WO1989005248A1 - Safety device for multi-axle vehicles - Google Patents

Safety device for multi-axle vehicles Download PDF

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Publication number
WO1989005248A1
WO1989005248A1 PCT/EP1988/001047 EP8801047W WO8905248A1 WO 1989005248 A1 WO1989005248 A1 WO 1989005248A1 EP 8801047 W EP8801047 W EP 8801047W WO 8905248 A1 WO8905248 A1 WO 8905248A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
trailer
detecting
behavior
unit
Prior art date
Application number
PCT/EP1988/001047
Other languages
German (de)
French (fr)
Inventor
Gerhard KÄLBERER
Hans Spies
Original Assignee
Messerschmitt-Bölkow-Blohm Gesellschaft Mit Beschr
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 Messerschmitt-Bölkow-Blohm Gesellschaft Mit Beschr filed Critical Messerschmitt-Bölkow-Blohm Gesellschaft Mit Beschr
Publication of WO1989005248A1 publication Critical patent/WO1989005248A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B60G17/0185—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method for failure detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10—Type of spring
    • B60G2202/15—Fluid spring
    • B60G2202/152—Pneumatic spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/02—Trucks; Load vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/03—Silo or fluid transporting vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/204—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/206—Body oscillation speed; Body vibration frequency
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/25—Stroke; Height; Displacement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/40—Steering conditions
    • B60G2400/41—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/50—Pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B60G2400/63—Location of the center of gravity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/824—Travel path sensing; Track monitoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/90—Other conditions or factors
    • B60G2400/91—Frequency
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/90—Other conditions or factors
    • B60G2400/97—Relation between towing and towed vehicle, e.g. tractor-trailer combination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/90—Other conditions or factors
    • B60G2400/97—Relation between towing and towed vehicle, e.g. tractor-trailer combination
    • B60G2400/972—Angle of articulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/04—Means for informing, instructing or displaying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/04—Means for informing, instructing or displaying
    • B60G2600/044—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/08—Failure or malfunction detecting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/24—Steering, cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B60G2800/9124—Roll-over protection systems, e.g. for warning or control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/92—ABS - Brake Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/93—Skid or slide control [ASR]

Definitions

  • the invention relates to a safety device for multi-axis vehicles according to the preamble of patent claim 1.
  • the invention is concerned with increasing safety in the transport of dangerous goods.
  • Perforated bulkheads are installed in particular in tankers to reduce very strong liquid movements and displacements along and across the tank. Of course, one tries to have as few built-in parts as possible for reasons of tank cleaning.
  • the object of the invention is to provide a device for securing the stability of multi-part transport vehicles, in particular for tank vehicles for liquid, flowable or other cargo, which is to be classified as dangerous goods and can shift during the journey.
  • the solution of the invention consists in that it contains a processor to which standard conditions of the dynamic behavior of the load and the two units of the vehicle are supplied as basic information, and measured values - from the sensors assigned in combination with one Distance sensor and at least one other sensor for influences during the journey: a) on the train unit, b) on the towed unit and c) the behavior of a) and b) relative to each other and that the processor processes both information (basic information and measurement signals), compares and if the comparative evaluation lies outside of set thresholds, gives warning signal (s) or control pulse (s) for vehicle stabilization.
  • a processor to which standard conditions of the dynamic behavior of the load and the two units of the vehicle are supplied as basic information, and measured values - from the sensors assigned in combination with one Distance sensor and at least one other sensor for influences during the journey: a) on the train unit, b) on the towed unit and c) the behavior of a) and b) relative to each other and that the processor processes both information (basic information and measurement signals),
  • the device contains the following means: Sensor for detecting changes in level of the goods contained in the tank, and / or for displacements of the goods by force sensors at various points at which the tank rests, and at least one sensor for detecting the distance to moving and / or immovable objects, for detecting the Drive behavior, acceleration and / or braking behavior on the wheels of the traction unit, for detecting the steering angle of the front or traction wheels (sensor on the steering column arm) for detecting the angle that the towed unit forms with the traction unit and / or at the other Clutch engaging tensile force and a microprocessor which, when the response threshold values from signal processing and evaluation are undershot or exceeded, outputs a warning signal (s) or control pulse (s) to stabilize the vehicle.
  • Sensor for detecting changes in level of the goods contained in the tank, and / or for displacements of the goods by force sensors at various points at which the tank rests
  • at least one sensor for detecting the distance to moving and / or immovable objects, for detecting the
  • the invention thus captures the dynamic influences with the aid of an adaptive system in such a way that signal acquisition, processing and evaluation are optimized in a processor-controlled manner in the sense of a further increase in safety, in particular for the dynamic stability assurance of tank vehicles.
  • AWS distance warning system
  • ABS anti-lock braking system
  • ASR anti-slip regulator
  • the device can also contain electronic means for automatically switching drive elements on and off (EAS), as is known per se (e.g. DE 3505455, A1), for electropneumatic switching (EPS) and for automatic clutch actuation (AKB).
  • EAS automatically switching drive elements on and off
  • EPS electropneumatic switching
  • ALB automatic clutch actuation
  • the suspension or damping can also be regulated by means known per se, such as actuators (see, for example, ATZ 89 (1987) 9, p. 471 ff.), So that vehicle movements (tank) are detected by the active sensor of the distance warning system Uneven road surfaces can be uncoupled and ironed out.
  • actuators see, for example, ATZ 89 (1987) 9, p. 471 ff.
  • Figure la shows a cross section through a tank of the vehicle.
  • Fig. 2 is a block diagram of the system.
  • the invention uses either inside the tank container 11, for example capacitive transducers 13 or outside the tank container, for example sonar receiver 17 and thus registers both the liquid level 14 and the dynamic behavior of the liquid when starting up, Cornering or other driving maneuvers.
  • the forces that are transmitted through the liquid container to the chassis 16 can be measured, for example, by pressure transducers 18 or the pressure of the cushion for pneumatic suspension 15.
  • the signals from one or more sensors of the following type are fed to a control processor 206:
  • the processor also receives information about the speed and the steering angle. From the information, the control processor 206 already learns the estimation of the roll behavior from the start of the tank vehicle or tanker truck and sets this in a specification 214 for the driver and / or in an intervention in the suspension 210 in the engine speed 211 and in the brakes 212 selectively or in parallel.
  • the necessary algorithm for the control processor 206 can be derived from the results of driving tests or, which is preferable, by installing a basic program structure capable of learning.
  • the system contains most of the possible components of an anti-loop system.
  • one criterion for example the dynamic change in the angle between the tractor and trailer or semitrailer, can be sufficient to substantially improve and increase safety.
  • the invention is not restricted to the examples given, but rather permits a wide range of modifications.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention concerns a safety device for multi-axle vehicles which carry loads in danger of moving, in particular for ensuring the stability of tank trucks, and which comprise a tractor and a semi-trailer or trailer. The device comprises a processor which is supplied with basic information in the form of standard requirements for the dynamic behaviour of the load and the the two vehicle units, as well as with measured values provided by sensors connected to the tank. The sensors are also connected to a distance sensor and at least one additional sensor for detecting influences occurring during driving.

Description

Sicherheitseinrichtung für mehrachsige Fahrzeuge Safety device for multi-axle vehicles
Die Erfindung betrifft eine Sicherheitseinrichtung für mehrachsige Fahr¬ zeuge gemäß dem Oberbegriff des Patentanspruchs 1.The invention relates to a safety device for multi-axis vehicles according to the preamble of patent claim 1.
Die Erfindung befaßt sich mit der Erhöhung der Sicherheit bei Gefahrgut¬ transporten. Insbesondere bei Tankfahrzeugen sind zur Verminderung von sehr starken Flüssigkeitsbewegungen und Verlagerungen längs und quer des Tankes durchlöcherte Schotten eingebaut. Man versucht natürlich aus Gründen der Tankreinigung möglichst wenige Einbauteile zu haben.The invention is concerned with increasing safety in the transport of dangerous goods. Perforated bulkheads are installed in particular in tankers to reduce very strong liquid movements and displacements along and across the tank. Of course, one tries to have as few built-in parts as possible for reasons of tank cleaning.
Durch diese Kompromisse treten insbesondere bei Tankfahrzeugen häufig Stabilitätsprobleme dadurch auf, daß durch Füllstand, Zustand, Tempera¬ tur und Viskosität des Tankinhaltes Zeitkonstanten bei Fahrmanövern wirksam werden, die zusammen mit dem Fahrwerkzeitkonstanten eine Schwingneigung erzeugen.Due to these compromises, stability problems frequently occur, in particular in the case of tank vehicles, in that, due to the fill level, condition, temperature and viscosity of the tank contents, time constants take effect during driving maneuvers which, together with the chassis time constant, produce a tendency to oscillate.
Aufgabe der Erfindung ist es, eine Einrichtung zur Stabilitätssicherung mehrteiliger Transportfahrzeuge zu schaffen, insbesondere bei Tank¬ fahrzeugen für flüssige, fließfähige oder andere Ladung, die als Ge¬ fahrgut einzustufen ist und sich während der Fahrt verlagern kann.The object of the invention is to provide a device for securing the stability of multi-part transport vehicles, in particular for tank vehicles for liquid, flowable or other cargo, which is to be classified as dangerous goods and can shift during the journey.
Die Lösung der Erfindung besteht gemäß Anspruch 1 darin, daß sie einen Prozessor enthält, dem Normbedingungen vom dynamischen Verhalten der Last und der beiden Einheiten des Fahrzeuges als Basisinformation zuge¬ führt werden, sowie Meßwerte -von dem Gut zugeordneten Sensoren in Kombi¬ nation mit einem Abstandssensor und wenigstens einem weiteren Sensor für Einflüsse während der Fahrt: a) auf die Zugeinheit, b) auf die gezogene Einheit und c) das Verhalten von a) und b) relativ zueinander und daß der Prozessor beide Informationen (Basisinformation und Meßsignale) verarbeitet, vergleicht und sofern die vergleichende Auswertung außerhalb ge¬ setzter Schwellen liegt Warnsignal(e) oder Steuerimpuls(e) zur Fahr¬ zeug-Stabilisierung abgibt.According to claim 1, the solution of the invention consists in that it contains a processor to which standard conditions of the dynamic behavior of the load and the two units of the vehicle are supplied as basic information, and measured values - from the sensors assigned in combination with one Distance sensor and at least one other sensor for influences during the journey: a) on the train unit, b) on the towed unit and c) the behavior of a) and b) relative to each other and that the processor processes both information (basic information and measurement signals), compares and if the comparative evaluation lies outside of set thresholds, gives warning signal (s) or control pulse (s) for vehicle stabilization.
Gemäß Anspruch 2 enthält die Einrichtung folgende Mittel: Fühler zum Erfassen von Niveauänderungen des im Tank enthaltenen Gutes, und/oder von Verlagerungen des Gutes durch Kraftsensoren an verschiedenen Punkten, an denen der Tank aufliegt, und wenigstens einen Sensor, zur Erfassung des Abstandes zu beweglichen und/oder unbeweglichen Objekten, zur Erfassung des Antriebsverhaltens, Beschleunigungs- und/oder Bremsverhaltens an den Rädern der Zugeinheit, zur Erfassung des Lenkeinschlages der Vorder- oder Zugräder (Sensor am Lenkstockhebel) zur Erfassung des Winkels, den die gezogene Einheit mit der Zugein¬ heit b ldet und/oder der an deren Kupplung angreifender Zugkraft und einen Mikroprozessor, der adaptiv bei Unter- oder überschreiten be¬ stimmter Ansprech-Schwellwerte aus der Signalverarbeitung und -aus¬ wertung Warnsignal(e) oder Steuerimpuls(e) zur Stabilisierung des Fahrzeugs abgibt.According to claim 2, the device contains the following means: Sensor for detecting changes in level of the goods contained in the tank, and / or for displacements of the goods by force sensors at various points at which the tank rests, and at least one sensor for detecting the distance to moving and / or immovable objects, for detecting the Drive behavior, acceleration and / or braking behavior on the wheels of the traction unit, for detecting the steering angle of the front or traction wheels (sensor on the steering column arm) for detecting the angle that the towed unit forms with the traction unit and / or at the other Clutch engaging tensile force and a microprocessor which, when the response threshold values from signal processing and evaluation are undershot or exceeded, outputs a warning signal (s) or control pulse (s) to stabilize the vehicle.
Die Erfindung erfaßt also die dynamischen Einflüsse mit Hilfe eines adaptiven Systems so, daß Signalgewinnung, -Verarbeitung und -auswertung prozessorgesteuert optimiert sind im Sinne einer weiteren Erhöhung der Sicherheit, insbesondere zur dynamischen Stabilitätssicherung von Tank¬ fahrzeugen.The invention thus captures the dynamic influences with the aid of an adaptive system in such a way that signal acquisition, processing and evaluation are optimized in a processor-controlled manner in the sense of a further increase in safety, in particular for the dynamic stability assurance of tank vehicles.
Dabei werden nicht nur Einflüsse auf die gezogene Einheit (Aufliegertank und/oder Sattelschlepper) sondern auch auf die Zugmaschine und Einflüsse beider aufeinander, insbesondere des Knickwinkels beider Einheiten er¬ faßt, angezeigt und ggf. gegengesteuert, z.B.Influences not only on the towed unit (semi-trailer tank and / or semi-trailer) but also on the tractor and the influences of both on each other, in particular the articulation angle of both units, are recorded, displayed and possibly counteracted, e.g.
wenn Ladegut sich verlagert hat, wenn der Bremsweg knapp wird, wenn das Brems- oder Antriebsverhalten des Fahrzeugs etwa durch Aus¬ fall von Komponenten oder Überforderung dies nötig macht oder allgemein Gefahr des Ausbrechens aus der Spur, Schlingern, Kippens, Schleuderns, Rutschens, Knickens, Blockierens o.a. Gefahr, besteht. Diese Vorteile der Erfindung sind einzeln und zu mehreren erreichbar. Besonders vorteilhaft ist zur Erhöhung der Sicherheit die vorgeschlagene Kombination mit einem Abstandswarnsystem (AWS). Gleiches gilt auch für die hier vorgeschlagene Kombination mit einem Antiblockiersyste (ABS) und einem Antischlupfregier (ASR).if the load has shifted, if the braking distance is short, if the braking or drive behavior of the vehicle, for example due to component failure or excessive demands, makes it necessary, or there is a general risk of breaking out of the lane, lurching, tipping, skidding, sliding, or kinking , Blocking or the like exists. These advantages of the invention can be achieved individually and in groups. To increase safety, the proposed combination with a distance warning system (AWS) is particularly advantageous. The same applies to the combination proposed here with an anti-lock braking system (ABS) and an anti-slip regulator (ASR).
Die Einrichtung kann auch elektronische Mittel zum automatischen Zu- und Abschalten von Antriebselementen enthalten (EAS), wie an sich bekannt (z.B. DE 3505455, A 1), für elektropneumatische Schaltung (EPS) und für automatische Kupplungsbetätigung (AKB).The device can also contain electronic means for automatically switching drive elements on and off (EAS), as is known per se (e.g. DE 3505455, A1), for electropneumatic switching (EPS) and for automatic clutch actuation (AKB).
Auch die Federung oder Dämpfung kann mit an sich bekannten Mitteln, wie Aktuatoren (siehe z.B. ATZ 89 (1987) 9, S. 471 ff.) geregelt werden, so daß Fahrzeugbewegungen (Tank-) von den vom aktiven Sensor des Abstands- warnsystems erfaßten Fahrbahnunebenheiten abgekoppelt und ausgebügelt werden können.The suspension or damping can also be regulated by means known per se, such as actuators (see, for example, ATZ 89 (1987) 9, p. 471 ff.), So that vehicle movements (tank) are detected by the active sensor of the distance warning system Uneven road surfaces can be uncoupled and ironed out.
Einige Ausführungsformen der Erfindung sind in den beigefügten Zeichnun¬ gen rein schematisch dargestellt und in der nachfolgenden Beschreibung erläutert. Es zeigen:Some embodiments of the invention are shown purely schematically in the accompanying drawings and are explained in the following description. Show it:
Fig. la einen Querschnitt durch einen Tank des Fahrzeugs;Figure la shows a cross section through a tank of the vehicle.
Fig. 1b einen anderen Tank;1b another tank;
Fig. 2 ein Blockschaltbild des Systems.Fig. 2 is a block diagram of the system.
Die Erfindung benützt entsprechend Fig. la und Fig. 1b entweder inner¬ halb des Tankbehälters 11 z.B. kapazitive Aufnehmer 13 oder außerhalb des Tankbehälters z.B. Sonaraufneh er 17 und registriert damit sowohl den Flüssig eitsspiegel 14 als auch das dynamische Verhalten der Flüs¬ sigkeit beim Anfahren, Kurvenfahren oder sonstigen Fahrmanövern. Die Kräfte, die durch den Flüssigkeitsbehälter auf das Fahrwerk 16 über¬ tragen werden, können z.B. durch Druckaufnehmer 18 oder dem Druck den Kissen für pneumatische Federung 15 gemessen werden.According to FIGS. 1 a and 1b, the invention uses either inside the tank container 11, for example capacitive transducers 13 or outside the tank container, for example sonar receiver 17 and thus registers both the liquid level 14 and the dynamic behavior of the liquid when starting up, Cornering or other driving maneuvers. The forces that are transmitted through the liquid container to the chassis 16 can be measured, for example, by pressure transducers 18 or the pressure of the cushion for pneumatic suspension 15.
Entsprechend Fig. 2 werden einem Steuerungsprozessor 206 die Signale aus einem oder mehreren Sensoren folgender Art zugeführt:According to FIG. 2, the signals from one or more sensors of the following type are fed to a control processor 206:
Pegelsensoren 202 und 203,Level sensors 202 and 203,
Drucksensoren 204 und 205,Pressure sensors 204 and 205,
Winkel zwischen Zugfahrzeug (215) und Hänger 201,Angle between towing vehicle (215) and trailer 201,
Kraft an der Anhängervorrichtung 201.Force on the trailer device 201.
Dem Prozessor gehen außerdem Informationen über die Geschwindigke t und dem Lenkwinkel zu. Aus den Informationen lernt der Steuerprozessor 206 die Einschätzung des Schlingerverhaltens bereits aus dem Anfahren des Tankfahrzeuges oder Tanklastzuges und setzt diese in eine Vorgabeinfor¬ mation 214 für den Fahrer und/oder in einem Eingriff in die Federung 210 in die Motordrehzahl 211 und in die Bremsen 212 selektiv oder parallel um.The processor also receives information about the speed and the steering angle. From the information, the control processor 206 already learns the estimation of the roll behavior from the start of the tank vehicle or tanker truck and sets this in a specification 214 for the driver and / or in an intervention in the suspension 210 in the engine speed 211 and in the brakes 212 selectively or in parallel.
Durch Einführung einer Information über ein Abstandswarnsystem 213,-aus. dem der Straßenverlauf und der Abstand vom Straßenrand 214 ausgewertet wird sowie dem Lenkwinkel 208 können alle Eingriffe zum Vermeiden von gefährlichen Schlingerbewegungen sowohl in die Zugmaschine als auch in die Teile des Hängers oder Aufliegers vorab erfolgen oder vorbereitet werden.By introducing information about a distance warning system 213, -aus. By evaluating the course of the road and the distance from the roadside 214 as well as the steering angle 208, all interventions to avoid dangerous lurching movements both in the tractor and in the parts of the trailer or semi-trailer can be carried out or prepared in advance.
Bei der Fig. 2 sind alle Elemente, die die Zugmaschine zusätzlich auf¬ weist, mit gestrichelten Linien 213 umgeben.In FIG. 2, all elements which the tractor additionally has are surrounded by dashed lines 213.
Der notwendige Algorithmus für den Steuerprozessor 206 kann aus Ergeb¬ nissen von Fahrversuchen abgeleitet werden oder was vorzuziehen ist, durch Installation einer lernfähigen Basisprogrammstruktur. Das System enthält in vorliegender Beschreibung die meisten möglichen Komponenten eines Antischlinger-Systems. Zur wesentlichen Verbesserung und Erhöhung der Sicherheit kann aber bereits ein Kriterium, z.B. die dynamische Änderung des Winkels zwischen Zugmaschine und Anhänger oder Auflieger, völlig ausreichen. Die Erfindung ist nicht auf die angegebe¬ nen Beispiele beschränkt, sondern gestattet vielfältige Abwandlungen. The necessary algorithm for the control processor 206 can be derived from the results of driving tests or, which is preferable, by installing a basic program structure capable of learning. In the present description, the system contains most of the possible components of an anti-loop system. However, one criterion, for example the dynamic change in the angle between the tractor and trailer or semitrailer, can be sufficient to substantially improve and increase safety. The invention is not restricted to the examples given, but rather permits a wide range of modifications.

Claims

Patentansprüche Claims
1. Sicherheitseinrichtung für mehrachsige Fahrzeuge zur Stabilitäts¬ sicherung gefahrgeneigter Ladung (Gefahrgut), insbesondere von Tankfahr¬ zeugen, wobei eine Zugmaschine einen Auflieger oder Hänger schleppt, dadurch gekennzeichnet, daß sie einen Prozessor enthält, dem Normbe¬ dingungen vom dynamischen Verhalten der Last und der beiden Einheiten des Fahrzeuges als Basisinformation zugeführt werden, sowie Meßwerte von dem Gut zugeordneten Sensoren in Kombination mit einem Abstandssensor und wenigstens einem weiteren Sensor zur Erfassung von Einflüssen während der Fahrt:1. Safety device for multiaxial vehicles for securing stability-prone cargo (dangerous goods), in particular of tank vehicles, with a tractor hauling a semi-trailer or trailer, characterized in that it contains a processor, the standard conditions of the dynamic behavior of the load and of the two units of the vehicle are supplied as basic information, as well as measured values from the sensors assigned to the goods in combination with a distance sensor and at least one further sensor for detecting influences during the journey:
a) auf die Zugeinheit, b) auf die gezogene Einheit und c) auf das Verhalten von a) und b) relativ zueinander und daß der Pro¬ zessor beide Informationen (Basisinformation und Meßsignale) verar¬ beitet, vergleicht und sofern die vergleichende Auswertung außerhalb gesetzter Schwellen liegt, Warnsignal(e) oder Steuerimpuls(e) zur Fahrzeug-Stabilisierung abgibt.a) on the train unit, b) on the towed unit and c) on the behavior of a) and b) relative to each other and that the processor processes and compares both information (basic information and measurement signals) and if the comparative evaluation is outside set threshold is, gives warning signal (s) or control pulse (s) for vehicle stabilization.
2. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß sie enthält:2. Device according to claim 1, characterized in that it contains:
Fühler (202, 203) zum Erfassen von Lageänderung des Gutes durch Kraftsensoren (18) an verschiedenen Punkten, und von Auflieger oder der Ladefläche der gezogenen Einheit, und wenigstens einen Sensor, zur Erfassung des Abstandes (213) zu beweglichen und/oder unbeweg¬ lichen Objekten, zur Erfassung des Antriebsverhaltens, Beschleunigungs- und/oder Bremsverhaltens (207, 211, 212) an den Rädern der Zugeinheit, zur Erfassung des Lenkeinschlages der Vorder- oder Zugräder (215) (Sensor am Lenkstockhebel) zur Erfassung des Winkels (201), den die gezogene Einheit mit der Zugeinheit bildet und/oder der an deren Kupplung angreifender Zug¬ kraft und einen Mikroprozessor (206), der adaptiv bei Unter- oder überschrei¬ ten bestimmter Ansprech-Schwellwerte aus der SignalVerarbeitung und -auswertung Warnsignal(e) oder Steuerimpuls(e) zur Stabilisierung des Fahrzeugs abgibt. Sensor (202, 203) for detecting the change in position of the goods by force sensors (18) at various points, and of the trailer or the loading area of the towed unit, and at least one sensor for detecting the distance (213) to movable and / or immovable objects, for recording the drive behavior, acceleration and / or braking behavior (207, 211, 212) on the wheels of the train unit, for registering the steering angle of the front or train wheels (215) (sensor on the steering column lever) for detecting the angle (201) which the towed unit forms with the pulling unit and / or the tractive force acting on its coupling and a microprocessor (206) which is adaptive when certain response threshold values from the signal processing are undercut or exceeded and evaluation gives warning signal (s) or control pulse (s) to stabilize the vehicle.
PCT/EP1988/001047 1987-12-10 1988-11-18 Safety device for multi-axle vehicles WO1989005248A1 (en)

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FR2672561A1 (en) * 1991-02-08 1992-08-14 Renault Vehicules Ind Method and device which are intended to prevent contact between tractor and semitrailer
FR2689463A1 (en) * 1992-04-06 1993-10-08 Varet Pierre System to avoid rolling over of heavy vehicles - uses potentiometers to measure loading on suspension and on-board computer to compute safe speed and activate safety devices.
FR2720156A1 (en) * 1994-05-18 1995-11-24 Delphi France Automotive Sys Warning circuit for a level control system.
EP0684150A1 (en) 1994-05-24 1995-11-29 Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno System for determining the stability of a vehicle
NL1011873C2 (en) * 1999-04-23 2000-10-24 Tno Tilt warning system for vehicles.
US6179304B1 (en) * 1997-12-02 2001-01-30 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Axle pivot control method and apparatus for industrial vehicle
WO2010053411A1 (en) * 2008-11-10 2010-05-14 Volvo Lastvagnar Ab Method and device for preventing a surging of fluids in a tank of a tank truck
ITCT20090010A1 (en) * 2009-08-05 2011-02-06 Rosa Guido La ANTI-SUSPENSION SYSTEM FOR COMMERCIAL VEHICLES FOR LIQUID TRANSPORT
WO2012034608A3 (en) * 2010-09-17 2012-08-23 Wabco Gmbh Method, system and control device for controlling a compressed-air-controlled brake system

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2672561A1 (en) * 1991-02-08 1992-08-14 Renault Vehicules Ind Method and device which are intended to prevent contact between tractor and semitrailer
FR2689463A1 (en) * 1992-04-06 1993-10-08 Varet Pierre System to avoid rolling over of heavy vehicles - uses potentiometers to measure loading on suspension and on-board computer to compute safe speed and activate safety devices.
FR2720156A1 (en) * 1994-05-18 1995-11-24 Delphi France Automotive Sys Warning circuit for a level control system.
EP0684150A1 (en) 1994-05-24 1995-11-29 Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno System for determining the stability of a vehicle
NL9400843A (en) * 1994-05-24 1996-01-02 Tno System for determining the stability of a vehicle.
US6179304B1 (en) * 1997-12-02 2001-01-30 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Axle pivot control method and apparatus for industrial vehicle
NL1011873C2 (en) * 1999-04-23 2000-10-24 Tno Tilt warning system for vehicles.
WO2003021190A1 (en) * 1999-04-23 2003-03-13 Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno Tilt warning system for vehicles
WO2010053411A1 (en) * 2008-11-10 2010-05-14 Volvo Lastvagnar Ab Method and device for preventing a surging of fluids in a tank of a tank truck
CN102209659B (en) * 2008-11-10 2014-07-30 沃尔沃拉斯特瓦格纳公司 Method and device for preventing a surging of fluids in a tank of a tank truck
US9174624B2 (en) 2008-11-10 2015-11-03 Volvo Lastvagnar Ab Method and device for preventing a surging of fluids in a tank of a tank truck
ITCT20090010A1 (en) * 2009-08-05 2011-02-06 Rosa Guido La ANTI-SUSPENSION SYSTEM FOR COMMERCIAL VEHICLES FOR LIQUID TRANSPORT
WO2012034608A3 (en) * 2010-09-17 2012-08-23 Wabco Gmbh Method, system and control device for controlling a compressed-air-controlled brake system
US8655568B2 (en) 2010-09-17 2014-02-18 Wabco Gmbh Method, system and control device for controlling a compressed air controlled brake system

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