JP4992443B2 - Vehicle rollover prevention device - Google Patents

Description

  The present invention relates to a vehicle rollover prevention device, and more particularly to a device for preventing a rollover in a tractor / trailer connected vehicle connected by a coupler having no degree of freedom in the roll direction.

  It is well known that automobiles (vehicles) behave outwardly when turning due to centrifugal force. For this reason, when the vehicle is suddenly turned and the force to tilt outward exceeds the ground contact force, the wheel inside the turn rises from the road surface and rolls over.

Therefore, it is performed to detect the roll angle of the vehicle and prepare for rollover prevention. Here, as a method of detecting the roll angle of the vehicle, (1) a method of calculating the roll angle of the vehicle from the difference between the left and right suspension strokes (for example, refer to Patent Document 1), and (2) the inclination of the vehicle body with respect to the road surface. A method for calculating the roll angle of the vehicle body from the detection output of the ground displacement meter using a directly detected ground displacement meter (see, for example, Patent Document 2), (3) A roll angle sensor for detecting the vehicle body inclination (tilt (See, for example, Patent Document 3) or (4) estimated acceleration calculated from vehicle speed and yaw rate and vehicle body Various methods have been proposed, such as a method of estimating a roll angle using an actual lateral acceleration obtained from a sensor attached to (see, for example, Patent Document 4).
Japanese Unexamined Patent Publication No. 60-252011 JP-A-6-297985 Japanese Utility Model Publication No. 3-110903 Japanese Patent Laid-Open No. 11-258260

  By the way, all of the means for detecting the roll angle described above are based on the premise that a sensor is attached to the vehicle body that is to detect the roll angle. However, in a vehicle in which a tractor and a trailer are connected, the tractor is changed depending on the time. Because it is separated from the trailer and connected to another trailer, when detecting the roll angle of the trailer on the tractor side, it is not always possible to assume that the sensor necessary for detecting the roll angle is mounted on the trailer. .

  Therefore, when a coupler (coupler) having no degree of freedom in the roll direction is used at the coupling portion between the tractor head and the trailer, it is conceivable to substitute the trailer roll angle with the roll angle of the tractor. Depending on the difference in the position of the front and rear of the cargo, it may not be possible to substitute.

  FIGS. 15 (1) and (2) show the rear roll angle characteristic A of the tractor and the rear roll angle characteristic B of the trailer when the position of the load is changed back and forth, respectively. As shown in Fig. 1 (1), when the load position is the front load, the roll angle of the tractor and trailer roll angle are almost the same value, but as shown in Fig. 2 (2), the load position is In the case of a product, the roll angle of the tractor is only smaller than the roll angle of the trailer, and the roll angle of the tractor cannot be used as a substitute for the trailer roll angle.

  For example, when the load is after-loading, if the roll angle of the tractor is used as a substitute for the trailer roll angle in the rollover prevention device that makes a determination using the roll angle, the tractor roll angle will be Since it is smaller than the trailer, it may be erroneously determined that the risk of rollover is low.

  The present invention has been made paying attention to the above-mentioned problems of the prior art, and an object of the present invention is to provide a connected vehicle rollover prevention device capable of accurately detecting the trailer roll angle on the tractor head side.

To achieve the above object, rollover prevention system for connecting a vehicle according to the present invention is a rollover prevention system for a vehicle comprising a tractor and a trailer, the tractor roll angle estimation means for estimating a roll angle of the tractor, the A load estimating means for estimating a load received by a connecting portion connecting the tractor and the trailer, a trailer weight is obtained, a value based on the center of gravity of the trailer is obtained from the trailer weight and the load, and a tractor roll angle and the value are calculated. Trailer roll angle estimation means for estimating the trailer roll angle based on the above.

The rollover prevention device further includes a total connection weight estimation means for estimating a total connection weight of the tractor and the trailer, and the trailer roll angle estimation means obtains a trailer weight from the total connection weight and a known tractor weight, From the weight of the trailer and the load, a ratio of the distance between the connecting portion and the front-rear center of gravity relative to the trailer wheel base is calculated, and a roll correction coefficient is obtained from the ratio based on a previously stored map, and the tractor roll angle and the roll correction are calculated. The trailer roll angle can be calculated from the coefficient.

Alternatively, the trailer roll angle estimation means obtains a trailer weight from the total connection weight and a known tractor weight, and calculates a distance between the coupling portion and the front and rear center of gravity from the trailer weight, the load, and a known trailer wheel base. The roll correction coefficient can be calculated from the distance based on the map stored in advance, and the trailer roll angle can be calculated from the tractor roll angle and the roll correction coefficient.

That is, in the present invention, the weight of the trailer including the load is calculated from the estimated value of the total connection weight and the known tractor weight. Further, the load applied to the tractor from the trailer through the connecting portion (coupler) is estimated, and the ratio of the distance between the connecting portion and the trailer center-of-gravity center of gravity position to the trailer wheel base is obtained from the weight of the trailer obtained by calculation and the load on the tractor. In addition, a map of the ratio and roll correction coefficient is obtained in advance, a roll correction coefficient is obtained from the ratio based on the map, and the roll correction coefficient is calculated based on the roll angle of the tractor obtained by the roll angle detecting means attached to the tractor. To estimate the roll angle of the trailer.

  Alternatively, instead of the ratio of the front / rear center of gravity position described above, the distance between the connecting portion and the front / rear center of gravity position itself is obtained from the weight of the trailer, the load, and a known trailer wheel base, and from this distance, the distance-roll correction coefficient is calculated. The roll correction coefficient is obtained from the map, and the roll angle of the trailer is calculated by multiplying the roll correction coefficient by the roll angle of the tractor.

  The trailer wheel base is, for example, a distance from the position of the load to the position of the single trailer shaft or the intermediate position of the plurality of trailer shafts.

  Furthermore, the present invention can also include means for determining a rollover risk based on the trailer roll angle, means for issuing an alarm based on the determination result, or means for performing rollover suppression control based on the determination result. It is.

In the present invention also the roll angle, the tractor roll velocity or can be replaced by a tractor roll angular acceleration, respectively that case, the roll angular velocity estimation apparatus of the trailer can be operated as a roll angular acceleration estimating device of the trailer .

  According to the present invention, it becomes possible to estimate the roll angle of the trailer with higher accuracy than before without adding a sensor for detecting the roll angle to the trailer. When applied, it is possible to more accurately determine the trailer rollover risk and contribute to safe driving.

General configuration example of a connected vehicle common to each embodiment: FIGS. 1 to 4
The semi-trailer type connected vehicle has a configuration as shown in FIG. 1, and receives a vertical load (fifth wheel load) W _fifth at the front portion of the trailer 300 by a coupler 200 attached to the tractor 100. The position of the center of gravity CG combining the load and trailer 300 differs depending on the load loading position even if the load weight is the same, so the fifth wheel load W _fifth and the trailer shaft load W _rr also differ from time to time. . This difference in load distribution is considered to be a factor that causes the tractor 100 and the trailer 300 to have different roll states during turning.

Here, the case where there are a plurality of trailer shafts is shown in FIGS. 2 to 4. The example of FIG. 2 is the case of one tractor rear shaft and two trailer shafts, and the example of FIG. 3 is the tractor rear shaft two axes. In the case of 2 trailer shafts, the example of FIG. 4 shows the case of 2 trailer shafts and 3 trailer shafts. In these cases, the total of the trailer shaft loads is the trailer shaft load _Wrr, and the trailer shaft side base point of the trailer wheel base L _trailer is the intermediate position of the plurality of shafts. L _f represents the distance between the coupler 200 and the trailer center of gravity CG, and L _r represents the distance between the trailer center of gravity CG and the intermediate position of the trailer axis.

Example [1]: FIG.
As shown in FIG. 5, the configuration of the embodiment [1] includes a tractor roll angle estimation unit 1, a connected total weight estimation unit 2, a fifth wheel load estimation unit 3, a trailer roll angle estimation unit 4, a rollover risk determination unit 5, And a rollover danger warning section 6. These are equipped on the tractor 100 side. Hereinafter, each part will be described.

1) Tractor roll angle estimation unit: Fig. 6
In the tractor roll angle estimation unit 1, as shown in FIG. 6 (1), stroke sensors 13 and 14 for measuring the relative displacement between the sprung and unsprung are attached to the left and right of the rear suspensions 11 and 12 of the tractor 100, respectively. The roll angle calculation unit 15 to which the measurement value is input obtains the sprung roll angle R _tractor by the following equation.

ここで、h_LH：左側相対変位、h_RH：右側相対変位、Tread_sensor：ストロークセンサ取付けスパン、である。

Here, h _LH : left side relative displacement, h _RH : right side relative displacement, Tread _sensor : stroke sensor mounting span.

Further, since the roll angle until the tire rises is not large, the roll angle R _tractor may be obtained by approximating the following equation.

なおロール角検出部1はこれに限らず、他の方法を用いても良い。例えば、図6(2)に示すように、リアサスペンション11,12上に取り付けられたロールレートセンサ16で計測されるロール角速度の値をロール角演算部15に与え、ここで積分してロール角R_tractorを求めても良い。

The roll angle detector 1 is not limited to this, and other methods may be used. For example, as shown in FIG. 6 (2), the roll angular velocity value measured by the roll rate sensor 16 mounted on the rear suspensions 11 and 12 is given to the roll angle calculation unit 15, where it is integrated and the roll angle is integrated. You may ask for R _tractor .

2) Consolidated total weight estimation unit: Fig. 7
As shown in FIG. 7 (1), the connected total weight estimation unit 2 includes an accelerator opening sensor 21, an engine speed sensor 22, a vehicle longitudinal acceleration sensor 23, and a calculation unit 24.

The calculation unit 24 obtains the engine torque by referring to the accelerator opening and the engine speed from the accelerator opening sensor 21 and the engine speed sensor 22 and a map stored in the calculation unit 24 in advance, and determines the vehicle longitudinal acceleration. The vehicle speed is obtained by integrating the longitudinal acceleration of the vehicle from the sensor 23. From these engine torque, longitudinal acceleration, and vehicle speed, the _total connected weight W _total consisting of the tractor 100, the trailer 300, and the load is obtained as follows.

  First, assuming that the running resistance of the vehicle is Tf, the calculation formula of the running resistance is expressed by the following formula.

Tf = μW _total + ρAV ² + (α / g) (W _total + ΔW _total ) + W _total sinθ (3)
Here, μ: rolling resistance, W _total : _total connection weight, ρ: air resistance coefficient, A: vehicle front projected area, ΔW _total : rotating part equivalent inertia weight, α: acceleration / deceleration, sinθ: road surface gradient, V: vehicle Speed, g: Gravity acceleration. Among them, the rolling resistance μ, the road surface gradient sinθ, and the vehicle speed V are values that change depending on the situation, but the other values are vehicle specific values (vehicle specifications).

Therefore, the running resistance Tf is measured every minute time ΔT. Here, if the current running resistance is Tf0, the running resistance after ΔT is Tf1, and if there is no change in the road surface condition in the minute time ΔT, the rolling resistance μW _total and the gradient resistance W _total sinθ are equal at both times, The following equation is obtained.

Tf0 = μW _total + ρAV0 ² + (α0 / g) (W _total + ΔW _total ) + W _total sinθ
... Formula (4)
Tf1 = μW _total + ρAV1 ² + (α1 / g) (W _total + ΔW _total ) + W _total sinθ
... Formula (5)
Next, when the difference between Expression (4) and Expression (5) is calculated, the following expression is obtained.

Tf0−Tf1 = ρA (V0 ² −V1 ² ) + (α0−α1) (W _total + ΔW _total ) / g (6)
From this equation (6), the following equation is obtained.

W _total + ΔW _total = g [Tf0−Tf1−ρA (V0 ² −V1 ² )] / (α0−α1) (7)
Further, the [Delta] W _total, when a 0.1 W _total as an example, the left side of the above equation (7) the following equation is obtained because the _{W total + 0.1W total = 1.1W total} .

W _total = g [Tf0−Tf1−ρA (V0 ² −V1 ² )] / 1.1 (α0−α1) (8)
On the other hand, assuming that the engine torque obtained by the calculation unit 24 at each time point of Equation (4) and Equation (5) is Te0 and Te1, respectively, and the driving force of the wheels is T0 and T1, respectively, T0 and T1 are respectively Given in.

T0 = (Te0 · GT · GF · η) / R (9)
T1 = (Te1, GT, GF, η) / R (10)
Here, GT: transmission gear ratio, GF: final reduction ratio, η: transmission efficiency, and R: tire radius. These are eigenvalues (specifications of the vehicle) of the vehicle.

Since the vehicle travels in a state where the running resistance Tf and the driving forces T0 and T1 are balanced, T0 and T1 in Equation (9) and Equation (10) are substituted for Tf0 and Tf1 in Equation (8), respectively. By doing so, the _total connected weight W _total can be detected and estimated for every minute time ΔT during traveling.

In addition, about a connection gross weight estimation method, you may use not only this but another method. For example, as shown in FIG. 7 (2), the brake pressure sensor 25 for each wheel of the tractor, the pressure sensor 26 for the trailer brake, and the vehicle longitudinal acceleration sensor 23 are provided, and the calculation unit 27 calculates the _total connection weight W _total as follows. Can do.

  There is a relationship of the following equation between the deceleration (acceleration in the front-rear direction) α acting on the vehicle and the braking force F at that time.

F = W _total (α / g) ... Formula (11)
From this equation (11), the following equation is obtained.

W _total = F (g / α) (12)
The braking force F is shown as a function of the brake coefficient B and the brake air pressure P. Specifically, the brake force F is obtained from the following formula using the brake coefficients Bf, Br, Bt of the front wheels, the rear wheels, and the trailer, and the brake air pressures Pf, Pr, Pt.

F = Bf · Pf + Br · Pr + Bt · Pt (= B · P) (13)
By substituting the braking force F of equation (13) into equation (12), the _total connection weight W _total can be calculated and estimated.

3) Fifth wheel load estimator: Fig. 8
As shown in FIG. 8 (1), the fifth wheel load estimation unit 3 includes a pressure sensor 31 that measures the air spring internal pressure of each wheel in the tractor 100 in a coupled vehicle in which the tractor 100 is configured by an air suspension. The measurement value of the measured internal pressure is sent to the calculation unit 32, and thus the fifth wheel load W _fifth is estimated and calculated.

  First, the air spring load Fi (i: each tractor wheel) of each wheel of the tractor 100 is the product of the air spring internal pressure Pi and the effective sectional area Ai of the air spring previously stored in the calculation unit 32 as shown in the following equation. Can be obtained.

Fi = Ai · Pi (14)
Therefore, the sprung load W _{Tractor_all} including the _fifth wheel load W _fifth of the tractor 100 is obtained by the following equation.

W _{Tractor_all} = ΣFi
= ΣAi · Pi (15)
The fifth wheel load W _fifth is represented by the following equation by subtracting the sprung load W _{Tractor_0} for a single tractor vehicle stored in advance in the calculation unit 32 from the tractor sprung load W _{Tractor_all} obtained in Equation (15). Can be requested.

W _fifth = W _{Tractor_all} −W _{Tractor_0}・ ・ ・ Equation (16)
Alternatively, as another fifth wheel load estimation method, since the mounting position of the coupler 200 is substantially above the rear shaft of the tractor 100, the air spring internal pressure sensor 31 is mounted only on the rear shaft air spring, _Substituting i for each wheel on the rear axle of the tractor, W _{Tractor_all} for the sprung load on the rear axle, and W _{Tractor_0} for the sprung load on the rear axle for a single tractor, and calculating Equation (14) to Equation (16). Thus, the fifth wheel load W _fifth may be obtained.

As another fifth wheel load estimation method, for example, in a tractor vehicle using a metal spring as a suspension, each tractor wheel is provided with a suspension stroke sensor 33 as shown in FIG. Can be sent to the calculation unit 34 to calculate the fifth wheel load W _fifth . The load Fi (i: each tractor wheel) applied to the spring of each wheel of the tractor is a function fi of the spring deflection amount Hi measured by the suspension stroke sensor 33.

Fi = fi (Hi) (17)
For example, in the case of a linear spring with a constant spring constant ki, the following equation is obtained.

Fi ＝ ki ・ Hi ・ ・ ・ Formula (18)
Therefore, the sprung load W _{Tractor_all} including the _fifth wheel load W _fifth of the tractor is obtained by the following equation.

W _{Tractor_all} = ΣFi
= Σfi (Hi) ・ ・ ・ Formula (19)
The fifth wheel load W _fifth can be _obtained by subtracting the sprung load W _{Tractor_0} for a single tractor vehicle, which is stored in advance in the calculation unit 34, from the tractor sprung load W _{Tractor_all} obtained by Expression (19).

W _fifth = W _{Tractor_all} −W _{Tractor_0} (20)
Similarly to the above method using the air suspension internal pressure, the suspension stroke sensor 33 is attached only to the suspension of the tractor rear shaft, i is a wheel on the tractor rear shaft, W _{Tractor_all} is a sprung load applied to the rear shaft, W _{Tractor_0} The fifth wheel load W _fifth may be obtained by calculating the equation (17) to the equation (20) by replacing the above with the sprung load of the rear shaft when a single tractor is used.

4) Trailer roll angle estimation unit: Fig. 9 and Fig. 10
The trailer roll angle estimation unit 4 estimates the trailer roll angle according to the flowchart shown in FIG. The processing content of each step of the flowchart is as follows.

Step S1: When the key SW is ON, the tractor roll angle value R _tractor is first obtained from the tractor roll angle estimation unit 1.

Step S2: Obtain an estimated value W _total of the connected total weight from the connected total weight estimation unit 2.

Step S3: Obtain an estimated value W _fifth of the _fifth wheel load from the fifth wheel load estimation unit 3.

Step S4: The trailer weight W _trailer including the load is calculated from the known weight W _tractor of the single tractor stored in the calculation unit 4 in advance and the acquired _total connected weight W _total by the following equation.

W _trailer ＝ W _total −W _tractor・ ・ ・ Formula (21)
Step S5: If the trailer weight W _trailer calculated by equation (21) is very small and the following equation (22) holds, it is determined that the trailer 300 is not connected, and the trailer roll angle estimation calculation is not performed. Proceed to S10.

W _trailer <α (α is a positive constant smaller than the trailer empty vehicle weight) (22)
In the determination in equation (22), instead of the trailer weight W _trailer , as shown in the following equation, the estimated value W _fifth of the _fifth wheel load may be used to determine in the following equation.

W _fifth <β (β is a positive constant smaller than the fifth wheel load when trailer-coupled idle)
... Formula (23)
Step S6: The trailer weight W _trailer can be considered as the sum of the _fifth wheel load W _fifth and the trailer shaft load W _rr as shown in the following equation.

W _trailer = W _fifth + W _rr ... Formula (24)
Here, as described above, when the distance between the connecting portion and the trailer center of gravity is L _f and the trailer wheel base is L _trailer , the following equation is established from the balance of forces.

L _f · W _trailer ＝ L _trailer · W _rr・ ・ ・ Formula (25)
_Assuming that the ratio of the distance L _f between the connecting portion and the trailer center of gravity to the trailer wheel base L _trailer is L _CGratio , this ratio L _CGratio is obtained by the following equation from Equation (24) and Equation (25).

・ステップS7：実験などで予め求めて、演算部4に記録してある図10に示すようなマップを用いて、ステップS6で式(26)により求めた比率L_CGratioからロール補正係数R_coefを求める。

Step S7: A roll correction coefficient R _coef is _calculated from the ratio L _CGratio obtained by the equation (26) in Step S6 using a map as shown in FIG. Ask.

Step S8: The product of the calculated roll correction coefficient R _coef and the tractor roll angle R _tractor is used as an estimated value of the _trailer roll angle R _trailer as shown in the following equation.

R _trailer = R _coef · R _tractor (27)
Step S9: The trailer roll angle estimated value R _trailer obtained in step S8 is set as the roll angle output value R _OUT .

Step S10: The tractor roll angle value R _tractor is set as the roll angle output value R _OUT .

5) Roll-over risk judgment unit The roll-over risk judgment unit 5 has a roll-over risk when the relationship between the roll angle output value R _out from the trailer roll angle estimation unit 4 and the roll-over risk judgment threshold R _threshold satisfies the following equation: A rollover danger signal is sent to the rollover danger warning unit 6 when it is determined that the value is high.

R _OUT > R _threshold・ ・ ・ Formula (28)
6) Roll-over danger alarm section When the roll-over danger alarm section 6 receives a rollover danger signal, it warns the driver with an alarm lamp, alarm sound, etc.

  As shown in FIG. 11, a rollover suppression control unit 7 is provided instead of the rollover danger warning unit 6, and when a rollover danger signal is received, the vehicle brake and engine are controlled to decelerate the vehicle and suppress rollover. It is good also as a structure.

Example [2]: FIG.
FIG. 12 shows the configuration of the embodiment [2]. In this embodiment [2], a trailer wheel base setting unit 8 is added to the embodiment [1], and a trailer roll angle estimation unit 4 and Uses a trailer roll angle estimation unit 9 with different processing contents, a tractor roll angle estimation unit 1, a connected gross weight estimation unit 2, a fifth wheel load estimation unit 3, a rollover risk determination unit 5, and a rollover risk warning unit Each of 6 is the same as the configuration of the embodiment [1].

1) Trailer wheelbase setting unit The trailer wheelbase setting unit 8 manually inputs the _trailer wheelbase L _trailer using a numeric keypad, dial, selection switch, etc., and stores it in the trailer roll angle estimation unit 9. deep.

The trailer wheel base setting unit 8 is not limited to this, and other methods may be used. For example, even if the trailer wheel base L _trailer is acquired by various methods such as a method of reading from the memory stored in advance in the specifications of the trailer 300 installed in the trailer 300 as shown in JP-A-6-144303 Good.

2) Trailer roll angle estimation unit: Fig. 13 and Fig. 14
The trailer roll angle estimation unit 9 performs trailer roll angle estimation calculation according to the flowchart shown in FIG. In this case, the difference from the embodiment [1] is that, instead of the ratio L _CGratio of the connecting portion-trailer centroid distance L _{f to} the trailer wheel base L _trailer , the connecting portion-trailer centroid distance L _f is used. The correction coefficient R _coef is found.

  The processing content of each step of the flowchart is as follows. Steps S1 to S5, S8, S9, and step S10 are the same as those in the embodiment [1], and are therefore omitted.

Step S21: The wheel base value L _trailer of the trailer 300 is acquired from the trailer wheel base setting unit 8.

Step S22: Using the following equation obtained by modifying the equation (26) in the embodiment [1], the distance L _f between the connecting portion and the trailer center of gravity is detected.

・ステップS23：実験などで予め求め、演算部9に記録してある図14に示すようなマップを用いて、ステップS22で求めた連結部−トレーラ重心間距離L_fからロール補正係数R_coefを求める。

Step S23: A roll correction coefficient R _coef is obtained from the distance L _f between the connecting portion and the trailer center of gravity obtained in Step S22 using a map as shown in FIG. Ask.

Variation:
The roll angle of the can replace the roll angular velocity or the roll angle acceleration, each of case, the roll angular velocity estimation apparatus of the trailer can be operated as a roll angular acceleration estimating device of the trailer.

  For example, in the configuration of the embodiment [1] or [2], when the trailer roll angular velocity estimation device is used, the roll angular velocity calculation unit in the configuration of FIG. 6 (1) is replaced with the roll angular velocity calculation unit. The roll angular velocity is obtained by differentiating the roll angle obtained by formula (1) or formula (2). Alternatively, the measurement value of the roll rate sensor is output as it is to the trailer roll angular velocity estimation calculation unit in the configuration of FIG. 2 (2), and the roll angle in the other components is replaced with the roll angular velocity.

  In this way, the trailer roll angular velocity estimation device can be used, and the estimated roll angular velocity of the trailer is used to make a rollover risk determination. If there is a risk of rollover, an alarm is issued or the vehicle is decelerated. Control and suppress rollover.

  It should be noted that the present invention is not limited to the above-described embodiments, and it is apparent that various modifications can be made by those skilled in the art based on the description of the scope of claims.

1 is a schematic side view of a connected vehicle including a general tractor and trailer (in the case of one trailer shaft and one trailer shaft). FIG. 1 is a schematic side view of a connected vehicle including a general tractor and a trailer (in the case of a tractor rear shaft of one axis and a trailer shaft of two axes). FIG. 1 is a schematic side view of a connected vehicle including a general tractor and a trailer (in the case of two trailer shafts and two trailer shafts). FIG. 2 is a schematic side view of a connected vehicle including a general tractor and a trailer (in the case of two tractor rear shafts and three trailer shafts). 1 is a block diagram showing a configuration of an embodiment [1] of a vehicle rollover prevention device according to the present invention. FIG. FIG. 6 is a diagram schematically showing the structure of a tractor roll angle estimation unit shown in FIG. It is the block diagram which showed the structure of the connection gross weight estimation part used by this invention. FIG. 6 is a block diagram showing a configuration of a fifth wheel load estimating unit used in the present invention. It is a calculation flowchart figure of the trailer roll angle estimation part used in Example [1] of this invention. 10 is a map diagram of a roll correction coefficient R _{coef with} respect to a ratio L _CGratio of a trailer center of gravity position with respect to a trailer wheel base used in the flowchart of FIG. It is the block diagram which showed the modification of this invention. FIG. 3 is a block diagram showing a configuration of an embodiment [2] of the vehicle rollover prevention device according to the present invention. It is a calculation flowchart figure of the trailer roll angle estimation part used in Example [2] of this invention. FIG. 14 is a map diagram of a roll correction coefficient R _{coef with} respect to the distance L _f between the connecting portion and the trailer center of gravity position used in the flowchart of FIG. It is the graph which showed the roll angle characteristic of the tractor and the trailer at the time of an actual vehicle running test (step steering).

Explanation of symbols

1 Tractor roll angle estimation unit
2 Consolidated total weight estimation unit
3 Fifth wheel load estimation part
4,9 Trailer roll angle estimation part
5 Rollover risk judgment section
6 Rollover warning section
7 Rollover risk control unit
8 Trailer wheelbase setting section
11,12 Rear suspension
13,14 Suspension stroke sensor
15 Roll angle calculator
16 Roll rate sensor
21 Accelerator position sensor
22 Engine speed sensor
23 Vehicle longitudinal acceleration sensor
24,27 Calculation unit
25 Tractor wheel brake pressure sensor
26 Trailer brake pressure sensor
31 Tractor wheel air suspension pressure sensor
32,34 Calculation unit
33 Tractor wheel suspension stroke sensor
100 tractors
200 coupler
300 trailers
CG trailer center of gravity In the figure, the same reference numerals indicate the same or corresponding parts.

Claims (7)

A vehicle rollover prevention device comprising a tractor and a trailer,
Tractor roll angle estimating means for estimating the roll angle of the tractor;
And load estimation means for estimating a load connecting portion is subjected to coupling the tractor and the trailer,
A trailer roll angle estimating means for obtaining a trailer weight, obtaining a value based on the center of gravity of the trailer from the trailer weight and the load, and estimating a trailer roll angle based on the tractor roll angle and the value;
A vehicle rollover prevention device characterized by comprising: In claim 1,
Furthermore, a total connected weight estimating means for estimating a total connected weight of the tractor and the trailer is provided,
The trailer roll angle estimating means calculates a trailer weight from the total weight of the connection and a known tractor weight, calculates a ratio of the distance between the connecting portion and the front and rear center of gravity relative to the trailer wheel base from the trailer weight and the load, A rollover prevention apparatus for a vehicle, characterized in that a roll correction coefficient is obtained from a ratio based on a map stored in advance, and the trailer roll angle is calculated from the tractor roll angle and the roll correction coefficient. In claim 1,
Furthermore, a total connected weight estimating means for estimating a total connected weight of the tractor and the trailer is provided,
The trailer roll angle estimation means obtains a trailer weight from the total weight of the connection and a known tractor weight, and calculates a distance between the connecting portion and the front and rear center of gravity from the trailer weight, the load and a known trailer wheel base, A rollover prevention apparatus for a vehicle, wherein a roll correction coefficient is obtained from the distance based on a map stored in advance, and the trailer roll angle is calculated from the tractor roll angle and the roll correction coefficient. In claim 2 or 3,
A vehicle rollover prevention device, wherein the trailer wheel base is a distance from a position of the load to a position of a single trailer shaft or an intermediate position of a plurality of trailer shafts. In any one of Claims 1-4,
A vehicle rollover prevention device, further comprising: means for determining a rollover risk based on the trailer roll angle; and means for issuing an alarm based on the determination result. In any one of Claims 1-4,
An apparatus for preventing a rollover of a vehicle, further comprising means for determining a rollover risk based on the trailer roll angle, and means for performing a rollover suppression control based on the determination result. In any one of Claims 1-6,
Instead of the tractor roll angle, rollover prevention apparatus for a vehicle characterized by using the tractor roll velocity or the tractor roll angular acceleration.

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