JP2004291895A - Rollover prevention device of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rollover prevention device of a vehicle capable of coping with a danger of rollover with time to spare for avoidance of the rollover by determining existence of the danger of the rollover of the vehicle before entering a curve, an intersection, etc. in accordance with a travelling position of the vehicle and warning a driver. <P>SOLUTION: A rolling angle of the vehicle is detected by a rolling angle computing part 7, a loading state of the vehicle is computed by a loading state estimation part 8 by inputting this detected rolling angle, a driving state signal of an engine, travelling speed of the vehicle and lateral acceleration generated in the middle of travelling of the vehicle, safety passing speed at the time of travelling at a specified position is computed by a safety passing car speed computing part 9 by inputting a data of this computed loading state, a positional signal on a travelling route of the vehicle and a data of a radius of curvature of a curved road at the specified position on the travelling route, the existence of the danger of the vehicle rollover at the time of travelling is determined by a rollover danger determining part 10 by inputting each of the data found as above, and the driver is warned by warning generating means 12, 14 at the time when it is determined that the danger of the vehicle rollover exists. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a rollover prevention device that warns a driver when the vehicle rolls on a curve or an intersection or the like when the vehicle rolls over a curve, an intersection, or the like and the danger of vehicle rollover increases, thereby preventing the vehicle from rolling over. Before entering a curve or intersection depending on the running position of the vehicle, it determines whether there is a danger of the vehicle rolling over, warns the driver, and obtains enough time to avoid the rollover so that the vehicle rolls. The present invention relates to an over prevention device.
[0002]
[Prior art]
If the vehicle enters a curve, an intersection or the like at an overspeed while the vehicle is traveling, the vehicle rolls excessively, and there is a risk of rollover. Further, in vehicles that transport luggage such as trucks, since the center of gravity increases when the luggage is loaded, the vehicle speed at which the vehicle rolls over becomes lower than in other vehicles, and the danger of overturning may increase.
[0003]
On the other hand, the conventional rollover prevention device includes a roll angle detecting unit that detects a roll angle of a vehicle, a roll angular speed detecting unit that detects a roll angular speed of a vehicle, and an urgency corresponding to the detected roll angular speed. An emergency determining means for determining, a danger determining means for determining the degree of danger of the vehicle rolling over based on the absolute value of the detected roll angle and the determined urgency, and the determined vehicle rollover (See, for example, Patent Document 1).
[0004]
Further, as another conventional technique, the allowable lateral acceleration and the allowable deceleration are calculated from the friction coefficient of the road surface obtained by the road surface friction coefficient obtaining device, and the curvature information for each predetermined point obtained from the map database is obtained, There is a traveling state estimating device for a vehicle that estimates a lateral acceleration at a predetermined point from a current vehicle speed and calculates an assumed deceleration corresponding to the lateral acceleration (for example, see Patent Document 2).
[0005]
[Patent Document 1]
JP-A-2002-274214 (pages 3 and 4, FIGS. 1 and 2)
[Patent Document 2]
JP-A-2000-88872 (pages 3 and 4, FIG. 1)
[0006]
[Problems to be solved by the invention]
However, the rollover prevention device described in Patent Document 1 warns the driver of the danger of the vehicle rolling over after detecting that the vehicle actually rolls during traveling of the vehicle. When the vehicle suddenly rolls upon entering the vehicle, there is a case where sufficient time to avoid the rollover cannot be obtained.
[0007]
Further, in the vehicle traveling state prediction device described in Patent Document 2, the allowable lateral acceleration is calculated from the coefficient of friction of the road surface of the road, and the current vehicle speed at the predetermined point is calculated using the curvature information for each predetermined point on the road. The lateral acceleration was estimated, and the assumed deceleration corresponding to the lateral acceleration was calculated.However, in the calculation of the assumed deceleration corresponding to the lateral acceleration based on the road shape and the road surface friction coefficient, such as a truck, etc. It is not suitable for vehicles having a low rollover limit such as large vehicles. Therefore, in the case of a large vehicle, it cannot be said that it is effective for avoiding rollover.
[0008]
Therefore, the present invention addresses such a problem and determines whether there is a danger of vehicle overturning before entering a curve or an intersection according to the traveling position of the vehicle, and warns the driver to prevent the vehicle from overturning. It is an object of the present invention to provide a rollover prevention device for a vehicle, which is capable of coping with a margin time.
[0009]
[Means for Solving the Problems]
In order to achieve the above object, a rollover prevention device for a vehicle according to the present invention includes a roll angle detection unit that detects a roll angle of a vehicle, the detected roll angle and an engine operating state signal, and a running speed of the vehicle. Loading state estimating means for calculating the loading state of the vehicle by inputting the lateral acceleration generated while the vehicle is traveling, data on the calculated loading state, position signals on the traveling path of the vehicle, and specific positions on the traveling path The data of the radius of curvature of the curved road at the time of inputting, the safe passing vehicle speed calculating means for calculating the safe passing speed at the time of traveling at a specific position, and the respective data obtained by the above means are inputted, and the vehicle rolls over at the time of traveling. Danger determining means for determining whether there is a danger of the vehicle, and warning to the driver when the danger of rolling over is determined by the danger determining means. Those that are configured to include a warning generating means for issuing.
[0010]
With such a configuration, the roll angle of the vehicle is detected by the roll angle detecting means, and the detected roll angle, the operating state signal of the engine, the running speed of the vehicle, and the lateral acceleration generated during the running of the vehicle are inputted to load the cargo. The load state of the vehicle is calculated by the state estimating means, and the data of the calculated load state, the position signal on the travel route of the vehicle, and the data of the radius of curvature of the curved road at a specific position on the travel route are input. The safe passing vehicle speed calculating means calculates the safe passing speed when traveling at a specific position, inputs the respective data obtained by each of the above means, and determines whether there is a danger of vehicle rollover during running by the rollover danger determining means. Then, when it is determined by the rollover danger determining means that there is a danger of vehicle rollover, a warning is issued to the driver by the warning generating means. This makes it possible to determine whether there is a danger of the vehicle rolling over before entering a curve, an intersection, or the like in accordance with the traveling position of the vehicle, warn the driver, and obtain a margin time for avoiding the rollover, thereby making it possible to take measures.
[0011]
Further, the roll angle detecting means includes a vehicle height detecting means for detecting a vehicle height on the left and right sides of the vehicle, and a roll angle calculating means for calculating a roll angle based on the detected vehicle height. is there. Thus, the roll angle is calculated based on the vehicle height on the left and right sides of the vehicle.
[0012]
Further, the safe passing vehicle speed calculating means is configured to take in a position signal on a traveling route from a GPS antenna attached to the vehicle. Thereby, the traveling position of the vehicle is accurately detected.
[0013]
Further, the warning generating means includes a warning display means provided in a driver's seat and displaying a warning with light to a driver. This informs the driver of the danger of the vehicle rolling over in the driver's seat by light.
[0014]
Further, the warning generating means includes a warning means provided in a driver's seat to warn the driver by sound. This informs the driver of the danger of a vehicle rollover by sound in the driver's seat.
[0015]
Further, a vehicle speed control means for reducing the running speed of the vehicle by inputting a signal to increase the risk of vehicle rollover output from the rollover risk determination means may be provided. Accordingly, when the danger of rollover is determined to be increased by the rollover danger determining means, the running speed of the vehicle is reduced to avoid the danger of rollover of the vehicle.
[0016]
Further, the rollover danger determining means may be provided with a traveling route determining means for transmitting a position signal and data of a radius of curvature corresponding to the traveling route selected by the traveling route selecting means of the vehicle. Thus, it is possible to efficiently determine whether or not there is a danger of the vehicle rolling over by using reliable data corresponding to the specific traveling route selected by the traveling route selecting unit.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a schematic diagram showing an embodiment in which a vehicle rollover prevention device (hereinafter, simply referred to as “rollover prevention device”) according to the present invention is applied to a truck. In this truck, in FIG. 1, left and right side frames 1L and 1R of a vehicle body and a rear shaft 2 of an axle are connected by a suspension mechanism 3 using a leaf spring interposed therebetween. Wheels 4 and 4 are rotatably provided at both ends of the rear shaft 2. Reference numeral 5 denotes a driver's seat provided at the front end of the side frames 1L and 1R.
[0018]
The rollover prevention device of the present invention warns a driver that a vehicle such as a truck, a bus, a tractor / trailer, or the like, increases the roll angle of a vehicle body when traveling on a curve or an intersection and the danger of vehicle rollover increases. As shown in FIG. 2, a vehicle height sensor (left) 6L and a vehicle height sensor (right) 6R, a roll angle calculator 7, a load state estimator 8, and a safe passage The vehicle includes a vehicle speed calculating unit 9, a rollover danger determining unit 10, an indicator output calculating unit 11, a roll indicator 12, an alarm output unit 13, and an alarm 14; , A brake controller 16, a travel route selection switch 17, and a vehicle position / travel route determination unit 18.
[0019]
In this case, the roll angle calculator 7, the load state estimator 8, the safe passing vehicle speed calculator 9, the rollover danger determining unit 10, the indicator output calculator 11, the alarm output unit 13, the vehicle position The traveling route determination unit 18 is incorporated in an electronic control unit (ECU: hereinafter, simply referred to as a “control unit”) 20 incorporating a microcomputer, and the other components are, as shown in FIG. It is provided in each predetermined part.
[0020]
The vehicle height sensor (left) 6L and the vehicle height sensor (right) 6R serve as vehicle height detecting means for detecting the vehicle height on the left and right sides of the vehicle, and are disposed near the left and right side frames 1L and 1R. And measures a relative distance (interval) between the left and right side frames 1L, 1R and the rear shaft 2 to obtain a stroke signal (left) S representing the stroke length of the measurement member. ₁ And stroke signal (right) S ₂ To the roll angle calculation unit 7 in the control unit 20.
[0021]
The roll angle calculator 7 serves as a roll angle calculator that calculates the roll angle of the vehicle based on the vehicle height detected by the vehicle height sensors 6L and 6R, and is detected by the left and right vehicle height sensors 6L and 6R. Stroke signal S ₁ , S ₂ Using the difference between the stroke lengths of the left and right vehicle height sensors 6L, 6R and the mounting interval of the two vehicle height sensors 6L, 6R, the arc tan of both values is taken to approximately determine the roll angle. It is designed to calculate. The roll angle calculated here is a relative angle indicating the inclination of the vehicle with respect to the rear shaft 2 shown in FIG. The left and right vehicle height sensors 6L and 6R and the roll angle calculation unit 7 constitute a roll angle detecting means for detecting the roll angle of the vehicle.
[0022]
The load state estimating unit 8 captures the roll angle calculated by the roll angle calculating unit 7 and inputs the engine operating state signal, the running speed of the vehicle, and the lateral acceleration generated while the vehicle is running, and loads the load on the vehicle. It serves as a load state estimating means for calculating a state, and a signal S of an engine torque / speed detected by an engine torque / speed sensor 21 attached to an engine (not shown). ₃ , And a vehicle speed signal S detected by a vehicle speed sensor 22 provided inside the transmission. ₄ And, for example, a lateral acceleration signal S detected by a lateral acceleration sensor 23 attached to the center of the vehicle body. ₅ To calculate the loading state of the vehicle. The signal S of the engine torque and the number of revolutions ₃ And vehicle speed signal S ₄ 1 is taken from an ECU (control unit) 24 on the vehicle side such as an engine or a transmission.
[0023]
The loading state estimating unit 8 generates a signal S of the engine torque / rotational speed. ₃ And vehicle speed signal S ₄ Is used to calculate the mass of the entire vehicle. Further, the stroke signals S from the left and right vehicle height sensors 6L and 6R from the roll angle calculation unit 7 are calculated. ₁ , S ₂ And the lateral acceleration signal S from the lateral acceleration sensor 23 ₅ Is used to calculate a high load, a single load, and the like in the loaded state. As shown in FIG. 3, the loading state of the vehicle calculated by the loading state estimation unit 8 is, for example, a state of “empty” where nothing is loaded, or a half of the loading amount, as an equal loading state. There are a "half-load" state and a "quantitative load" state in which the load has just been stacked. In addition, in the state of non-uniform loading, when the load is higher than the normal height, the load is higher, and when the load is shifted to one side with respect to the longitudinal axis of the vehicle, the load is There is a state of "one-package (side with a large amount of luggage)" on the side with more luggage, and a state of "one-package (the side with less luggage)" with a small amount of luggage.
[0024]
The safe passing vehicle speed calculation unit 9 takes in the data of the loading state calculated by the loading state estimation unit 8 and calculates the position signal on the traveling route of the vehicle and the radius of curvature of the curved road at a specific position on the traveling route. It serves as a safe passing vehicle speed calculating means for inputting data and calculating a safe passing speed when traveling at a specific position. The vehicle position signal S detected by the vehicle position detecting sensor 25 shown in FIG. ₆ And data D of the radius of curvature and position information of a curved road at a specific position on the traveling route output from the radius of curvature / position information providing system 26 provided at a predetermined portion of the vehicle body. ₁ Is input to calculate the radius of curvature and the passing speed that is safe for the load. The vehicle position detection sensor 25 includes, for example, a GPS (Global Positioning System) antenna mounted on the roof of the driver's seat 5, receives a GPS signal from an artificial satellite, and transmits the GPS signal to an actual traveling route. Vehicle position signal S on ₆ To the safe passing vehicle speed calculation unit 9.
[0025]
FIG. 3 is a graph showing an example of a map of the safe lateral acceleration according to the loading state referred to in the calculation of the safe passing vehicle speed calculating section 9. The map of the safe lateral acceleration is divided into the above-mentioned case of uniform loading and the case of non-uniform loading, and shows the state of “empty”, “half loading”, “quantitative loading”, “high load”, “one piece”. The state of the load (the side with a large amount of luggage) and the state of the "one-sided load (the side with a small amount of luggage)" indicate the safe lateral acceleration at that time. In FIG. 3, the safe lateral acceleration is G ₁ ~ G ₆ (M / sec ² ), But generally, the safe lateral acceleration G for non-uniform loading ₄ ~ G ₆ (M / sec ² ) Is the safe lateral acceleration G for uniform stacking ₁ ~ G ₃ (M / sec ² ). In the calculation of the safe passing vehicle speed calculation unit 9, priority is given to the case of non-uniform stacking.
[0026]
Note that the vehicle position detection sensor 25 shown in FIGS. 1 and 2 is not necessarily provided. In such a case, for example, a map database including road data may be provided. The radius of curvature / position information providing system 26 shown in FIGS. 1 and 2 is not a providing system provided on the vehicle body side for measuring and storing the radius of curvature, but a database having data measured and stored in advance in the control unit 20. May be provided.
[0027]
The roll danger determining unit 10 is a roll danger determining unit that inputs the respective data obtained by the above-described units and determines whether or not there is a danger of vehicle rollover during traveling. The data of the roll angle of the curve or the intersection traveling, the data of the loading state of the vehicle from the loading state estimating unit 8, and the data of the safe passing speed when traveling at a specific position from the safe passing vehicle speed calculating unit 9 are fetched. Then, it is determined whether there is a danger of the vehicle rolling over.
[0028]
The indicator output calculation unit 11 takes in the roll angle data calculated by the roll angle calculation unit 7, as well as the data on the loading state of the vehicle from the loading state estimation unit 8 and the vehicle rollover from the rollover danger determination unit 10. Is input, and a signal for displaying the roll state of the vehicle is transmitted to the roll indicator 12 provided in the driver's seat. The roll indicator 12 displays the roll state of the vehicle when the vehicle is traveling on a curved road as a pictorial diagram. As shown in FIG. 1, a pointer 12b representing the roll state of the vehicle swings in an annular zone 12a. Controllably mounted. In the lower part of the zone 12a, a danger zone 12c indicating that the roll angle is excessive and there is a danger of the vehicle rolling over is displayed in red. In addition, the roll indicator 12 is provided with a warning light (warning display means) for displaying a warning to the driver that there is a risk of the vehicle rolling over by light.
[0029]
The alarm output unit 13 receives the danger of vehicle rollover from the rollover danger determining unit 10 and informs the alarm 14 provided in the driver's seat of the danger of vehicle rollover. It sends a signal. The alarm device 14 includes, for example, a buzzer (alarm means) that issues a warning to the driver by sound when the vehicle is determined to be in danger of overturning.
[0030]
When the indicator output calculation unit 11, the roll indicator 12, the alarm output unit 13, and the alarm 14 determine that there is a risk of vehicle rollover by the rollover risk determination unit 10, the driver is notified to the driver. To generate a warning.
[0031]
An engine controller 15 and a brake controller 16 are connected to the rollover danger determining unit 10. The engine controller 15 and the brake controller 16 serve as vehicle speed control means for reducing the running speed of the vehicle by inputting an increase signal of the risk of vehicle overturning output from the rollover risk determining unit 10. By lowering the vehicle speed or applying a brake, the traveling speed at a curve or an intersection is reduced, and the roll angle is reduced. For example, the engine controller 15 reduces the amount of fuel supplied to the engine to reduce the vehicle speed. Further, the brake controller 16 operates the brake of the wheel 4 to reduce the vehicle speed. Note that both the engine controller 15 and the brake controller 16 may be provided, or only one of them may be provided.
[0032]
A vehicle position / travel route determination unit 18 is connected to the rollover danger determination unit 10. The vehicle position / traveling route determining unit 18 serves as a traveling route determining unit that transmits a position signal and data of a radius of curvature corresponding to the traveling route selected by the traveling route selecting unit (the traveling route selection switch 17) of the vehicle. The position signal of the vehicle along the specific traveling route selected by the traveling route selection switch 17 and the data of the radius of curvature such as a curve or an intersection are sequentially transmitted to the rollover danger determining unit 10. . When the traveling route of the vehicle is determined, the reliable position signal and the data of the radius of curvature corresponding to the pre-selected traveling route from the vehicle position / traveling route judging unit 18 are inputted, so that the rollover danger may occur. The gender determination unit 10 can determine the danger of the vehicle rolling over.
[0033]
Note that the vehicle position / traveling route determination unit 18 outputs the vehicle position signal S on the actual traveling route from the vehicle position detection sensor 25 described above. ₆ Is entered and the data is updated. Further, the travel route selection switch 17 and the vehicle position / travel route determination unit 18 do not necessarily need to be provided.
[0034]
Next, the operation of the rollover prevention device thus configured will be described with reference to the flowchart shown in FIG. First, the left and right stroke signals S are detected by the left and right vehicle height sensors 6L and 6R shown in FIG. ₁ , S ₂ Is sampled, and an engine torque / rotation speed sensor 21 outputs a signal S ₃ Is sampled, and the vehicle speed signal S ₄ Is sampled, and the lateral acceleration signal S ₅ Is sampled (step S1 in FIG. 4).
[0035]
In this state, the left and right stroke signals S sampled by the left and right vehicle height sensors 6L and 6R by the roll angle calculation unit 7 shown in FIG. ₁ , S ₂ Is used to calculate the roll angle of the vehicle when traveling on a curve, an intersection, or the like, and send the calculated roll angle to the load state estimation unit 8.
[0036]
Next, the load state estimating unit 8 outputs a signal S ₃ And vehicle speed signal S ₄ Is used to calculate the mass of the entire vehicle, and the left and right stroke signals S ₁ , S ₂ And lateral acceleration signal S ₅ Is used to calculate a high load, a single load, and the like, to estimate the load state of the vehicle (step S2).
[0037]
Next, the current vehicle position is detected by the vehicle position detection sensor 25 (step S3). Thereby, it is determined whether or not the vehicle is approaching a curve or an intersection.
[0038]
Then, when approaching a specific curve or intersection, the data D of the radius of curvature of the curve or intersection, the distance from the curvature radius / position information providing system 26 to the curve or intersection, etc. ₁ (Step S4) and sends it to the safe passing vehicle speed calculation unit 9.
[0039]
Next, the safe passing vehicle speed calculating unit 9 fetches the data on the loading state calculated by the loading state estimating unit 8 and the vehicle position signal S detected by the vehicle position detecting sensor 25. ₆ And data D of the curvature radius and the position information of the curve or the intersection on the traveling route output from the curvature radius / position information providing system 26. ₁ To calculate the radius of curvature and the passing vehicle speed with respect to the load (step S5).
[0040]
Here, the calculation of the safe passing vehicle speed in the safe passing vehicle speed calculating section 9 is performed as follows. First, the safe lateral acceleration according to the loading state estimated in step S2 is read from the map of the safe lateral acceleration according to the loading state shown in FIG. In this state, when a specific curve or intersection approaches and the radius of curvature or the minimum radius of curvature is sent, the safe passing vehicle speed Vs (m / sec) is calculated by the following formula. Now, let the safety lateral acceleration be Gs (m / sec). ² ) And the minimum radius of curvature is Rmin (m),
Vs = √ (Rmin · Gs)
It becomes. Also, assuming that the average value of the minimum radius of curvature is Rave (m),
Vs = √ (Rave · Gs)
It may be calculated as follows.
[0041]
Next, the rollover danger determining unit 10 calculates the roll angle data of the curve or the intersection traveling from the roll angle calculating unit 7, the vehicle loading state data from the loading state estimating unit 8, and the safe passing vehicle speed calculating unit 9. Then, the data of the safe passing vehicle speed Vs at the time of traveling at the specific position from the vehicle is taken in, and it is determined whether or not the vehicle is in danger of overturning (step S6).
[0042]
Here, the determination of “whether or not there is danger” regarding the danger of vehicle rollover in the rollover danger determination unit 10 is performed as follows. First, when a specific curve or an intersection or the like approaches, the estimated vehicle speed V at the curve or the intersection or the like from the current vehicle speed and deceleration. ₁ (M / sec) is calculated. Then, the estimated vehicle speed V ₁ (M / sec) is compared with the above-mentioned safe passing vehicle speed Vs (m / sec), and it is determined whether there is a danger based on the magnitude relation.
[0043]
Now, the estimated vehicle speed V ₁ Is equal to or less than the safe passing vehicle speed Vs,
V ₁ ≤Vs
In the case of, it is determined that "it is not dangerous". If it is determined in step S6 that there is no danger, the process proceeds to "NO" and the operations of steps S1 to S6 are repeated.
[0044]
On the other hand, the estimated vehicle speed V ₁ Is greater than the safe passing vehicle speed Vs, or is greater than a value obtained by adding a constant vehicle speed (Δ).
V ₁ > Vs or V ₁ > (Vs + Δ)
In the case of, it is determined that "it is dangerous". Then, if it is determined in step S6 that it is "dangerous", the process proceeds to "YES" and enters step S7.
[0045]
In this case, an alarm signal is sent from the rollover danger determining unit 10 to the alarm output unit 13, and an alarm 14 such as a buzzer sounds to warn the driver that there is a risk of rollover. Alternatively, a warning display signal is sent from the rollover danger determining unit 10 to the indicator output calculation unit 11 to turn on a warning lamp in the roll indicator 12 to warn the driver that there is a risk of rollover. The driver receives the warning and the warning before entering a specific curve or an intersection or the like, and knows that there is a danger of the vehicle rolling over, so that the driver can take measures by avoiding the rollover.
[0046]
FIG. 5 is a flowchart illustrating a second operation example of the rollover prevention device of the present invention. This operation example is obtained by adding steps S8 and S9 after step S7 to the flowchart shown in FIG. That is, before the vehicle enters a specific intersection or the like, a warning or warning is displayed on the danger of overturning of the vehicle in step S7. I want to stop.
[0047]
Then, it is determined in step S8 whether or not the driver has performed a stop operation of the warning. If the stop operation has been performed, the process proceeds to the "YES" side to enter step S9, and the warning and warning issued in step S7 are issued. The display is stopped. In this case, for example, the stop operation of the warning may be performed by operating a stop switch of the warning or the warning display, or by depressing an accelerator pedal for going straight at the intersection or the like. Regarding depression of the accelerator pedal, the depression amount may be detected, and the detection signal may be used as a signal for a warning stop operation. Thereby, when going straight ahead at a specific intersection or the like, it is possible to drive according to the driver's intention.
[0048]
FIG. 6 is a flowchart illustrating a third operation example of the rollover prevention device of the present invention. This operation example is obtained by adding steps S10 and S11 after step S7 to the flowchart shown in FIG. That is, when entering a specific curve or an intersection or the like, when a warning or warning is displayed on the danger of vehicle overturning in step S7, when it is determined that the danger of vehicle overturn has increased, The deceleration control for forcibly reducing the traveling speed is performed.
[0049]
Therefore, it is determined in step S10 whether or not the risk of vehicle rollover has increased. If the risk of vehicle rollover has increased, the process proceeds to the "YES" side to enter step S11, in which the traveling speed of the vehicle is forced. In this case, deceleration control is performed. As the deceleration control in this case, an engine control signal is sent to the engine controller 15 shown in FIG. 2 to decrease the vehicle speed by decreasing the amount of fuel supplied to the engine, or a brake control signal is sent to the brake controller 16 so that the wheel The brake of No. 4 may be operated to reduce the vehicle speed. As a result, it is possible to reduce the roll angle by reducing the traveling speed at a curve or an intersection or the like, thereby avoiding the danger of the vehicle rolling over.
[0050]
FIG. 7 is a flowchart illustrating a fourth operation example of the rollover prevention device of the present invention. This operation example is obtained by adding step S0 before step S1 to the flowchart shown in FIG. That is, when the traveling route of the vehicle is known in advance, the traveling route is selected and determined by the traveling route selection switch 17 shown in FIG. 2, and the reliable position signal and the data of the radius of curvature corresponding to the traveling route are input. By doing so, the risk of the vehicle rolling over is determined.
[0051]
Therefore, in step S0, the driving route selection switch 17 is operated by the driver to select a driving route to be driven. In this case, the travel route selection signal output from the travel route selection switch 17 is sent to the vehicle position / travel route determination unit 18 shown in FIG. 2, and the vehicle position / travel route determination unit 18 The position signal of the vehicle along the traveling route and the data of the radius of curvature such as a curve or an intersection are sequentially transmitted to the rollover danger determining unit 10. Subsequent operations proceed exactly in the same manner as the operations in steps S1 to S7 shown in FIG.
[0052]
Although the operation example of FIG. 7 is applied to the flowchart shown in FIG. 4, the present invention is not limited to this, and can be similarly applied to the flowcharts shown in FIGS.
[0053]
【The invention's effect】
Since the present invention is configured as described above, according to the first aspect of the present invention, the roll angle of the vehicle is detected by the roll angle detecting means, and the detected roll angle, the engine operating state signal, and the vehicle The traveling speed and the lateral acceleration generated during traveling of the vehicle are input, and the loading state of the vehicle is calculated by the loading state estimating means. The data of the calculated loading state, the position signal on the traveling route of the vehicle and the traveling route are calculated. The data of the radius of curvature of the curved road at the specified position is input, and the safe passing speed at the time of traveling at the specified position is calculated by the safe passing vehicle speed calculating means. The gender judging means judges whether or not there is a danger of the vehicle rolling over when traveling, and when it is judged that the danger of the vehicle rolls over by the rollover danger judging means, the warning generating means informs the driver. To be able to issue a warning. This makes it possible to determine whether there is a danger of the vehicle rolling over before entering a curve or an intersection according to the traveling position of the vehicle, warn the driver, and obtain a margin for avoiding the rollover so that the driver can take measures. it can. Therefore, the danger of vehicle rollover can be greatly reduced.
[0054]
Further, according to the invention according to claim 2, the roll angle detecting means includes a vehicle height detecting means for detecting a vehicle height on the left and right of the vehicle, and a roll angle for calculating a roll angle based on the detected vehicle height. With the provision of the calculating means, the roll angle can be calculated based on the vehicle height on the left and right sides of the vehicle.
[0055]
Further, according to the third aspect of the present invention, the safe passing vehicle speed calculating means is configured to capture a position signal on a running route from a GPS antenna attached to the vehicle, so that the running position of the vehicle is obtained. Can be accurately detected.
[0056]
Still further, according to the invention according to claim 4, the warning generating means includes a warning display means provided in a driver's seat and displaying a warning with light to the driver, so that the driver can drive in the driver's seat. The danger of vehicle rollover can be notified to the person by light. Therefore, the driver can be alerted immediately according to the risk of the vehicle rolling over.
[0057]
Further, according to the invention according to claim 5, the warning generating means includes a warning means provided in a driver's seat and issuing a warning to the driver by sound, so that the warning is provided to the driver in the driver's seat. The danger of a vehicle rollover can be notified by sound. Therefore, the driver can be alerted immediately according to the risk of the vehicle rolling over.
[0058]
Furthermore, according to the invention according to claim 6, the vehicle speed control means for reducing the running speed of the vehicle by inputting the signal for increasing the danger of vehicle rollover output from the rollover danger determination means is provided. When the danger determining means determines that the danger of the vehicle rollover has increased, the danger of the vehicle rollover can be avoided by reducing the traveling speed of the vehicle. Therefore, the danger of vehicle rollover can be further reduced.
[0059]
Still further, according to the invention according to claim 7, a traveling route for transmitting a position signal and data of a radius of curvature corresponding to the traveling route selected by the traveling route selecting device to the rollover danger determining means. By providing the determination means, it is possible to efficiently determine whether or not there is a danger of vehicle rollover using reliable data corresponding to the specific travel route selected by the travel route selection means.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing an embodiment in which a rollover prevention device according to the present invention is applied to a truck.
FIG. 2 is a block diagram illustrating a configuration of a rollover prevention device according to the present invention.
FIG. 3 is a graph showing an example of a map of a safe lateral acceleration according to a load state, which is referred to in a calculation by a safe passing vehicle speed calculating unit which is a component of the rollover prevention device.
FIG. 4 is a flowchart illustrating an operation of the rollover prevention device.
FIG. 5 is a flowchart illustrating a second operation example of the rollover prevention device.
FIG. 6 is a flowchart illustrating a third operation example of the rollover prevention device.
FIG. 7 is a flowchart illustrating a fourth operation example of the rollover prevention device.
[Explanation of symbols]
6L: Height sensor (left)
6R: Height sensor (right)
7 ... Roll angle calculator
8 Loading status estimator
9: Safe passing vehicle speed calculation unit
10: Rollover danger judgment unit
11 Indicator output operation unit
12 ... Roll indicator
13 Alarm output section
14… Alarm
15 ... Engine controller
16 ... Brake controller
17… Driving route selection switch
18… Vehicle position / running route judgment unit
21 ... Engine torque / rotation speed sensor
22 ... Vehicle speed sensor
23 ... lateral acceleration sensor
25 ... Vehicle position detection sensor

Claims (7)

Roll angle detecting means for detecting a roll angle of the vehicle,
Load state estimating means for calculating the load state of the vehicle by inputting the detected roll angle and the operating state signal of the engine, the traveling speed of the vehicle, and the lateral acceleration generated during traveling of the vehicle,
The calculated passing state data, the position signal on the traveling route of the vehicle, and the data of the radius of curvature of the curved road at a specific position on the traveling route are input to calculate the safe passing speed when traveling at the specific position. Safe passing vehicle speed calculating means,
Rolling danger determining means for inputting the respective data obtained by each of the above means and determining whether there is a danger of vehicle rollover during traveling,
A warning generating means for issuing a warning to the driver when it is determined that the vehicle is in danger of rollover by the rollover danger determining means;
A rollover prevention device for a vehicle, comprising: The roll angle detecting means includes a vehicle height detecting means for detecting a vehicle height on the left and right sides of the vehicle, and a roll angle calculating means for calculating a roll angle based on the detected vehicle height. The vehicle rollover prevention device according to claim 1. 2. The vehicle rollover prevention device according to claim 1, wherein said safe passing vehicle speed calculating means takes in a position signal on a traveling route from a GPS antenna attached to the vehicle. 2. The vehicle rollover prevention device according to claim 1, wherein the warning generating means includes a warning display means provided in a driver's seat and displaying a warning with light to a driver. 2. The vehicle rollover prevention device according to claim 1, wherein the warning generating means includes a warning means provided in a driver's seat and warning the driver by sound. 6. A vehicle speed control device according to claim 1, further comprising a vehicle speed control device for inputting a vehicle rollover risk increase signal output from said rollover risk determination device to reduce the running speed of the vehicle. The rollover prevention device for a vehicle according to any one of the preceding claims. 2. The vehicle according to claim 1, wherein the rollover danger determining means includes a travel path determining means for transmitting a position signal and a curvature radius data corresponding to the travel path selected by the vehicle travel path selecting means. The rollover prevention device for a vehicle according to any one of claims 1 to 6.

Images