curve, when the vehicle needs to avoid an obstacle to enlarge the steering angle or is interfered by adverse factors of road conditions such as downhill and the like, the centrifugal force is suddenly increased and exceeds the limit value which can be borne by the vehicle, and the vehicle can be turned over outwards in the curve; the redundant safety measures are as follows: when the vehicle works to the limit camber angle and the inner driving wheel slips, the outer safety tug pops up, and the tug contacts the road surface with the outer driving wheel to reduce the speed of the vehicle, so as to prevent the vehicle from turning over outwards in a curve.
The anti-rollover safety mechanism for the active rolling vehicle and the control method thereof have the advantages that in the driving process of the active rolling vehicle, after the active rolling vehicle is operated to the limit roll angle and the ground positive pressure of the inner side wheel is zero, the outer side safety tugboat pops up, the tugboat contacts the road surface with the outer side wheel, the vehicle slides and decelerates, the vehicle is prevented from rolling over outwards in the curve, the safety of drivers and passengers is protected, and the driving safety redundancy of the vehicle is guaranteed.
Drawings
FIG. 1 is a schematic view of an anti-rollover safety mechanism, (a) right side view, (b) front view;
FIG. 2 is a diagram of a locked state of the rollover prevention safety mechanism;
FIG. 3 is a diagram of the operational state of the rollover prevention safety mechanism;
FIG. 4 is a schematic diagram of an anti-rollover safety redundant active roll tricycle;
FIG. 5 is a left turn, extreme roll curve travel diagram of an active roll tricycle;
FIG. 6 is a schematic diagram of an active roll tricycle turning left and extreme roll curve side-turning;
FIG. 7 is a right turn, extreme roll curve travel diagram of an active roll tricycle;
FIG. 8 is a schematic representation of an active roll tricycle turning right and extreme roll curve rollover;
FIG. 9 is a flow chart diagram of a method of rollover prevention safety redundant active roll vehicle control;
in the figure: 10-a box body, 11-a tug, 12-a supporting rod, 13-a spring, 14-a locking pin, 15-an unlocking switch and 16-a buffer block;
wherein: 10a- -locating surface, 10b- -mounting hole.
Description of the embodiments
Embodiments of the present invention are described below with reference to the accompanying drawings.
The anti-rollover safety mechanism shown in fig. 1 is a schematic diagram, and the anti-rollover safety mechanism comprises: the box body (10) is provided with a positioning surface (10 a) and a mounting hole (10 b), one end of a supporting rod (12) is rotationally connected with the box body (10) and is rotationally connected with a rotation axis L, the other end of the supporting rod (12) is rotationally connected with a towing wheel (11), the towing wheel (11) rotates freely relative to the supporting rod (12), the rotation axes at the two connection points are parallel to each other and are perpendicular to the positioning surface (10 a), a spring (13) is arranged on the box body (10), the displacement of the cylindrical spring (13) is vertically staggered with the axis L, a locking pin (14) is movably connected with the box body (10) and is perpendicular to the positioning surface (10 a), the locking pin (14) is reset, then the rotation limit of the supporting rod (12) is kept after the compression spring (13), as shown in a graph 1 (a), an unlocking switch (15) is arranged on the box body (10), the limit of the supporting rod (12) is triggered, a buffer block (16) is fixedly arranged on the box body (10), the buffer block (10) is slowed down, the displacement Q is perpendicular to the positioning surface (12) is used for bearing the rotation limit of the supporting rod (12), the rotation limit block (12) and the rotation limit of the supporting rod (12) is compressed by the compression limit of the buffer block (16) around the rotation limit position (11) as shown in the graph 1 (a), forming a rollover prevention safety mechanism;
wherein: under the action of external force, the supporting rod (12) rotates around the axis L, the spring (13) is compressed, elastic potential energy is reserved, ejection force P is generated, the locking pin (14) is reset to limit the rotation of the supporting rod (12), and the locking state of the rollover prevention safety mechanism is shown in fig. 2; triggering the unlocking switch (15) and rapidly releasing the limit of the locking pin (14) on the supporting rod (12), and enabling the ejection force P to press the supporting rod (12) to rotate around the axis L together with the tug (11) until the buffer block (16) limits the ejected supporting rod (12) and releases the tug (11) in place, so that the anti-rollover safety mechanism is in a working state, as shown in figure 3.
In the rollover prevention safety mechanism, the unlocking switch (15) is controlled by the vehicle-mounted VCU by selecting a millisecond delay electric detonator so as to rapidly remove the limit of the locking pin (14) on the support rod (12) and meet the rapid ejection requirement of the tug (11).
The anti-rollover safety redundant active roll tricycle schematic diagram shown in fig. 4, an active roll vehicle employing an anti-rollover safety mechanism, comprising: on a narrow light vehicle chassis with active rolling function, wherein drivers take the vehicle in a front-back single row, two groups of anti-rollover safety mechanisms are symmetrically arranged below the side surface and the rear part of a driver seat, a box body (10) is fixed on a C, D position of the vehicle body through a mounting hole (10 b) by a positioning surface (10 a), a support rod is kept parallel to the floor of the vehicle body, and a tug rises forwards, so that an anti-rollover safety redundant active rolling vehicle is formed;
wherein: vehicle-mounted standby mode of locking state of rollover prevention safety mechanism: the supporting rod (12) compresses the spring (13), reserves elastic potential energy, generates ejection force P, and resets the locking pin (14) to limit the rotation of the supporting rod (12);
triggering conditions of the rollover prevention safety mechanism on an actively-rolling vehicle: when the vehicle works to the limit roll angle and the ground positive pressure of the inner side wheel is zero or the inner side wheel leaves the ground in the process of driving the vehicle to roll in a curve;
mode of operation of preventing the tug from popping out the state after the safety mechanism of turning on one's side unblocks: after the vehicle obtains the triggering information, an unlocking switch (15) in the anti-rollover safety mechanism on the vehicle-mounted outer side rapidly releases the limit of the locking pin (14) on the supporting rod (12), and the ejection force P presses the supporting rod (12) to rotate until a buffer block (16) limits the supporting rod and the tug (11) is released in place, as shown in fig. 5 and 7; if the vehicle turns outwards around the road surface of the road, the tug (11) contacts the road surface, the reverse thrust prevents the vehicle from continuing to turn, the tug (11) contacts the road surface with the road surface of the road, the vehicle slides and decelerates, the vehicle is prevented from turning outwards around the road, and as shown in fig. 6 and 8, the safety of drivers and passengers is protected, and the vehicle is applied to the active-side-tilting vehicle running safety redundancy technology.
In the process of driving a roll vehicle to run along a curve, the principle that the vehicle cannot roll over inwards in the curve is as follows: the camber angle of the vehicle is not greater than that required to counteract the centrifugal force, i.e. beta. Ltoreq. Arctan [ v ] 2 /(g×r)]The vehicle cannot roll over inwards in the curve; the active roll vehicle is operated within the limit roll angle of the vehicle, the lateral force of the vehicle is dynamically balanced,the vehicle will neither roll inward nor roll outward in the curve.
The control program of the anti-rollover safe redundant active rolling vehicle comprises the following steps: when the vehicle works to the limit roll angle and the ground positive pressure of the inner wheel is zero in the process of driving the roll vehicle to run on the curve, the vehicle can be caused to roll outwards around the connecting line of the grounding point of the outer wheel of the curve; when the inner wheel is separated from the ground after the ground positive pressure of the inner wheel is zero, the inner driving wheel slips and the rotation speed suddenly increases, as shown by W in FIG. 5 L W in FIG. 7 R The method comprises the steps of carrying out a first treatment on the surface of the Because the wheel ground positive pressure is not easy to dynamically acquire, the rotation speed of the driving wheel is a vehicle running control parameter, and the abrupt change of the rotation speed of the inner driving wheel under the condition of the limit camber angle is used as a judgment condition that the wheel ground positive pressure is zero; the detection parameters are therefore: under the condition of limiting roll angle, the rotating speed of the inner driving wheel suddenly increases, and the condition is that an unlocking switch in the vehicle-mounted outer side rollover prevention safety mechanism is triggered; after the unlocking switch is triggered, the tug pops out to contact with the road, the reverse thrust prevents the vehicle from turning on one's side, the tug contacts with the road surface with the outside wheel, the vehicle slides and decelerates, and the safety of passengers is protected.
FIG. 9 is a flow chart of a method for controlling an anti-rollover safe redundant active roll vehicle, comprising the steps of:
the method comprises the following steps of: extreme roll angle beta m Sensor sampling period t, driving wheel slip angular acceleration threshold value a and control parameter initial value beta 0 =0、θ 0 =0、N L0 =0、N R0 =0；
Secondly, driving intention information is read in, wherein the driving intention information comprises vehicle acceleration and deceleration information and direction control information;
thirdly, executing acceleration, deceleration and steering angles of the vehicle;
the vehicle-mounted sensor dynamically reads the running speed v, the steering angle theta and the rotation speed N of the left driving wheel and the right driving wheel L 、N R ；
Fifthly, calculating the turning radius r=f (theta) of the vehicle, and the left and right driving wheel angular acceleration T L =(N L -N L0 )/t、T R =(N R -N R0 )/t；
Force balance conditions during cornering are satisfied: mg×tan β=mv 2 R, from tanβ=v 2 (g×r) calculating the roll angle β;
sixth step if beta is less than or equal to beta m Performing a roll angle correction of beta = beta-beta 0 The vehicle reaches the desired roll angle beta, beta 0 =β, go to step ii;
otherwise, the following logic judgment is performed:
if beta is 0 ＜β m Performing a roll angle correction amount β=β m -β 0 Vehicle reaching limit roll angle beta m Turning to step x;
otherwise, the vehicle has reached the limit roll angle β m Carrying out the next step;
⑺、β 0 =β m if T L < a and T R < a, go to step II;
otherwise, triggering judgment is carried out on unlocking switches of the left side and the right side rollover prevention safety mechanism:
if the vehicle turns left, as shown in fig. 5, an unlocking switch in the right side rollover prevention safety mechanism triggers and the tug pops up, an alarm is sent, and the program operation is finished;
if the vehicle turns right, as shown in fig. 7, an unlocking switch in the left side rollover prevention safety mechanism triggers and the tug pops up, an alarm is sent, and the program operation is finished;
otherwise, the next step is carried out;
and performing steering angle correction amount, i.e., fatter θ=θ - θ 0 The steering angle theta is achieved unconditionally, and the steering driving intention is met;
⑼、θ 0 =θ，N L0 =N L 、N R0 =N R returning to the step (II) and continuing;
wherein: gravitational acceleration g, g=9.8 m/s 2 The vehicle roll portion mass m, the sensor sampling period t=0.01 s, the drive wheel slip angular acceleration threshold value a is greater than the maximum operating angular acceleration of the vehicle running drive wheels.
In the above-mentioned anti-rollover safe redundant active roll vehicle control method, the step is a step, the steering angle correction amount is a step θ=θ - θ 0 Is an optional execution item to ensure the vehicleThe running direction of the vehicle is controlled by the driving intention; the vehicle turning radius function r=f (θ), which is affected by the vehicle wheelbase, steering mode, etc., the larger the steering angle θ, the smaller the turning radius r=f (θ); when the steering angle θ=0, r→infinity, the vehicle runs straight.
For the anti-rollover safe redundant active side-tipping tricycle shown in fig. 4, the tricycle is a front-wheel steering and double-rear-wheel hub motor driven positive tricycle with side-tipping function, the side-tipping motor drives a bevel pinion to rotate through a speed reducer, the bevel pinion is respectively meshed with a left bevel gear and a right bevel gear for transmission, the left bevel gear and the right bevel gear respectively drive two upper swing rods to reversely rotate at equal angles, the two lower swing rods are driven to reversely rotate through a shock absorber, the two wheels reversely move relative to a vehicle body, and the vehicle body is laterally tilted relative to the ground to realize a side-tipping angle beta; vehicle wheelbase S, turning radius r=s/tan θ at steering angle θ.
Signal detection and reading methods: the rotation speeds of the left driving wheel and the right driving wheel are detected by a Hall sensor of a hub motor, the running speed V of the vehicle is detected by a wheel speed sensor with the model of CM12-45P-1-24J, the steering angle theta is detected by an angle sensor with the model of Pandauto P3036-C-90-V1-L-5, and the sampling period of the sensor is 0.01s; limiting vehicle roll angle beta by vehicle hardware m In the steering running process of the vehicle, calculating the required roll angle beta for eliminating the centrifugal force of the curve running according to the running parameters of the vehicle, if beta is less than or equal to beta m When the roll angle correction is performed, the correction is performed with beta=beta-beta 0 Then, the steering angle correction amount is performed, which is defined as θ=θ - θ 0 The centrifugal force of curve driving is eliminated, and the vehicle rolls and turns to drive;
for the driving roll vehicle, if the vehicle automatically controls the roll to the limit roll angle in the process of running the curve, when the vehicle needs to avoid an obstacle to enlarge the steering angle or is interfered by adverse factors of road conditions such as downhill and the like, the centrifugal force is suddenly increased and exceeds the limit value which can be borne by the vehicle, and the vehicle can be turned over outwards in the curve; the redundant safety measures are as follows: when the vehicle works to the limit camber angle and the inner driving wheel slips, the outer safety tug pops up, and the tug contacts the road surface with the outer driving wheel to reduce the speed of the vehicle, so as to prevent the vehicle from turning over outwards in a curve.
Claims (4)
1. Anti-rollover safety mechanism, its characterized in that includes: the box body is provided with a positioning surface and a mounting hole, one end of a supporting rod is rotationally connected with the box body, the other end of the supporting rod is rotationally connected with a tug, the tug rotates freely relative to the supporting rod, the rotating axes at the two connecting points are parallel to each other and are perpendicular to the positioning surface, a spring is arranged on the box body, the displacement of a cylindrical spring is vertically staggered with the axis L, a locking pin is movably connected with the box body, the displacement is perpendicular to the positioning surface, the locking pin resets and keeps the rotation limit of the supporting rod behind the compression spring, an unlocking switch is arranged on the box body, the unlocking switch is triggered, the locking pin rapidly releases the limit of the supporting rod, a buffer block is fixedly arranged on the box body and is used for slowing down the rotation impact of the supporting rod and limiting the supporting rod, and the supporting rod rotates the compression spring around the axis L and the rotation compression buffer block to form two limit positions;
wherein: the supporting rod rotates around the axis L under the action of external force, compresses the spring, reserves elastic potential energy, generates ejection force, and resets the locking pin to limit the rotation of the supporting rod, so that the locking state of the rollover prevention safety mechanism is realized; triggering an unlocking switch, rapidly releasing the limit of the locking pin on the supporting rod, and enabling the ejection force to press the supporting rod to rotate around the axis L together with the tug until the buffer block limits the supporting rod after ejection and the tug is released in place, so that the side-turning prevention safety mechanism is in a working state.
2. The rollover prevention safety mechanism according to claim 1, wherein the unlock switch is a millisecond delay electric detonator.
3. Anti-rollover safe redundant active roll vehicle, characterized by comprising: on a narrow light vehicle chassis with active rolling function, wherein a driver takes the vehicle in a single row from front to back, two groups of rollover prevention safety mechanisms according to claim 1 are symmetrically arranged below a vehicle body at the side and the rear of a driver seat, a box body is fixed on the vehicle body through a mounting hole by a positioning surface, and a supporting rod is kept parallel to the floor of the vehicle body and the tug rises to the front;
wherein: in the vehicle-mounted rollover prevention safety mechanism, a supporting rod compresses a spring, stores elastic potential energy, generates ejection force, and a locking pin resets to limit the rotation of the supporting rod, so that the vehicle-mounted rollover prevention safety mechanism is in a vehicle-mounted standby mode in a locking state;
in the process of driving a roll vehicle to run at a curve, the vehicle works to a limit roll angle, and the ground positive pressure of the inner side wheel is zero, or the moment when the inner side wheel leaves the ground is the triggering condition of the anti-rollover safety mechanism on the active roll vehicle;
after the vehicle obtains the triggering information, an unlocking switch in the anti-rollover safety mechanism on the vehicle-mounted outer side rapidly releases the limit of the locking pin on the supporting rod, and the ejection force presses the supporting rod to rotate until the buffer block limits the supporting rod and the tug is released in place; if the vehicle turns outwards around the road surface of the road, the tug contacts the road surface, the reverse thrust prevents the vehicle from continuing to turn, and the tug contacts the road surface with the road surface of the road, so that the vehicle slides and decelerates to prevent the vehicle from turning on one's side outwards.
4. The anti-rollover safe and redundant active roll vehicle control method according to claim 3, characterized by comprising the steps of:
the method comprises the following steps of: extreme roll angle beta m Sensor sampling period t, driving wheel slip angular acceleration threshold value a and control parameter initial value beta 0 =0、θ 0 =0、N L0 =0、N R0 =0；
Secondly, driving intention information is read in, wherein the driving intention information comprises vehicle acceleration and deceleration information and direction control information;
thirdly, executing acceleration, deceleration and steering angles of the vehicle;
the vehicle-mounted sensor dynamically reads the running speed v, the steering angle theta and the rotation speed N of the left driving wheel and the right driving wheel L 、N R ；
Fifthly, calculating the turning radius r=f (theta) of the vehicle, and the left and right driving wheel angular acceleration T L =(N L -N L0 )/t、T R =(N R -N R0 )/t；
Force balance conditions during cornering are satisfied: mg×tan β=mv 2 R, from tanβ=v 2 (g×r) calculating the roll angle β;
sixth step if beta is less than or equal to beta m Performing a roll angle correction of beta = beta-beta 0 ，β 0 =β, go to step ii;
otherwise, the following logic judgment is performed:
if beta is 0 ＜β m Performing a roll angle correction amount β=β m -β 0 Turning to step x;
otherwise, the next step is carried out;
⑺、β 0 =β m if T L < a and T R < a, go to step II;
otherwise, triggering judgment is carried out on unlocking switches of the left side and the right side rollover prevention safety mechanism:
if the vehicle turns left, an unlocking switch in the right side rollover prevention safety mechanism triggers and tug pops up, an alarm is sent, and the program operation is finished;
if the vehicle turns right, an unlocking switch in the left side rollover prevention safety mechanism triggers and tug pops up, an alarm is sent, and the program operation is finished;
otherwise, the next step is carried out;
and performing steering angle correction amount, i.e., fatter θ=θ - θ 0 ；
⑼、θ 0 =θ，N L0 =N L 、N R0 =N R Returning to the step (II) and continuing;
wherein: gravitational acceleration g, vehicle roll portion mass m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310415791.3A CN116424301A (en) | 2023-04-18 | 2023-04-18 | Anti-rollover safety mechanism of active rolling vehicle and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310415791.3A CN116424301A (en) | 2023-04-18 | 2023-04-18 | Anti-rollover safety mechanism of active rolling vehicle and control method thereof |
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| CN116424301A true CN116424301A (en) | 2023-07-14 |
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| CN202310415791.3A Pending CN116424301A (en) | 2023-04-18 | 2023-04-18 | Anti-rollover safety mechanism of active rolling vehicle and control method thereof |
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| Country | Link |
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| CN (1) | CN116424301A (en) |
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