WO2003021190A1 - Tilt warning system for vehicles - Google Patents

Tilt warning system for vehicles Download PDF

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Publication number
WO2003021190A1
WO2003021190A1 PCT/NL2000/000264 NL0000264W WO03021190A1 WO 2003021190 A1 WO2003021190 A1 WO 2003021190A1 NL 0000264 W NL0000264 W NL 0000264W WO 03021190 A1 WO03021190 A1 WO 03021190A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
information
route
tilt
state information
Prior art date
Application number
PCT/NL2000/000264
Other languages
French (fr)
Dutch (nl)
Inventor
Ronald Boudewijn Jozef Hoogvelt
Original Assignee
Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno
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 Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno filed Critical Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno
Publication of WO2003021190A1 publication Critical patent/WO2003021190A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17554—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention
    • 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
    • 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
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/241—Lateral vehicle inclination
    • 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
    • B60G2300/02—Trucks; Load vehicles
    • B60G2300/026—Heavy duty trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
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    • B60G2300/04—Trailers
    • 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
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • 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
    • B60G2400/30—Propulsion unit conditions
    • B60G2400/38—Speed of engine rotation
    • 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
    • B60G2400/30—Propulsion unit conditions
    • B60G2400/39—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/40—Steering conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60G2400/60—Load
    • B60G2400/61—Load distribution
    • 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
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/16—GPS track data
    • 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
    • B60G2600/042—Monitoring 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
    • B60G2600/04—Means for informing, instructing or displaying
    • B60G2600/044—Alarm 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
    • B60G2800/9122—ARS - Anti-Roll System 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
    • B60G2800/97—Engine Management System [EMS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • B60T2210/36—Global Positioning System [GPS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/03—Overturn, rollover
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/18—Roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention

Definitions

  • the route determining means 6 are provided with input means 8, by means of which a driver can input a route to be driven. It is also possible that, instead of the route to be driven, the driver inputs a final destination of the route, subsequent to which the route determining means 6 determine the route to be followed by means of the final destination and by means of the position of the vehicle as determined through the location determining means 2 and inform the driver thereof via a display of the route determining means 6.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

The tilt warning system (1) is arranged to generate tilt information during the driving of a route to be followed on a road by a vehicle driven by a person. This tilt information relates to the possible tilting of the vehicle on a port of the route still to be driven. The system is provided with a location determining device (2) for determining the position of the vehicle, route determining means (6) for determining, by means of the position of the vehicle(4), the route information about the part of the route still to be driven, at least one state estimator (16) for generating the vehicle state information. Furthermore, the vehicle comprises a central processing unit (14) which processes the vehicle state information (18) and the route information in combination to gain the above tilt information.

Description

Title: Tilt warning system for vehicles.
A number of years ago a tilt warning system for tank trucks was developed. This system measures the load state of the tank truck and calculates by means thereof the position of the center of gravity. The system also measures the speed and the transverse acceleration of the vehicle. By means of these data the system calculates to what extent the tilt stability limit of the vehicle is approached. After the drive the behavior of the driver can be analyzed together with him. The system in question is, inter alia, described in European patent application 0 684 150.
A drawback of the known system is that it is practically impossible to actually warn during the drive against an approaching tilt danger. At the moment it is indicated that a tank truck threatens to tilt, the vehicle is almost no longer to be corrected to obtain a stable situation. Any reaction of the driver is too late. Moreover, the road often does not offer sufficient space for carrying out such a reaction. It is an object of the invention to provide a solution for the problem set.
The tilt warning system according to the invention is arranged to generate, during the drive of a vehicle driven by a person, tilt information relating to the possible tilting of the vehicle on a part of the route still to be driven, which system is arranged to be mounted on the vehicle, and which system is provided with a location determining device for determining the position of the vehicle, route determining means for determining, by means of the position of the vehicle, route information about the part of the route still to be driven, at least one state estimator for generating vehicle state information about the dynamic state of the vehicle and a central processing unit which processes the vehicle state information and the route information in combination to gain the above tilt information.
Because in the system according to the invention the route still to be followed by the vehicle is anticipated, the above tilt information can be generated in good time. In particular, it holds that the location determining device and the route determining means form part of a route navigation system. In vehicles these known per se route navigation systems are used increasingly often. With such systems the driver gains information about which route he must drive to arrive at his destination. In these systems information about the road network is stored.
According to the invention such a route navigation system can be coupled to the above central processing unit. By coupling information about the position of the vehicle and about the infrastructure (distance to the coming bend, bend radii, if required the transverse slope of the road) from the route navigation system and the information about the state of the vehicle from the state estimator (speed, acceleration, load, center of gravity etc. of the vehicle) there is obtained a tilt warning system with which at an early stage the driver can be given information about an approaching tilt danger and about what the driver must do to avoid this unsafe situation. The tilt warning system according to the invention can further be coupled to a speed limiter, motor management system and/or brake system of the vehicle so that, if required, immediate action can be taken with respect to the driving speed to guarantee a safe situation of the vehicle.
The invention will now be explained in more detail with reference to the drawing, in which:
Fig. 1 shows a possible embodiment of a tilt monitor system according to the invention.
In Fig. 1 reference numeral 1 denotes a tilt warning system according to the invention. The system is arranged to be mounted on a vehicle. The system is provided with a known per se location determining device 2. The location determining device 2 may be of the type using the known per se GPS system. The location determining device 2 generates on line 4 information about the position of the location determining device 2 on the surface of the earth. Because, in use, the tilt warning system is mounted on a vehicle, the position of the vehicle is thus known. The tilt warning system 1 is further provided with route determining means 6, to which the information about the position of the vehicle is supplied via line 4. The route determining means 6 are provided with information about a road network. Furthermore, the route determining means 6 are provided with input means 8, by means of which a driver can input a route to be driven. It is also possible that, instead of the route to be driven, the driver inputs a final destination of the route, subsequent to which the route determining means 6 determine the route to be followed by means of the final destination and by means of the position of the vehicle as determined through the location determining means 2 and inform the driver thereof via a display of the route determining means 6.
In particular, it holds that the location determining device 2 and the route determining means 6 form part of a known per se route navigation system 10, as already used in vehicles. The route determining means 6 generate on line 12 route information which is supplied to a central processing unit 14 of the tilt warning system. The route information comprises information about the infrastructure of a part of the route still to be driven. An example thereof is the radius of at least one bend (bend radius or bend radii) of the part of the route still to be driven. The route information may also comprise information about the distance still to be driven until the bend and/or on transverse slopes, if any, of the road of the route still to be followed.
The tilt warning system 1 is further provided with a state estimator 16 for generating vehicle state information about the dynamic state of the vehicle. The state estimator 16 can generate, for instance, information about the speed of the vehicle. Moreover, the state estimator 16 can generate information about the position of the center of gravity of the vehicle, the weight of the load of the vehicle, the total weight of the vehicle etc. To this end, the state estimator 16 can be provided in a known per se manner with sensors for measuring the pressure on the wheels of the vehicle and measuring the speed of the vehicle. Moreover, the state estimator 16 can generate by means of sensors information about the (size and/or direction of the) acceleration of the vehicle.
The above vehicle state information is supplied via line 18 to the central processing unit 14.
In a special embodiment of the state estimator of the tilt warning system the state parameters of the vehicle which are a function of the load of the vehicle during the drive are estimated. To estimate the parameters, the state estimator makes use of a mathematical model of the dynamics of the vehicle. In a proper approach a model of the dynamics of the forces acting perpendicularly on the side of the vehicle is often sufficient. If required, in a further simplification, a static model is sufficient. In such a static model dynamic forces, such as the forces of the suspension and the shock absorbers, are left out of consideration. The state parameters to be estimated during the drive are, for instance, the mass of the vehicle, the mass of the load and the center of gravity of the vehicle as well as the speed and acceleration of the vehicle. Further data that can be estimated during the drive (but which, for instance, can also be inputted by the driver) are: the flexibility of the chassis of the vehicle and mass properties of the load (such as: suspended goods, liquids or load of solid substances). The mass of the vehicle and load and the horizontal coordinates of the center of gravity of the vehicle can be determined by means of measurements of the air pressure of the suspension of the vehicle (and, if desired, by the use of sensors in a fifth wheel of the vehicle). The vertical coordinates of the center of gravity of the vehicle can be estimated during the drive.
The central processing unit 14 processes the vehicle state information and the route information in combination to gain tilt information from the vehicle. This tilt information relates to the possible tilting of the vehicle on a part of the route still to be driven. This tilt information is generated during the driving of the route to be followed on the road by the vehicle driven by a person. The tilt information may comprise, for instance, a safe speed belonging to a part (for instance a coming bend) of the route still to be followed. This safe speed is then selected such that the vehicle will not tilt on this part. This safe speed may, for instance, be displayed via a line 20 on a monitor 22 in a cabin of the vehicle. It is also possible that the above tilt information comprises an alarm signal to draw the attention of the driver when his speed must be lessened for, for instance, the coming bend. The alarm signal can again be supplied via line 20 to, for instance, an audio and/or visual alarm 24, which is also arranged in the cabin of the driver. According to a special variant of the invention the tilt information is supplied via line 20 to a speed limiter, motor management system and/or brake system 26 of the vehicle. It is thus possible that the central processing unit 14 causes the speed of the vehicle to be automatically lessened in good time when the vehicle threatens to tilt on a specific part of the part of the route still to be followed. The determination by means of the route information and the vehicle state information of a maximum speed at which the vehicle can drive on a specific part of a road without tilting can be carried out in a known per se manner and by means of known per se models.
According to a special embodiment of the system according to the invention the system is further provided with a receiver 28 for receiving road state information about the state of the road of the route to be followed. This road state information received is supplied via line 30 to the central processing unit and processed in combination with the route information and the vehicle state information to gain the above tilt information. The road state information may, for instance, relate to the amount of snow, rainfall and/or glaze on the road. The road state information is transmitted by a central monitor system. The central monitor system and the above receiver are known per se and, inter alia, used in the Drive II project Roses.
As stated, the location determining device 2 and the route determining means 6 are formed by a known per se route navigation system. The state estimator may also consist of a known per se device. The central processing unit 14 may consist of a known per se computer which is loaded with software to determine the above safe speed in a known per se manner. Such variants are each deemed to fall within the scope of the invention.

Claims

Claims
1. A tilt warning system for generating, during the drive of a vehicle driven by a person, tilt information relating to the possible tilting of the vehicle on a part of the route still to be driven, which system is arranged to be mounted on the vehicle, and which system is provided with a location determining device for determining the position of the vehicle, route determining means for determining, by means of the position of the vehicle, route information about the part of the route still to be driven, at least one state estimator for generating vehicle state information about the dynamic state of the vehicle and a central processing unit which processes the vehicle state information and the route information in combination to gain the above tilt information.
2. A tilt warning system according to claim 1, characterized in that the location determining device and the route determining means form part of a route navigation system.
3. A tilt warning system according to claim 1 or 2, characterized in that the route information comprises information about the infrastructure of the part of the route still to be driven.
4. A tilt warning system according to claim 3, characterized in that the route information comprises information about the radius of at least one bend of the part of the route still to be driven.
5. A tilt warning system according to claim 4, characterized in that the route information further comprises information about the distance still to be driven until the bend and/or a transverse slope, if any, of the road.
6. A tilt warning system according to any of the preceding claims, characterized in that the system is further provided with a receiver for receiving road state information about the state of the road of the route to be followed, which road state information received is supplied to the central processing unit and processed in combination with the route information and vehicle state information to gain the above tilt information.
7. A tilt warning system according to any of the preceding claims, characterized in that the vehicle state information comprises information about the speed, acceleration, load and/or center of gravity of the vehicle.
8. A tilt warning system according to any of the preceding claims 1-6, characterized in that the vehicle state information comprises information about the speed, acceleration, load and center of gravity of the vehicle.
9. A tilt warning system according to any of the preceding claims 1-6, characterized in that the vehicle state information comprises information about the speed, load and center of gravity of the vehicle and the flexibility of the chassis of the vehicle.
10. A tilt warning system according to any of the preceding claims 1-6, characterized in that the vehicle state information comprises information about the speed and the mass of the vehicle.
11. A tilt warning system according to claim 10, characterized in that the vehicle state information comprises information about the load of the vehicle.
12. A tilt warning system according to claim 11, characterized in that the vehicle state information comprises information about the mass of the load.
13. A tilt warning system according to claim 11 or 12, characterized in that the vehicle state information comprises information about the center of gravity of the load.
14. A tilt warning system according to any of claims 8-13, characterized in that the vehicle state information comprises information about the acceleration of the vehicle.
15. A tilt warning system according to any of claims 10-14, characterized in that the vehicle state information comprises information about the center of gravity of the vehicle.
16. A tilt warning system according to any of claims 10-15, characterized in that the vehicle state information comprises information about the flexibility of the chassis.
17. A tilt warning system according to any of the preceding claims, characterized in that the tilt information at least comprises a safe speed belonging to a part of the route still to be followed, at which the vehicle will not tilt on this part.
18. A tilt warning system according to any of the preceding claims, characterized in that the system generates a warning signal for the driver when the vehicle, without adaptation of the speed, threatens to tilt on a specific part of the route still to be followed.
19. A tilt warning system according to any of the preceding claims, characterized in that, in use, the tilt information is supplied to a motor management system, speed limiter and/or a brake system of the vehicle to automatically lessen the speed of the vehicle when it threatens to tilt on a specific part of the route still to be followed.
20. A method for generating, during the drive of a vehicle driven by a person along a route to be followed on a road, tilt information relating to the possible tilting of the vehicle on a part of the route still to be driven, wherein the position of the vehicle is determined and by means of the determined position of the vehicle route information about the part of the route still to be driven is determined, information about the dynamic state of the vehicle is generated through vehicle state information, and wherein by means of a computer the vehicle state information and the route information in combination is processed to gain the above tilt information.
21. A method according to claim 20, characterized in that a route navigation system is used to gain the above route information.
22. A method according to claim 20 or 21, characterized in that the route information comprises information about the infrastructure of the part of the route still to be driven.
23. A method according to claim 20, 21 or 22, characterized in that the route information comprises information about the radius of at least one bend of the part of the route still to be driven.
24. A method according to claim 23, characterized in that the route information further comprises information about the distance still to be driven until the bend and/or a transversal slope, if any, of the road.
25. A method according to any of the preceding claims 20-24, characterized in that by means of a receiver road state information about the state of the road of the route to be followed is received, which road state information is processed by means of the computer in combination with the route information and vehicle state information to gain the above tilt information.
26. A method according to any of the preceding claims 20-25, characterized in that the vehicle state information comprises information about the speed, acceleration, load and/or center of gravity of the vehicle.
27. A method according to any of the preceding claims 20-25, characterized in that the vehicle state information comprises information about the speed and the mass of the vehicle.
28. A method according to claim 27, characterized in that the vehicle state information comprises information about the load of the vehicle.
29. A method according to claim 28, characterized in that the vehicle state information comprises information about the mass of the load.
30. A method according to claim 28 or 29, characterized in that the vehicle state information comprises information about the center of gravity of the load.
31. A method according to any of claims 25-30, characterized in that the vehicle state information comprises information about the acceleration of the vehicle.
32. A method according to any of claims 25-31, characterized in that the vehicle state information comprises information about the center of gravity of the vehicle.
33. A method according to any of claims 25-32, characterized in that the vehicle state information comprises information about the flexibility of the chassis.
34. A method according to any of the preceding claims 20-33, characterized in that the tilt information at least comprises a safe speed belonging to a part of the route still to be followed, at which the vehicle will not tilt on this part.
35. A method according to any of the preceding claims 20-34, characterized in that a warning signal for the driver is generated when the vehicle, without adaptation of the speed, threatens to tilt on a specific part of the route still to be followed.
36. A tilt warning system according to any of the preceding claims 20-35, characterized in that the tilt information is supplied to a motor management system, speed limiter and/or a brake system of the vehicle to automatically lessen the speed of the vehicle when it threatens to tilt on a specific part of the route still to be followed.
PCT/NL2000/000264 1999-04-23 2000-04-25 Tilt warning system for vehicles WO2003021190A1 (en)

Applications Claiming Priority (2)

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NL1011873A NL1011873C2 (en) 1999-04-23 1999-04-23 Tilt warning system for vehicles.

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CN113911582A (en) * 2021-10-11 2022-01-11 深圳市保国特卫安保技术服务有限公司 Storage tank car with storage tank monitoring system
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EP1648736A4 (en) * 2003-06-04 2010-06-02 Daimler Ag Curve rollover warning system for trucks
EP1648736A1 (en) * 2003-06-04 2006-04-26 DaimlerChrysler AG Curve rollover warning system for trucks
WO2006045826A1 (en) * 2004-10-29 2006-05-04 Continental Teves Ag & Co. Ohg Process for enhancing the safety and/or comfort of a motor vehicle
WO2009002177A1 (en) * 2007-06-27 2008-12-31 Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno Rollover propensity signaling system and rollover propensity signaling method
EP2017150A1 (en) * 2007-06-27 2009-01-21 Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO Rollover propensity signalling system and rollover propensity signalling method
DE102008036131B4 (en) 2007-08-29 2023-08-24 Continental Autonomous Mobility Germany GmbH Method and device for detecting the traffic situation in a vehicle environment
DE102008036131A1 (en) 2007-08-29 2009-03-05 Continental Teves Ag & Co. Ohg Method and device for detecting the traffic situation in a vehicle environment
US9045015B2 (en) 2013-03-07 2015-06-02 Ford Global Technologies, Llc Laterally tiltable, multitrack vehicle
US9145168B2 (en) 2013-03-07 2015-09-29 Ford Global Technologies, Llc Laterally tiltable, multitrack vehicle
US9248857B2 (en) 2013-03-07 2016-02-02 Ford Global Technologies, Llc Laterally tiltable, multitrack vehicle
US9283989B2 (en) 2013-03-07 2016-03-15 Ford Global Technologies, Llc Laterally tiltable, multitrack vehicle
US9090281B2 (en) 2013-03-07 2015-07-28 Ford Global Technologies, Llc Laterally tiltable, multitrack vehicle
US9845129B2 (en) 2014-08-29 2017-12-19 Ford Global Technologies, Llc Stabilizing arrangement for a tilting running gear of a vehicle and tilting running gear
US9821620B2 (en) 2014-09-01 2017-11-21 Ford Technologies Corporation Method for operating a tilting running gear and an active tilting running gear for a non-rail-borne vehicle
US10076939B2 (en) 2014-11-26 2018-09-18 Ford Global Technologies, Llc Suspension systems for laterally tiltable multitrack vehicles
US9925843B2 (en) 2015-02-24 2018-03-27 Ford Global Technologies, Llc Rear suspension systems for laterally tiltable multitrack vehicles
US10023019B2 (en) 2015-02-24 2018-07-17 Ford Global Technologies, Llc Rear suspension systems with rotary devices for laterally tiltable multitrack vehicles
US9970767B2 (en) 2015-09-22 2018-05-15 Caterpillar Inc. Stabilization based path planning
FR3041918A1 (en) * 2015-10-02 2017-04-07 Air Liquide Services METHOD AND DEVICE FOR MONITORING THE DRIVING OF A VEHICLE, METHOD OF PREVENTING THE REVERSE OF SAID VEHICLE
WO2017196226A1 (en) * 2016-05-12 2017-11-16 Scania Cv Ab System and method for monitoring a cargo space of a vehicle
SE2150494A1 (en) * 2021-04-21 2022-05-24 Husqvarna Ab Yard maintenance vehicle with advanced tilt monitoring capabilities
SE544432C2 (en) * 2021-04-21 2022-05-24 Husqvarna Ab Yard maintenance vehicle with advanced tilt monitoring capabilities
CN113911582A (en) * 2021-10-11 2022-01-11 深圳市保国特卫安保技术服务有限公司 Storage tank car with storage tank monitoring system
CN113911582B (en) * 2021-10-11 2023-02-28 深圳市保国特卫安保技术服务有限公司 Storage tank car with storage tank monitoring system

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