JPH11170992A - Roll over preventive device of vehicle - Google Patents

Roll over preventive device of vehicle

Info

Publication number
JPH11170992A
JPH11170992A JP9339590A JP33959097A JPH11170992A JP H11170992 A JPH11170992 A JP H11170992A JP 9339590 A JP9339590 A JP 9339590A JP 33959097 A JP33959097 A JP 33959097A JP H11170992 A JPH11170992 A JP H11170992A
Authority
JP
Japan
Prior art keywords
vehicle
turning
wheel
roll over
rollover
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP9339590A
Other languages
Japanese (ja)
Inventor
Masaharu Harada
Koji Ohata
正治 原田
孝治 大畑
Original Assignee
Mitsubishi Motors Corp
三菱自動車工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Motors Corp, 三菱自動車工業株式会社 filed Critical Mitsubishi Motors Corp
Priority to JP9339590A priority Critical patent/JPH11170992A/en
Publication of JPH11170992A publication Critical patent/JPH11170992A/en
Granted legal-status Critical Current

Links

Abstract

PROBLEM TO BE SOLVED: To surely prevent the roll over of a vehicle by detecting the risk of the roll over through a simple control irrespective of the condition of the vehicle. SOLUTION: When the turning condition of a vehicle 1 is detected by a steering angle detection sensor 3, a yaw angular velocity sensor 6, and a transverse acceleration sensor 7, and a switch S directly detects that an inner wheel side of a front wheel or a rear wheel 9 is rebounded and displaced to the full- rebound position while the vehicle 1 is turned, a judgement is made that it is in a condition immediately before the turning inner wheel is detached from the ground and leads to the roll over. A safety action achieving means 11 is thus operated to take a safety action (an alarm, an automatic brake, etc.), and the roll over of the vehicle 1 is easily and surely prevented in advance without any complicated operation, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for preventing rollover of a vehicle, and more particularly, to a device for detecting a danger of rollover regardless of a loaded state, and is intended to reliably prevent rollover. .

[0002]

2. Description of the Related Art In a large vehicle such as a truck, the center of gravity becomes higher depending on the condition of the load, and the vehicle may roll over when turning a curve, depending on the traveling speed and steering conditions, as compared with a passenger car having a lower center of gravity. Is high. Therefore, various techniques have been proposed to prevent the vehicle from rolling over by informing the driver of the vehicle rolling over and predicting the vehicle to roll over, or by taking measures such as braking or reducing the output before the vehicle rolls over.

For example, Japanese Patent Application Laid-Open No. 1-168555 discloses that when the lateral acceleration calculated from the vehicle speed and the steering angle is equal to or more than a predetermined value, if the wheel stroke of at least one of the turning inner wheels exceeds a set value, it is determined that the inner wheel is floating. A traction control device for reducing engine output is shown. In the conventional traction control device, when it is determined that the turning inner wheel has surfaced, the driving force of the ground contact wheel can be reduced to eliminate the danger of rollover.

[0004]

However, in the above-described prior art in which the wheel stroke is equal to or greater than the set value, the danger of rollover is sensed in a situation where the wheel stroke still has a margin, and the load is detected. It was difficult to say that the danger of rollover could be accurately detected in various situations such as when the amount and number of occupants were different, when the loading state and the riding state were biased to the left or right, and the reliability was poor. . It is conceivable to change the set value in accordance with the load capacity, the number of occupants, or the load condition or the riding condition. It was easy to be complicated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides a vehicle rollover prevention device capable of detecting the danger of rollover by simple control and reliably preventing rollover regardless of the vehicle condition. The purpose is to do.

[0006]

In order to achieve the above object, according to the present invention, the turning state of the vehicle is detected by turning state detecting means, and the state immediately before the turning inner wheel is separated from the vehicle and rolls over during turning of the vehicle is determined. The full rebound detection means detects that the wheel has rebounded to the full rebound position, and the safety measure execution means takes safety measures to prevent the vehicle from rolling over, thereby preventing the vehicle from rolling over in advance. Detects full rebound of wheels, which can reliably determine that there is a high risk of rollover regardless of the loading capacity, number of passengers, or the loading situation or riding condition. And the safety measure execution means can be appropriately operated.

[0007]

FIG. 1 is a schematic diagram of a vehicle provided with a rollover prevention device according to an embodiment of the present invention, FIG. 2 is a side view of a rear wheel side suspension, and FIG. Inside II
It shows the state viewed from the line I-III. 4 and 5 show control flowcharts of the rollover prevention device.

As shown in FIG. 1, a vehicle 1 such as a truck is provided with a steering angle detection sensor 3 for detecting a steering angle θ and a steering direction of a steering hole 2, and information detected by the steering angle detection sensor 3 is a control device. 4 is input. Vehicle 1
A yaw angular velocity sensor 6 for detecting a yaw angular velocity γ of the vehicle body 5 and a lateral acceleration sensor 7 for detecting a lateral acceleration G of the vehicle body 5
And a yaw angular velocity sensor 6 and a lateral acceleration sensor 7
Is input to the control device 4. The control device 4 determines that the vehicle 1 is in a turning state and the turning direction based on the yaw angular velocity γ and the lateral acceleration G (turning state detecting means).

On the other hand, the front wheel 8 and the rear wheel 9
8 and the rear wheel 9 have been displaced to the full rebound position.
The switch S as a full rebound detecting means for detecting
It is provided at each of the left and right wheels. Front wheel 8 side
Has left and right switches SFL, S FRThe vehicle shown
1 is a rear two-axle wheel, so the rear wheel 9 side includes a rear front axle and a rear axle.
Left and right switches S for each rear shaftRL, SRRIs provided
ing. That is, the switches S are provided at six locations.
You. With switch S, front wheel 8 and rear wheel 9 are in full rebound position
Activated when displaced to the full position, the front wheel 8 and rear wheel 9
It detects the bound state. Switch S
Is input to the control device 4.

The control device 4 detects the turning state of the vehicle 1 based on the detection information of the turning state detecting means, and detects that the wheel on the turning inner wheel side has been displaced to the full rebound position. When the control device 4 detects that the wheel on the turning inner wheel side has been displaced to the full rebound position during the turning of the vehicle 1, the control device 4 determines that there is a risk that the turning inner wheel may take off and danger of rollover occurs, and the rollover of the vehicle 1 is performed. An operation command is output to the safety measure execution means 11 for taking a safety measure for preventing the occurrence of the operation. Safety measures include warning, engine output reduction control, automatic braking, steering control, yaw control by rear wheel steering and braking, and the like. The safety measure executing means 11 operates to execute these measures alone or in combination. It outputs a command.

The suspension on the rear wheel 9 side will be described with reference to FIGS. 2 and 3, and the mounting state of the switch S will be described. A trunnion type suspension is applied to the rear wheel 9 of the vehicle 1 in the embodiment.

As shown in the figure, a trunnion base 13 is mounted on the frame 12 side of the vehicle body 5, and a leaf spring 14 composed of a plurality of leaf springs is supported on the trunnion base 13. Both ends 14 of leaf spring 14
In a, the leaf springs slide relative to each other in accordance with a change in load. One end of each of two Appalladias rods 15 is supported on the frame 12 side, and the other end of the Appalladias rod 15 supports an upper part of an axle 16 of a rear front shaft and an upper part of an axle 17 of a rear rear shaft. Both ends 14 of the leaf spring 14 are provided on the upper surfaces of the axles 16 and 17 via thrust brackets 18.
The lower surfaces of a are in contact with each other. Note that the two above-mentioned appallas rods 15 are arranged at the center in the vehicle width direction.

On the other hand, one end of a lower radius rod 19 is supported on each of the right and left trunnion bases 13, and the other end of the lower radius rod 19 supports a lower portion of an axle 16 of a rear front shaft and a lower portion of an axle 17 of a rear rear shaft. doing. On opposite sides of the thrust bracket 18 across both ends of the leaf spring 14, stoppers 20 for preventing the leaf spring 14 from coming off are provided with axles 16,17.
Is formed.

Normally, that is, when the rear wheel 9 is in contact with the ground, the input from the rear wheel 9 to the axles 16 and 17 is transmitted through the thrust bracket 18 to both ends 14 of the leaf spring 14.
a, and the leaf spring 14 is pressed to the contraction side (shown by a solid line in FIG. 3). When the rear wheel 9 comes off (full rebound state)
The axles 16 and 17 are suspended from the frame 12 by the appalladia rods 15 and the lower radius rods 19, and the leaf springs 14 extend so that the upper surfaces of both ends 14a abut against the stoppers 20 (shown by dotted lines in FIG. 3).

A switch S is mounted on the lower surface of the stopper 20. When both ends 14a of the leaf spring 14 come into contact with the stopper 20, the switch S is turned on.
It operates by being pushed by the upper surfaces of both ends 14a, and detects that the rear wheel 9 is displaced to the full rebound position. The switch S on the front wheel 8 side is attached to a member capable of detecting a state where the suspension is fully extended, for example, a shock absorber or the like. In this embodiment, a trunnion type suspension has been described as an example of the suspension on the rear wheel 9 side. However, the type of suspension is not limited to this. (For example, a rebound stopper of a shock absorber).

The specific operation of the rollover prevention device described above will be described with reference to FIGS.

As shown in FIG. 4, in step S1, the steering angle detected by the steering angle detection sensor 3, the yaw angular velocity γ detected by the yaw angular velocity sensor 6, and the lateral acceleration G detected by the lateral acceleration sensor 7 are read. Is determined. By judging the turning by the steering angle detection sensor 3, the yaw angular velocity sensor 6, and the lateral acceleration sensor 7, it is possible to distinguish a steering state due to a lane change, a rut run, or the like from a steering state at the time of turning.

If it is determined in step S2 that the vehicle is turning, it is determined in step S3 whether the vehicle is turning left. That is, it is determined whether the turn is a left turn or a right turn. If it is determined in step S3 that the vehicle is turning left, the state of the left front wheel 8 and the rear wheel 9, which are inner wheels of turning, is determined. That is, whether the switch S RL of the left rear wheel 9 is operating is determined in step S4, the left rear wheel 9 in step S4
Switch S RL if (rear front axle, either one of the distant future axis) is determined not to be operating, whether the switch S FL of the left front wheel 8 is operating is determined in step S5.

If it is determined that one of the switches S RL and S FL is operating, the left rear wheel 9 or the left front wheel 8 is displaced to the full rebound position, and there is a possibility that the vehicle rolls over at step S6. Then, the safety measure execution means 11 is operated,
Safety measures are taken, for example, by issuing an alarm or executing automatic braking. If it is determined that none of the switches S RL and S FL is operated, the left rear wheel 9 or the left front wheel 8
Is not displaced to the full rebound position and there is no risk of rollover, so the process proceeds to step S1.

If it is determined in step S3 that the vehicle is not turning left, that is, the vehicle is turning right, the state of the right front wheel 8 and the rear wheel 9, which are inner wheels of turning, is determined. That is, step S7
It is determined whether or not the switch S RR (one of the rear front axle and the rear rear axle) of the right rear wheel 9 is operated at step S7.
In the case where switch S RR of the right rear wheel 9 is determined to not operating, whether the switch S FR of the front right wheel 8 is operating it is determined in step S8.

If it is determined that one of the switches S RR and S FR is operating, the right rear wheel 9 or the right front wheel 8 is displaced to the full rebound position, and there is a risk of rollover, and step S6 is performed. Then, the safety measure execution means 11 is operated,
Safety measures are taken, for example, by issuing an alarm or executing automatic braking. If it is determined that none of the switches S RR and S FR has been operated, the right rear wheel 9 or the right front wheel 8
Is not displaced to the full rebound position and there is no risk of rollover, so the process proceeds to step S1.

As described above, at the time of turning, the state of the turning inner wheel is detected to detect whether or not the wheel has been displaced to the full rebound position. If the wheel has been displaced to the full rebound position, it is determined that there is a danger of rollover. doing. Since the turning outer wheel is not displaced to the full rebound position during turning, the turning outer wheel is detected by detecting only the state of the turning inner wheel to determine whether or not there is a possibility of rollover (the target of the turning outer wheel is determined. Erroneous detection can be prevented.

As described above, the state immediately before the inner wheel turns off and rolls over during the turning of the vehicle 1 is detected by the operation of the switch S, and the safety measure execution means 11 is operated to take safety measures. Therefore, the vehicle 1 can be prevented from rolling over. In particular, since it detects the displacement of the wheels to the full rebound position, which can reliably determine that the risk of rollover is high regardless of the load capacity, the number of occupants, or the loaded state or riding state, the risk of rollover is easily and accurately detected. Detection can be performed, and the safety measure execution unit 11 can be appropriately operated.

On the other hand, if it is determined in step S2 that the vehicle is not turning, the switches SRL and SRL are determined in step S9 in FIG.
It is determined whether any of FL , S RR and S FR is operating. If it is determined that any one of the switches S RL , S FL , S RR , and S FR has been operated, it is determined in step S10 whether any one of the switches S has been continuously operated for a predetermined time. . If it is determined that any one of the switches S has been continuously operated for a certain period of time, it means that any of the wheels has been displaced to the full rebound position even though the vehicle is not turning, and in step S11, a failure of the sensor is detected. Alternatively, it is determined that the vehicle is traveling on a bad road, such as a wheel caught in a depression on a bad road, and a failure alarm (an alarm different from the warning as a safety measure execution means) is issued, and the engine key is turned off once and turned on again. Until the control is stopped.

If it is determined in step S9 that the switch S has not been operated, and if it has been determined in step S10 that the switch S has not been continuously operated for a certain period of time, there is no risk of rollover and even on a rough road. It is determined that there is no
The process proceeds to step S1.

The above-described rollover prevention device for the vehicle 1 detects the turning state of the vehicle 1 by the steering angle detection sensor 3, the yaw angular velocity sensor 6 and the lateral acceleration sensor 7, and the front wheel 8 or the rear wheel 9 during the turning of the vehicle 1. When the switch S detects that the inner wheel side of the vehicle has rebounded to the full rebound position, it is determined that the state is just before the turning inner wheel takes off and rolls over, and the safety measure executing means 11 is operated to activate the safety measure (alarm , Automatic braking, etc.).

Therefore, the possibility that the vehicle 1 will roll over is directly detected by the switch S, and the rollover of the vehicle 1 can be prevented easily, reliably, and without any complicated arithmetic processing. In particular, the switch S is used to switch the full rebound of the turning inner wheel, which can reliably determine that there is a high risk of rollover regardless of the load capacity, the number of occupants, or the loading situation or riding condition.
, The danger of rollover is detected simply and accurately regardless of the situation of the vehicle 1 and the safety measure execution means 11 is appropriately performed.
Can be activated. In the above-described embodiment, an example in which the present invention is applied to a heavy-duty truck is shown. However, the present invention is of course applicable to other vehicles such as passenger cars.

[0028]

According to the rollover prevention device for a vehicle of the present invention, the turning state of the vehicle is detected by the turning state detecting means. By detecting the rebound displacement to the rebound position by the full rebound detecting means, it is possible to take a safety measure for preventing the rollover by the safety measure executing means. Therefore, it is possible to prevent the vehicle from rolling over in advance without performing complicated control.

Further, since a full rebound of a wheel, which can be reliably determined to have a high risk of rollover, regardless of the load capacity, the number of occupants, the load condition, the riding condition, etc., is detected, the condition of the vehicle can be detected simply and accurately. However, the danger of rollover can be detected and the safety measure execution means can be appropriately operated.

For this reason, it is possible to detect the danger of rollover by simple control regardless of the condition of the vehicle and to reliably prevent rollover.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a vehicle provided with a rollover prevention device according to an embodiment of the present invention.

FIG. 2 is a side view of a rear wheel side suspension.

FIG. 3 is a view taken along line III-III in FIG. 2;

FIG. 4 is a control flowchart of the rollover prevention device.

FIG. 5 is a control flowchart of the rollover prevention device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 vehicle 2 steering wheel 3 steering angle detection sensor 4 control device 5 vehicle body 6 yaw angular velocity sensor 7 lateral acceleration sensor 8 front wheel 9 rear wheel 11 safety measure execution means 12 frame 13 trunnion base 14 leaf spring 15 appalladias rod 16, 17 axle 18 thrust Bracket 19 Lower radius rod 20 Stopper S switch

Claims (1)

    [Claims]
  1. A turning state detecting means for detecting that the vehicle is in a turning state and a turning direction; a full rebound detecting means provided on each of left and right wheel portions for detecting that the wheels have been displaced to a full rebound position; Safety measure execution means for taking safety measures to prevent the vehicle from rolling over, and control means for activating the safety measure execution means when detecting that the wheel on the turning inner wheel side has been displaced to the full rebound position during turning of the vehicle. A rollover prevention device for a vehicle, comprising:
JP9339590A 1997-12-10 1997-12-10 Roll over preventive device of vehicle Granted JPH11170992A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP9339590A JPH11170992A (en) 1997-12-10 1997-12-10 Roll over preventive device of vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP9339590A JPH11170992A (en) 1997-12-10 1997-12-10 Roll over preventive device of vehicle

Publications (1)

Publication Number Publication Date
JPH11170992A true JPH11170992A (en) 1999-06-29

Family

ID=18328925

Family Applications (1)

Application Number Title Priority Date Filing Date
JP9339590A Granted JPH11170992A (en) 1997-12-10 1997-12-10 Roll over preventive device of vehicle

Country Status (1)

Country Link
JP (1) JPH11170992A (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6263261B1 (en) 1999-12-21 2001-07-17 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6324446B1 (en) 1999-12-21 2001-11-27 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6332104B1 (en) 1999-12-21 2001-12-18 Ford Global Technologies, Inc. Roll over detection for an automotive vehicle
US6397127B1 (en) 2000-09-25 2002-05-28 Ford Global Technologies, Inc. Steering actuated wheel lift identification for an automotive vehicle
JP2002240705A (en) * 2001-02-20 2002-08-28 Aisin Seiki Co Ltd Motion control device for vehicle
US6654674B2 (en) 2001-11-21 2003-11-25 Ford Global Technologies, Llc Enhanced system for yaw stability control system to include roll stability control function
US6799092B2 (en) 2001-02-21 2004-09-28 Ford Global Technologies, Llc Rollover stability control for an automotive vehicle using rear wheel steering and brake control
CN1332840C (en) * 2004-03-25 2007-08-22 三菱扶桑卡客车株式会社 Roll-over suppressing control apparatus and method for a vehicle
CN100333948C (en) * 2004-03-25 2007-08-29 三菱扶桑卡客车株式会社 Roll-over suppressing control apparatus for a vehicle
JP2007238052A (en) * 2006-03-13 2007-09-20 Isuzu Motors Ltd Vehicle rollover preventing device
US7522982B2 (en) * 2004-09-15 2009-04-21 Ford Global Technologies, Llc Methods and systems for detecting automobile rollover
US9162656B2 (en) 2003-02-26 2015-10-20 Ford Global Technologies, Llc Active driven wheel lift identification for an automotive vehicle

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6496758B2 (en) 1999-12-21 2002-12-17 Ford Global Technologies, Inc. Rollover stability control for an automotive vehicle using front wheel actuators
US6324446B1 (en) 1999-12-21 2001-11-27 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6332104B1 (en) 1999-12-21 2001-12-18 Ford Global Technologies, Inc. Roll over detection for an automotive vehicle
US6338012B2 (en) 1999-12-21 2002-01-08 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6529803B2 (en) 1999-12-21 2003-03-04 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle having rear wheel steering
US6263261B1 (en) 1999-12-21 2001-07-17 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6397127B1 (en) 2000-09-25 2002-05-28 Ford Global Technologies, Inc. Steering actuated wheel lift identification for an automotive vehicle
JP2002240705A (en) * 2001-02-20 2002-08-28 Aisin Seiki Co Ltd Motion control device for vehicle
US6799092B2 (en) 2001-02-21 2004-09-28 Ford Global Technologies, Llc Rollover stability control for an automotive vehicle using rear wheel steering and brake control
US6654674B2 (en) 2001-11-21 2003-11-25 Ford Global Technologies, Llc Enhanced system for yaw stability control system to include roll stability control function
US9162656B2 (en) 2003-02-26 2015-10-20 Ford Global Technologies, Llc Active driven wheel lift identification for an automotive vehicle
CN1332840C (en) * 2004-03-25 2007-08-22 三菱扶桑卡客车株式会社 Roll-over suppressing control apparatus and method for a vehicle
CN100333948C (en) * 2004-03-25 2007-08-29 三菱扶桑卡客车株式会社 Roll-over suppressing control apparatus for a vehicle
US7522982B2 (en) * 2004-09-15 2009-04-21 Ford Global Technologies, Llc Methods and systems for detecting automobile rollover
US8014922B2 (en) 2004-09-15 2011-09-06 Ford Global Technologies, Llc Methods for detecting vehicle rollover
JP2007238052A (en) * 2006-03-13 2007-09-20 Isuzu Motors Ltd Vehicle rollover preventing device

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