CN201304934Y - Dynamic detection pre-warning device for preventing rollover of freight car on curved road - Google Patents
Dynamic detection pre-warning device for preventing rollover of freight car on curved road Download PDFInfo
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- CN201304934Y CN201304934Y CNU2008201224438U CN200820122443U CN201304934Y CN 201304934 Y CN201304934 Y CN 201304934Y CN U2008201224438 U CNU2008201224438 U CN U2008201224438U CN 200820122443 U CN200820122443 U CN 200820122443U CN 201304934 Y CN201304934 Y CN 201304934Y
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Abstract
The utility model relates to a dynamic detection pre-warning device for preventing rollover of freight car on a curved road, which is characterized by comprising a steering wheel angle sensor, a yaw rate sensor, an inclinometer, another inclinometer, an alarm prompt device and an electronic control unit. The steering wheel angle sensor is arranged on a steering column below the steering wheel of a freight car; the yaw rate sensor is arranged at the intersection position of two middle axial lines at the bottom of the carriage of the freight car; the inclinometer is arranged at the cross point on the carriage projected by the vertical middle axial line at the bottom of the carriage of the freight car and the rear shaft; the other inclinometer is arranged at the midpoint of the rear shaft; alarm prompt device is arranged on a middle console of the cab; the electronic control unit comprises a single chip; and the single chip is provided with a dynamic detection algorithm module of centroid height and an anti-rollover pre-warning algorithm module. The utility model can utter corresponding alarm commands in accordance with the difference between the lateral acceleration and the rollover acceleration of the freight car and the preset rollover alarming range, thereby effectively preventing the rollover accident on the curved road, and protecting the running of the freight car and the personal safety of the driver.
Description
Technical field
The utility model relates to a kind of lorry safety monitoring device, particularly about a kind of preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device.
Background technology
Lorry is when shipping goods, and because of the kind of its lade with vary in weight, its height of center of mass changes often.If height of center of mass is higher, the speed of a motor vehicle is very fast, lorry is easy to take place the rollover accident when negotiation of bends, cause great personal casualty and property damage.Thus, actively developing the safe in operation and the monitoring technique of research lorry both at home and abroad, for example the intelligent vehicle speed system promptly realizes car speed ground automatic guidance according to road conditions and vehicle performance parameter, thereby makes vehicle can pass through bend safely; Again such as the safety control technology of coordinating based on bus or train route, by bus or train route communication information, trailer-mounted radar information, state of motion of vehicle information etc., the safe in operation state of real-time judge vehicle utilizes on-vehicle safety executive device such as electronics complemental brake system that vehicle can be moved with the speed of safety.For these safety methods, vehicle self performance parameter is to set up the basis of correct safety control algorithm, and the height of center of mass of vehicle is one of parameter of paramount importance in these parameters, can the identification to the vehicle height of center of mass then be the key that finally realize vehicle safety control, so significant to the dynamic monitoring of vehicle height of center of mass.
Detection technique to barycenter height of truck mainly is to utilize instruments such as weighing instrument, tape measure, inclinometer that barycenter height of truck is carried out static measurement at present, promptly must when lorry is still on the instrument of weighing, could measure, and when truckload and description of cargo variation, also must repeat said process and just can obtain its new height of center of mass its height of center of mass.Therefore, for the detection technique of present barycenter height of truck, mainly there is following problem: the first, because the description of cargo and the weight of charge of trucks change often, so existing detection technique does not have specific aim, when changing, cargo-carring goods just is difficult to know its actual height of center of mass; The second, the detected barycenter height of truck of prior art be difficult to guarantee its real-time accuracy, thereby causes the vehicle safety control algorithm set up based on this height of center of mass inaccurate, therefore can't effectively ensure lorry on bend safe operation.
Summary of the invention
At the problems referred to above, the purpose of this utility model provides a kind of reliability height, is widely used, and the preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device of early warning information can be provided when lorry is turned in time, initiatively, exactly.
For achieving the above object, the utility model is taked following technical scheme: a kind of preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device, and it is characterized in that: it comprises a steering wheel angle sensor, it is installed on the Steering gear of lorry bearing circle below; One yaw-rate sensor, it is installed in the infall of two axis, bottom, boxcar; One dip compass, it is installed in the point of crossing place of boxcar bottom longitudinal central axis line and the projection of rear axle on the compartment; Another dip compass, it is installed in the midpoint of rear axle; One alarm device, it is arranged on the console of operator's compartment; One electronic control unit includes micro controller system in it, be provided with height of center of mass dynamic detection algorithm module and anti-rollover warning algorithm module in the described micro controller system.
Described electronic control unit also comprises a CAN bus transmission circuit and a serial ports transceiver circuit; One end of described CAN bus transmission circuit connects original vehicle-mounted CAN network on the lorry, and the other end connects described micro controller system; Described serial ports transceiver circuit one end connects two dip compasss, and the other end connects described micro controller system.
Described alarm device comprises an integrated circuit and light, the auditory tone cues device controlled by described integrated circuit, the integrated circuit that integrated at least four road multiple unit tubes of described integrated circuit drive.
Described steering wheel angle measurement mechanism adopts LH3-SX-4300A type rotary angle transmitter.
Described yaw velocity measurement mechanism adopts the LCG50-00100-100 type sensor of BEI company.
Two described dip measuring devices adopt the LAM-TD-45D type single shaft obliquity sensor of Lamshine company.
It is the 8-bit microcontroller of MC9S08DZ60 that micro controller system U1 among the described EUC4 adopts Motorola Inc.'s production, model.
The utility model is owing to take above technical scheme, it has the following advantages: 1, the utility model is by the calculating to the height of center of mass dynamic detection algorithm module that presets in the collection of the various kinetic parameters of lorry and the micro controller system, can comparatively accurately obtain lorry lateral acceleration and height of center of mass, the calculating that the possibility of rollover takes place for lorry provides the failure-free foundation.2, the utility model is by anti-rollover warning algorithm module, can calculate the rollover acceleration rate threshold, and according to the difference of itself and lateral acceleration, judge whether to carry out rollover alarming, therefore the warning science that adopts the utility model prior-warning device to send is accurate, prevented the generation of lorry rollover effectively, guaranteed that lorry travels and mental awareness.3, because the utility model has adopted LH3-SX-4300A type rotary angle transmitter, its survey precision height, wide warm area is measured, and is convenient to the reliability height is installed.4, because the utility model has adopted LCG50-00100-100 type sensor, its survey precision height, easy for installation, the reliability height.5, because the LAM-TD-45D type single shaft obliquity sensor that the utility model adopts is built-in with temperature compensating and impacts and suppress module, therefore further improved survey precision.6, the utility model owing to adopted the filtering noise reducing circuit that the lorry dynam basic specification information of input is carried out Filtering Processing, has further improved the accuracy of measuring before barycenter height of truck is calculated.7, alarm device of the present utility model is light-emitting diode and the buzzer phone by three kinds of colors of integrated circuit control, can remind chaufeur at a glance according to the light-emitting diode of the different driving corresponding color of alert levels.The utility model can be fit to various vehicles, and reliability height, vehicle can send early warning information, the generation that avoids traffic accident initiatively, in time, exactly when negotiation of bends.
Description of drawings
Fig. 1 is a structured flowchart of the present utility model
Fig. 2 is a dip measuring device of the present utility model installation site scheme drawing
Fig. 3 is the schematic circuit diagram of the utility model electronic control unit
Fig. 4 is the schematic circuit diagram of the utility model alarm device
The specific embodiment
Below in conjunction with drawings and Examples the utility model is described in detail.
As shown in Figure 1, the utility model comprises steering wheel angle measurement mechanism 1, yaw velocity measurement mechanism 2, dip measuring device 3, ECU4 and alarm device 5.
Steering wheel angle measurement mechanism 1 adopts a steering wheel angle sensor, it is fixedly installed on the Steering gear of lorry bearing circle below, it is used to detect the bearing circle angular signal and flows to ECU4, and the signal that flows to ECU4 is the two-way analog voltage signal, one the tunnel is used to judge the direction and the number of turns that bearing circle rotates, and another road is used to the angle of judging that bearing circle is turned in this circle.In the present embodiment, steering wheel angle sensor is the LH3-SX-4300A type rotary angle transmitter of BI company, maximum input voltage is 16V, range is-900 °～+ 900 °, impulsive force that can anti-10g, be applicable to vehicle environment, steering wheel angle measurement mechanism 1 also can be taked various types of sensors, and its installation site also can change.
Yaw velocity measurement mechanism 2 adopts a yaw-rate sensor, it is installed on the infall of two axis, bottom, boxcar, it is used to detect lorry along vertical yaw velocity signal and flow to ECU4, and the signal that flows to ECU4 is the analog voltage signal that changes between 0～5V.In the present embodiment, yaw-rate sensor adopts the LCG50-00100-100 type sensor of BEI company, and specified input voltage is 5Vdc, and range is ± 100 °/s, satisfies the lorry operating needs, but the type of yaw velocity measurement mechanism 2 is not limited thereto.
As shown in Figure 2, dip measuring device 3 adopts two dip compasss 31,32, wherein dip compass 31 is installed in the point of crossing place of boxcar bottom longitudinal central axis line and the projection of rear axle on the compartment, and dip compass 32 is installed in the midpoint of rear axle, is respectively applied for the side tilt angle that detects the boxcar
Side tilt angle with the lorry rear axle
Signal, output signal
With
Be digital signal, can flow to ECU4 by the serial ports on the dip compass 31,32.In the present embodiment, two dip compasss 31,32 adopt the LAM-TD-45D type single shaft obliquity sensor of Lamshine company, it is built-in with temperature compensating and impacts and suppress module, be applicable to vehicle environment, but wherein arbitrary dip compass can adopt also two displacement pickups to replace.
As shown in Figure 3, ECU4 comprises a micro controller system U1 and related peripheral circuit, micro controller system U1 has three A/D change-over circuits, and inside is provided with a height of center of mass dynamic detection algorithm module and an anti-rollover warning algorithm module, its analog voltage signal with steering wheel angle measurement mechanism 1 and 2 outputs of yaw velocity measurement mechanism converts digital signal to, receive the digital signal that dip measuring device 3 is carried simultaneously, and according to detected lorry dynam basic specification information, and the algorithm in the theoretical operation of the automobile dynamic quality barycenter height of truck dynamic detection algorithm module calculates lorry lateral acceleration and height of center of mass, algorithm in the warning decision making algorithm of reruning the on this basis module calculates lorry rollover acceleration rate threshold, and ECU4 sends alarm command according to the lorry lateral acceleration that relatively detects and the difference of rollover acceleration rate threshold and the rollover alarming scope that presets to alarm device 5 then.In the present embodiment, it is the 8-bit microcontroller of MC9S08DZ60 that the micro controller system U1 among the EUC4 adopts Motorola Inc.'s production, model, also can adopt other similar micro controller system, does not limit at this.
As shown in Figure 3, ECU4 also comprises three filtering noise reducing circuits of end difference closure 1 liang of mouth of dish corner measuring apparatus and yaw velocity measurement mechanism 2 mouths, and its other end connects input end ADIN0, ADIN1 and the ADIN2 of the three A/D change-over circuits of micro controller system U1 among the ECU4 respectively.First filtering noise reducing circuit input be the bearing circle rotation direction of steering wheel angle sensor 1 output and the signal of the number of turns, this circuit is made up of capacitor C 11, C12 and resistance R 1, capacitor C 12 is with after resistance R 1 is connected, the series arm that obtains is in parallel with capacitor C 11; One termination ground wire of this circuit parallel, the other end connect the input end ADIN0 of an A/D change-over circuit and the anode of a diode D1 simultaneously, and the negative electrode of diode D1 connects power line voltage VCC; What the second filtering noise reducing circuit was imported is the signal of steering wheel angle measurement mechanism 1 outbound course dish angle that turns in this circle, this circuit is made up of capacitor C 13, C14 and resistance R 2, capacitor C 14 is with after resistance R 2 is connected, and the series arm that obtains is in parallel with capacitor C 13; One termination ground wire of this circuit parallel, the other end connect the input end ADIN1 of the 2nd A/D change-over circuit and the anode of a diode D2 simultaneously, and the negative electrode of diode D2 connects power line voltage VCC; The 3rd filtering noise reducing circuit input be the signal of yaw velocity measurement mechanism 2 outputs, this circuit is made up of capacitor C 15, C16 and resistance R 3, capacitor C 16 is with after resistance R 3 is connected, the series arm that obtains is in parallel with capacitor C 15; One termination ground wire of this circuit parallel, the other end connect the input end ADIN2 of the 3rd A/D change-over circuit and the anode of a diode D3 simultaneously, and the negative electrode of diode D3 connects power line voltage VCC.The filtering noise reducing circuit is used for filtering the high frequency noise of analog signal, to prevent in follow-up A/D sampling process signal aliasing taking place.The filtering noise reducing circuit can also adopt other condenser filter circuit except that above-mentioned capacitive filter circuit, do not limit at this.If when adopting the filtering noise reducing circuit in the present embodiment, capacitor C 11, C12, C13, C14, C15 and C16 are the electrolyte capacitance of 1uF, also can be the electric capacity of other type, when being electrolyte capacitance, the negative earth of above-mentioned electric capacity.Resistance R 1, R2 and R3 are 50k Ω.Diode D1, D2 and D3 are used for guaranteeing that input end ADIN0, the ADIN1 of three A/D change-over circuits of micro controller system U1 and the input voltage of ADIN2 are no more than power line voltage VCC.
As shown in Figure 3, comprise also among the ECU4 that a CAN bus transmission circuit connects the original vehicle-mounted CAN of a lorry (Controller Area Network) network 6, be used for receiving the vertical vehicle speed signal of lorry from vehicle-mounted CAN network 6.This CAN bus transmission circuit adopts PCA82C250 chip U2 as actuator, PCA82C250 is special-purpose CAN chip for driving, be respectively CAN bus and ECU5 differential transmission and differential receiving capability are provided, and finish CANH and CANL and the conversion of CAN bus between sending, receiving.1 pin of U2 links to each other with 30 pin with 29 pin of micro controller system U1 respectively with 4 pin, and 7 pin of U2 and 6 pin meet the high-end CANH and the low side CANL of vehicle-mounted CAN network 6 respectively, is used to receive the vertical vehicle speed signal of lorry of vehicle-mounted CAN network 6 inputs.Capacitor C 21 and C22 are connected in parallel and constitute the filter regulator circuit of U2, and an end of this filter regulator circuit links to each other with 3 pin of U2, and the other end links to each other with 2 pin of U2, and 3 pin of U2 also link to each other with power line voltage VCC simultaneously, and 2 pin of U2 link to each other with ground wire.
As shown in Figure 3, also comprise a serial ports transceiver circuit among the ECU4, this circuit adopts Max232 chip U3 to receive and dispatch chip for driving as serial ports, and it comprises that No. 2 transmitters, No. 2 receptors and a voltage generator circuit provide TIA/EIA-232-F level, meet the TIA/EIA-232-F standard.Wherein each receptor becomes 5V TTL/CMOS level with the TIA/EIA-232-F level conversion, and each transmitter becomes the TIA/EIA-232-F level with the TTL/CMOS level conversion.In the present embodiment, U3 only adopts that wherein riches all the way send device and No. one receptor.10 pin of U3 link to each other with 15 pin of micro controller system U1, and 9 pin link to each other with 16 pin of micro controller system U1, and the transmission line in the Serial Port Line of 7 pin and dip compass 3,4 links to each other, and the reception line in the Serial Port Line of 8 pin and dip compass 3,4 links to each other.Connect the positive pole that a capacitor C 31,1 pin meet C4 between 1 pin of U3 and 3 pin; Connect the positive pole that a capacitor C 32,4 pin meet C32 between 4 pin and 5 pin; Connect the positive pole that a capacitor C 33,2 pin meet C33 between 2 pin and 16 pin, and 16 pin link to each other with power line voltage VCC; 6 pin link to each other with the positive pole of a capacitor C 34, the negative earth line of C34; 15 pin grounding jumpers link to each other with the negative pole of a capacitor C 35 simultaneously, and the positive pole of C35 links to each other with power line voltage VCC; Other pin of U3 is unsettled.In the present embodiment, U2 is the chip of a compatible RS232 standard of Texas Instruments (TI) release, and capacitor C 31, C32, C33, C34 and C35 are the polar capacitor of 1uF, but are not limited thereto.
Now note is that δ (k) and yaw velocity signal are ω through filtering noise reducing circuit and the steering wheel angle signal that undertaken after the AD sampling processing by micro controller system U1
Rm(k), note by the side tilt angle by the boxcar of dip compass 31,32 output that serial ports receives is
With the side tilt angle of rear axle be
Note is u (k) by the vertical vehicle speed signal of lorry that receives in the vehicle-mounted CAN network 6, and wherein k represents k step sampling instant.
Then, micro controller system U1 calculates barycenter height of truck according to the information operation barycenter height of truck dynamic detection algorithm of gathering, and its concrete steps are as follows:
(1) theory of computation stable state lorry yaw velocity ω
Rs(k): utilize vehicle stable state steering model, according to the steering wheel angle signal δ (k) of real-time measurement, the vertical vehicle speed signal u of lorry (k) that receives in the vehicle-mounted CAN network 6, its calculation expression is as follows:
Wherein, L is the lorry wheelbase, and C is the stable factor of vehicle.In the present embodiment, L=4.5m, C=0.0019s
2/ m
2
(2) calculation correction stable state yaw velocity
: read yaw velocity actual measured value ω
Rm(k), consider that there is certain error in the actual measurement of yaw velocity, therefore will survey yaw velocity value ω
Rm(k) and theoretical stable state yaw velocity value ω
Rs(k) be weighted on average, proofread and correct the yaw velocity value thereby obtain one, its calculating formula is as follows:
Wherein, λ is a weight coefficient, and concrete numerical value is decided according to the precision and the concrete mounting means of yaw velocity measurement mechanism 2, also can be demarcated by experiment.In the present embodiment, get λ=0.5.
(3) calculate the current lateral acceleration of lorry
According to proofreading and correct yaw velocity
With current vertical speed of a motor vehicle u (k), its calculating formula is as follows:
In the present embodiment, lateral acceleration
Also can directly measure by a lateral acceleration sensor is installed on lorry.
(4) estimate barycenter height of truck H (k): according to the lorry kinetic parameter
ε, h
a, m, and current lateral acceleration
And inclination angle
Utilize vehicle stable state inclination model, set up the recurrence least-squares estimation algorithm of vehicle height of center of mass H (k), its calculating formula is as follows:
H(k)＝H(k-1)+Q(k)e(k)
Wherein, e (k) is a k-1 evaluated error constantly, and Q (k) is a k gain matrix constantly, and P (k) is a k matrix poised for battle constantly, and H (k) is the height of center of mass estimated valve, and ε is a forgetting factor, h
aFor boxcar bottom to the ground-surface height,
Be the roll angular rigidity of lorry suspension, m is the lorry quality, and g is an acceleration due to gravity.In the present embodiment, g gets 9.8m/s
2, ε gets 0.99, h
aGet 0.536m,
Get 6739Nm/deg.
After adopting above-mentioned steps to draw the current height of center of mass H (k) of lorry, micro controller system U1 continues the algorithm in the operation anti-rollover warning algorithm module, the suffered lateral acceleration acceleration rate threshold of turning on one's side when calculating lorry and beginning to turn on one's side.According to the quasistatic rollover theory of computation of vehicle, lorry rollover acceleration rate threshold calculating formula is:
Wherein, B is the wheelspan of lorry, and in the present embodiment, B gets 1.865m.
When lorry crosses bend or changes travel direction with a certain speed, the lateral acceleration that records in the step (3)
Approaching more rollover acceleration rate threshold A
y, its danger coefficient that rollover takes place is high more.Be preset with the rollover alarming scope in the anti-rollover warning algorithm module, its minute rank give alarm to chaufeur, alert levels G and the level other division rule as follows:
If
Alert levels G=0, ECU4 sends not alarm command to alarm device 5;
If
Alert levels G=1, ECU4 sends elementary alarm command to alarm device 5;
If
Alert levels G=2, ECU4 sends senior alarm command to alarm device 5.
The division rule of above-mentioned alert levels can not only send warning to chaufeur before the danger that turning on one's side appears in lorry, pointing out chaufeur to slow down early goes slowly, can also send the prompt messages of different stage to chaufeur according to the operating risk degree of lorry, meet the driving performance of most of chaufeur.
As shown in table 1, draw according to above-mentioned alarm rule after the size of alert levels, ECU4 will provide early warning information to chaufeur in a different manner according to the different driving alarm device 5 of alert levels.Alarm device 5 can be realized functions such as light warning and auditory tone cues warning.Corresponding to the size of alert levels G, the type of alarm of alarm device 5 is also to there being three kinds of states.
Table 1
| Alert levels G | Describe | The light form | Alarm sound is described |
| 0 | Safety | Green light is bright | Alarm free |
| 1 | Elementary warning | The amber light flicker | Frequency is the buzzer of |
| 2 | Senior warning | Blinking red lamp | Frequency is the buzzer of 2Hz |
As shown in Figure 4, alarm device 5 comprises light, the auditory tone cues device of an integrated circuit U4 and control thereof, and integrated circuit U4 can direct drive light, the auditory tone cues device.Input end 1 pin (IN1) of integrated circuit U4,2 pin (IN2), 3 pin (IN3) and 4 pin (IN4), promptly 43 pin, 45 pin, 47 pin link to each other with 52 pin with 4 mouths of micro controller system U1 respectively.Wherein 1 pin is imported height of center of mass detection of dynamic work indicator signal, and 2 pin are imported elementary alerting signal, and 3 pin are imported senior alerting signal, the first or senior alerting signal of 4 pin input, and 9 pin (K) the power connection voltage VCC of integrated circuit U4,8 pin (GND) grounding jumper.Link to each other with 9 pin by a green LED LED (Light EmittingDiode) 1, one resistance R 4 in regular turn with cooresponding mouth 16 pin of 1 pin (OUT1), LED1 is a green LED; Link to each other with 9 pin by a red LED 2, a R5 in regular turn with cooresponding mouth 15 pin of 2 pin (OUT2), LED2 is a red light emitting diodes, as elementary alarm lamp; Link to each other with 9 pin by a yellow led 3, a resistance R 6 in regular turn with cooresponding mouth 14 pin of 3 pin (OUT3), LED3 is a red light emitting diodes, as senior alarm lamp; Link to each other with 9 pin by a buzzer phone LS1 with cooresponding mouth 13 pin of 4 pin (OUT4).In addition, a resistance R 7 and LED4 series connection are connected between 9 pin and ground wire, and LED4 is a power light, and whether be used for the indicating system power supply normal.In the present embodiment, integrated circuit U4 is that model is that MC1412, integrated 7 tunnel multiple unit tube drive special IC, also can for other at least integrated 4 tunnel multiple unit tube drive special IC.R4, R5, R6 and R7 are the current-limiting resistance of 1.2k Ω, are used to prevent that the electric current by each LED is excessive, with protection LED.
When the utility model device detects, can reduce following steps:
1) a preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device is set, it comprises steering wheel angle measurement mechanism, yaw velocity measurement mechanism, dip measuring device and includes the electronic control unit of micro controller system; Program curing in the described micro controller system is provided with height of center of mass dynamic detection algorithm module and anti-rollover warning algorithm module; Preset the rollover alarming scope in the described anti-rollover warning algorithm module;
2) gather the steering wheel angle signal, lorry is along vertical yaw velocity signal, the side tilt angle signal of boxcar, the side tilt angle signal of lorry rear axle, vertical vehicle speed signal of lorry;
3) by described height of center of mass dynamic detection algorithm module, calculate lorry lateral acceleration and height of center of mass;
4),, calculate the rollover acceleration rate threshold by described anti-rollover warning algorithm module according to height of center of mass;
5) according to lorry lateral acceleration and the difference of rollover acceleration rate threshold and the rollover alarming scope that presets, send corresponding alarm command.
The utility model alarm device 5 is like this work: when ECU4 drives alarm device 5 and sends not alarm message, 1 human hair combing waste of the integrated circuit U4 of 43 pin in alarm device 5 of micro controller system U1 goes out high level signal among the ECU4,1 pin of integrated circuit U4 is a high level, 16 pin are communicated with 8 pin, indicator lamp LED1 place circuit closed, this moment, LED1 was bright.When ECU4 driving alarm device 5 sends elementary alarm message, be that 45 pin of the micro controller system U1 among the ECU5 and 2 pin and 4 human hair combing wastes of the integrated circuit U4 of 52 pin in alarm device 5 go out the square-wave signal that frequency is 1HZ, at this moment, 2 pin of integrated circuit U4 and the level of 4 pin are with frequency 1Hz height alternate, 1 pin and 3 pin are low level, 13 pin of integrated circuit U4 and 15 pin and 8 pin replace break-make with frequency 1Hz, 14 pin and 16 pin are unsettled, cooresponding LED2 and loop, LS1 place replace break-make with frequency 1Hz, then elementary alarm lamp LED2 lamp is with frequency 1HZ flicker, and buzzer phone LS1 sends frequency 1HZ buzzer; When ECU4 driving alarm device 5 sends senior alarm message, be that 47 pin of the micro controller system U1 among the ECU4 and 3 pin and 4 human hair combing wastes of the integrated circuit U4 of 52 pin in alarm device 5 go out the square-wave signal that frequency is 2HZ, at this moment, 3 pin of integrated circuit U4 and the level of 4 pin are with the low checker of frequency 2Hz height, 1 pin and 2 pin are low level, 13 pin of integrated circuit U4 and 14 pin and 8 pin replace break-make with frequency 2Hz at this moment, 15 pin and 16 pin are unsettled, cooresponding LED3 and loop, LS1 place replace break-make with 2Hz, then senior alarm lamp LED3 lamp is with frequency 2HZ flicker, and buzzer phone LS1 sends the buzzer of frequency 2HZ.
The structure of each parts, the position is set and connects and all can change to some extent, on the basis of technical solutions of the utility model,, should not get rid of outside protection domain of the present utility model improvement and the equivalents that individual component is carried out.
Claims (8)
1, a kind of preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device, it is characterized in that: it comprises a steering wheel angle sensor, it is installed on the Steering gear of lorry bearing circle below; One yaw-rate sensor, it is installed in the infall of two axis, bottom, boxcar; One dip compass, it is installed in the point of crossing place of boxcar bottom longitudinal central axis line and the projection of rear axle on the compartment; Another dip compass, it is installed in the midpoint of rear axle; One alarm device, it is arranged on the console of operator's compartment; One electronic control unit includes micro controller system in it, be provided with height of center of mass dynamic detection algorithm module and anti-rollover warning algorithm module in the described micro controller system.
2, preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device as claimed in claim 1 is characterized in that: described electronic control unit also comprises a CAN bus transmission circuit and a serial ports transceiver circuit; One end of described CAN bus transmission circuit connects original vehicle-mounted CAN network on the lorry, and the other end connects described micro controller system; Described serial ports transceiver circuit one end connects two dip compasss, and the other end connects described micro controller system.
3, preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device as claimed in claim 2, it is characterized in that: described alarm device comprises an integrated circuit and light, the auditory tone cues device controlled by described integrated circuit, the integrated circuit that integrated at least four road multiple unit tubes of described integrated circuit drive.
4, preventing wagon from turning towards one side on bending road detection of dynamic prior-warning device as claimed in claim 1, it is characterized in that: described alarm device comprises an integrated circuit and light, the auditory tone cues device controlled by described integrated circuit, the integrated circuit that integrated at least four road multiple unit tubes of described integrated circuit drive.
5, as claim 1 or 2 or 3 or 4 described preventing wagon from turning towards one side on bending road detection of dynamic prior-warning devices, it is characterized in that: described steering wheel angle measurement mechanism adopts LH3-SX-4300A type rotary angle transmitter.
6, as claim 1 or 2 or 3 or 4 described preventing wagon from turning towards one side on bending road detection of dynamic prior-warning devices, it is characterized in that: described yaw velocity measurement mechanism adopts the LCG50-00100-100 type sensor of BEI company.
7, as claim 1 or 2 or 3 or 4 described preventing wagon from turning towards one side on bending road detection of dynamic prior-warning devices, it is characterized in that: two described dip measuring devices adopt the LAM-TD-45D type single shaft obliquity sensor of Lamshine company.
8, as claim 1 or 2 or 3 or 4 described preventing wagon from turning towards one side on bending road detection of dynamic prior-warning devices, it is characterized in that: it is the 8-bit microcontroller of MC9S08DZ60 that the micro controller system U1 among the described EUC4 adopts Motorola Inc.'s production, model.
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| CNU2008201224438U CN201304934Y (en) | 2008-09-04 | 2008-09-04 | Dynamic detection pre-warning device for preventing rollover of freight car on curved road |
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| CNU2008201224438U CN201304934Y (en) | 2008-09-04 | 2008-09-04 | Dynamic detection pre-warning device for preventing rollover of freight car on curved road |
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Cited By (9)
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| CN102069845A (en) * | 2010-12-30 | 2011-05-25 | 浙江吉利汽车研究院有限公司 | Automobile rollover prevention control system based on electric power steering device |
| CN102092374A (en) * | 2011-03-24 | 2011-06-15 | 孙玉亮 | Multi-functional vehicle rollover decision system and automatic rollover-preventing device |
| CN102601862A (en) * | 2012-04-01 | 2012-07-25 | 中联重科股份有限公司 | Engineering vehicle and safe steering early warning device and method thereof |
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| CN102069845A (en) * | 2010-12-30 | 2011-05-25 | 浙江吉利汽车研究院有限公司 | Automobile rollover prevention control system based on electric power steering device |
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| CN102092374A (en) * | 2011-03-24 | 2011-06-15 | 孙玉亮 | Multi-functional vehicle rollover decision system and automatic rollover-preventing device |
| CN102092374B (en) * | 2011-03-24 | 2013-08-07 | 孙玉亮 | Multi-functional vehicle rollover decision system and automatic rollover-preventing device |
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| CN102692297B (en) * | 2012-06-13 | 2014-09-17 | 吉林大学 | Braking process-based dynamic automobile gravity position detector and method |
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| CN103625360A (en) * | 2012-08-29 | 2014-03-12 | 交通运输部公路科学研究所 | Car rollover stability performance dynamic monitoring and alarming system |
| CN106938628A (en) * | 2017-03-21 | 2017-07-11 | 汽解放柳州特种汽车有限公司 | A kind of Tipper Lifting operation rollover prior-warning device based on displacement transducer |
| CN107505144A (en) * | 2017-09-21 | 2017-12-22 | 石河子大学 | A kind of four motorized wheels independent steering power driven mist blower Operation Van test platform |
| CN109649377A (en) * | 2017-10-11 | 2019-04-19 | 郑州宇通客车股份有限公司 | Rollover pre-warning and control method and system |
| CN110223503A (en) * | 2019-06-10 | 2019-09-10 | 兰州交通大学 | A kind of expressway traffic accident early warning and autonomous method for seeking help |
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