WO2013120399A1

WO2013120399A1 - Curving vehicle rollover alert system and method

Info

Publication number: WO2013120399A1
Application number: PCT/CN2013/070045
Authority: WO
Inventors: 陈晓冰; 叶伟宏; 周方明; 徐一凡; 黄雄栋; 周伟涛
Original assignee: 厦门金龙机动车检测有限公司
Priority date: 2012-02-14
Filing date: 2013-01-05
Publication date: 2013-08-22
Also published as: CN103247185B; CN103247185A

Abstract

A curving vehicle rollover alert system and method, which are capable of reminding a driver to decelerate, and of achieving the effects of preventing a vehicle from rolling over and safeguarding driver and passenger safety. The alert system comprises a human-computer interaction module (26), a computation processing module (21), a vehicle information data storage module (22), a vehicle operation state collector module (23), a GPS positioning module (24), a road information storage module (12), and an alarm decision module (25). The human-computer interaction module (26) and the alarm decision module are connected. The vehicle information data storage module (22) stores entire-vehicle parameter data. The vehicle operation state collector module (23) collects vehicle operation data. The GPS positioning module (24) acquires a current position signal of the vehicle. The road information storage module (12) stores road curve data. The computation processing module (21) computes a maximum speed limit corresponding to a curve. The alarm decision module (25) compares the current speed with the maximum speed limit when the vehicle is in a curved road section, and decides, on the basis of the comparison result, whether or not to notify the human-computer interaction module (26) to issue an alarm.

Description

Title: A vehicle into the corner rollover prevention system and method

The present invention relates to the field of in-vehicle reminder systems, and more particularly to a vehicle incursion rollover prevention system and method. Background technique

In recent years, with the rapid improvement of road traffic conditions in China, the driving speed of automobiles has generally increased. Especially for passenger cars, because of their large weight and size, when driving at high speed on a curve, if the lateral acceleration or the body roll angle exceeds the rollover value of the car, a rollover accident is likely to occur.

Therefore, before the vehicle enters the corner, according to the road curve characteristic parameters and the vehicle side turn 阙 value to remind the driver to reduce the vehicle speed to a safe cornering speed, it will greatly reduce the possibility of the vehicle turning into the corner and ensure driving. The personal safety of the crew and the occupants.

In view of this, the inventors have intensively studied the defects of the existing vehicle that are prone to rollover accidents, and the present invention has been produced. Disclosure of invention

technical problem

It is an object of the present invention to provide a vehicle rollover prevention rollover reminding system to minimize rollover of the vehicle and to ensure the safety of the driver and the occupant.

Problem solution

In order to achieve the above object, the solution of the present invention is:

The utility model relates to a vehicle entering and bending anti-rollover reminding system, which comprises a human-computer interaction module, an arithmetic processing module and a vehicle information data storage module, a vehicle running state collecting module, a GPS positioning module and a road information storage module respectively connected to the arithmetic processing module. And an alarm decision module, the human-computer interaction module is connected to the alarm decision module; the vehicle information data storage module stores vehicle parameter data, and the vehicle operation state acquisition module collects vehicle operation data and transmits the data to the operation processing module, the GPS positioning module Obtaining a current position signal of the vehicle and transmitting the signal to the operation processing module; the road information memory stores the road curve data and is called by the operation processing module; the operation processing module is based on the vehicle parameter data, the vehicle operation data, and the road curve data. And calculate the limit speed of the corresponding curve; the alarm decision module is based on road camber data and GPS The current position signal of the bit module determines whether the vehicle is in the curve area, and if so, compares the current vehicle speed with the limit vehicle speed, and determines whether to notify the human-machine interaction module to alarm according to the comparison result.

Further, the human-computer interaction module further includes an input interface connected to the arithmetic processing module, the input interface being used for the driver to input the load condition of the current vehicle.

Further, the vehicle parameter data includes vehicle weight, vehicle center of gravity position, wheelbase, suspension type, roll stiffness, steering system parameters, and tire characteristics; the vehicle operating data includes vehicle speed, accelerator pedal opening, and brake pedal opening. Degree and clutch pedal state; the road curve data includes road type, road width, and curve characteristic parameters.

Further, the human-computer interaction module, the operation processing module, the vehicle information data storage module, the vehicle operation state acquisition module, the GPS positioning module, and the alarm decision module are all disposed on the vehicle terminal computer, and the road information storage module is set in the vehicle network information. The vehicle turning in and out rollover reminding system further comprises a wireless communication module disposed in the vehicle terminal computer and connected to the arithmetic processing module, and a network communication system disposed in the vehicle networking information center, the wireless communication module receiving the vehicle networking information center Road curve data issued by the network communication system.

A method for reminding a vehicle to turn against a rollover prevention method, comprising the following steps:

1. Collecting the current position signal of the vehicle in real time and comparing it with the pre-stored road curve data to determine whether the vehicle is in the curve area;

2. If it is in the curve area, calculate the limit vehicle speed based on the vehicle parameter data, vehicle operation data and road curve data; if not in the curve area, repeat step 1;

3. Compare the limit vehicle speed with the current vehicle speed in the vehicle running data, and determine whether the reminder information is generated based on the comparison result.

Further, in step 1, the road curve data corresponding to each curve is correspondingly provided with a curved rectangular area and a curved rectangular area, and the curved rectangular area and the curved rectangular area are respectively located in the curved road. The entrance and exit are both defined based on the latitude and longitude coordinates; when the latitude and longitude of the current position signal of the vehicle falls into the curved rectangular area, it indicates that the vehicle has entered the curve area; when the latitude and longitude of the current position signal of the vehicle falls into the curved rectangle The area indicates that the vehicle has left the corner area.

Further, the road curve data further includes a curved rectangular area corresponding to each curve and covering the entire current curve, and the curved rectangular area and the curved rectangular area are both located in the rectangular area of the curved line; When the latitude and longitude of the current position signal falls into the rectangular area of the curve, it indicates that it is in the curve area, and when the vehicle leaves the rectangular area of the curve, it indicates that it has left the curve area. Further, the vehicle running data includes a current vehicle speed, an accelerator pedal opening degree, and a brake pedal opening degree; in step 3, if the current vehicle speed u>the limit vehicle speed and the brake pedal opening degree is 0, the driver is reminded to decelerate; 1^ and the accelerator pedal opening degree > 0 and the brake pedal opening degree = 0, the driver is reminded to decelerate; if u _s uk * u _s and the brake pedal opening degree is > 0, there is no reminder; if uk*u _s , Then there is no reminder; k is the safety factor, 0. 8<k<1. 0.

Further, in step 2, the vehicle parameter data includes vehicle weight, vehicle center of gravity height, wheelbase, suspension weight, roll rate, and roll center height; the road curve data includes road type, road width, and bend Channel characteristic parameters.

Further, in step 2, the vehicle parameter data further includes a load condition of the current vehicle input through the input interface in the human-machine interaction module.

Advantageous effects of the invention

The invention relates to a vehicle incursion rollover prevention reminding system and method, which calculates the limit speed of a corresponding curve through vehicle parameter data, vehicle running data and road curve data, and when the vehicle enters a curve The current vehicle speed is compared with the limit vehicle speed, and an alarm is issued to the driver according to the comparison result, thereby reminding the driver to slow down, thereby achieving the effect of preventing the vehicle from rolling over and ensuring the safety of the driver and the occupant.

Brief description of the drawing

1 is a frame diagram of a vehicle networking information center in a preferred embodiment of a vehicle incursion rollover prevention system;

2 is a frame diagram of a vehicle terminal computer in a preferred embodiment of a vehicle incursion rollover prevention system according to the present invention;

3 is a flow chart of a preferred embodiment of a method for reminding a vehicle to bend and roll over; FIG. 4 is a schematic diagram of a method for reminding a vehicle to bend and prevent rollover in determining whether a vehicle is in a curve area A schematic of a preferred embodiment.

In the picture:

Anti-rollover reminder system 100, vehicle network information center 1, vehicle information database 11, road information storage module 12, network communication system 13, fleet operation dispatch management system 14, vehicle operation monitoring system 15, vehicle terminal computer 2, arithmetic processing module 21, vehicle information data storage module 22, vehicle operating state acquisition module 23, GPS positioning module 24, alarm decision module 25, human-computer interaction module 26, wireless Communication module 27, curved rectangular area A, curved rectangular area B, curved rectangular area C. BEST MODE FOR CARRYING OUT THE INVENTION

In order to further explain the technical solutions of the present invention, the present invention will be described in detail below by way of specific embodiments.

As shown in FIG. 1 and FIG. 2, the present invention relates to a preferred embodiment of a vehicle incursion rollover reminding system 100. The rollover prevention system 100 includes a car network information center 1 and an in-vehicle terminal computer 2, wherein: As shown in FIG. 1, the car network information center 1 has a vehicle information database 11, a road information storage module 12, a network communication system 13, a fleet operation dispatch management system 14, and a vehicle operation monitoring system 15.

The vehicle information database 11 stores basic information parameters of all operating vehicles of the fleet, including the parameters of the vehicle number, the vehicle type, and the main component assembly.

In the present embodiment, the road information storage module 12 is actually a map and a road database of the entire vehicle network information center 1, which includes road curve data of all inbound roads in the country, including road type, road width, and curve. Characteristic parameters. Of course, in the narrowest application, the road information storage module 12 may store only road curve data in the current road segment of the vehicle.

The network communication system 13 is configured to communicate with an external network to transmit road curve data in the road information storage module 12 and the road on which the vehicle currently travels to the vehicle terminal computer 2.

The fleet operation and dispatch management system 14 can perform unified scheduling and planning of the destination and driving route of the operating vehicle under the operation of the dispatching management personnel of the fleet, determine a reasonable driving route, and perform necessary countermeasures and scheduling for the sudden situation.

The vehicle operation monitoring system 15 monitors the running state of the vehicle in real time, including GPS positioning, vehicle speed, engine running status, etc., and can also monitor whether the vehicle is safely operated by the in-vehicle camera.

As shown in FIG. 2, the vehicle-mounted terminal computer 2 has an arithmetic processing module 21, a vehicle information data storage module 22, a vehicle running state collecting module 23, a GPS positioning module 24, an alarm decision module 25, a human-machine interaction module 26, and a wireless communication module. 27. The in-vehicle terminal computer 2 communicates with the network communication system 13 of the car network information center 1 via the wireless communication module 27, and transmits road curve data of the road on which the vehicle travels to the arithmetic processor.

The vehicle information data storage module 22, the vehicle operating state collection module 23, the GPS positioning module 24, the wireless communication module 27, and the alarm decision module 25 are all connected to the operation processing module 21, and the human-machine interaction module 26 is connected to the alarm decision module 25. The vehicle information data storage module 22 stores the number of vehicle parameters According to the vehicle parameter data, the vehicle weight, the vehicle center of gravity height, the wheelbase, the suspension weight, the roll rate and the roll center height.

The vehicle running state collecting module 23 collects vehicle running data and transmits the data to the arithmetic processing module 21, and the vehicle running data includes a vehicle speed, an accelerator pedal opening degree, a brake pedal opening degree, and a clutch pedal state, which can specifically communicate with the CAN bus. obtain.

The GPS positioning module 24 then acquires the current position signal of the vehicle and transmits it to the operation processing module 21, which can also obtain the weather condition of the current position of the vehicle, and the collection and analysis of the weather condition can be used to perform the following safety factors. Setting the calculation processing module 21 to calculate the limit vehicle speed of the corresponding curve based on the vehicle parameter data, the vehicle running data, and the road curve data; the alarm decision module 25 is based on the road camber data and the current position of the GPS positioning module 24 The signal is used to determine whether the vehicle is in the curve area, and if so, the current vehicle speed and the limit vehicle speed are compared, and it is determined whether to notify the human-machine interaction module 26 to alert according to the comparison result. Specifically, the human-computer interaction module 26 can include a video and audio system to function as a comprehensive alarm. In addition, the human-machine interaction module 26 further includes an input interface connected to the operation processing module 21, and the input interface is used for the driver to input the load condition of the current vehicle, so that the operation processing module 21 can more accurately grasp the vehicle. The weight of the vehicle and the center of gravity of the vehicle optimize the accuracy of the entire reminder system.

In order to make the present invention fully disclosed, the present invention also provides a method for reminding a vehicle to prevent rollover, wherein at least the following steps are included:

2. If it is in the curve area, calculate the limit vehicle speed based on the vehicle parameter data, the vehicle running data and the road curve data; if it is not in the curve area, repeat step 1; preferably, the vehicle parameter data further includes The load condition of the current vehicle input through the input interface in the human-machine interaction module 26;

As shown in FIG. 3 and FIG. 4, a preferred embodiment of the anti-rollover reminding method will be described in detail below in conjunction with the preferred embodiment of the anti-rollover reminding system 100.

After obtaining the vehicle dispatching schedule, the fleet dispatch manager issues a command to the vehicle driver. At the same time, the fleet operation dispatch management system 14 performs unified scheduling planning on the destination and driving route of the operating vehicle to determine a reasonable driving route. At this time, the car network information center 1 confirms that the car terminal computer 2 is started, The determined driving route is sent to the in-vehicle terminal computer 2 through the wireless communication network, and the road curve data in the road information storage module 12 may specifically be a road curvature radius, which may also include a road type, a road width, and a curved road. Parameters such as the steering characteristics are assigned to the vehicle terminal computer 2 together.

During the vehicle running operation, the vehicle terminal computer 2 first determines whether the vehicle operates according to the route configured by the vehicle network information center 1 through the GPS positioning module 24, and enters the bending region determination mode if it matches. If the vehicle is not traveling according to the established route, the in-vehicle terminal computer 2 will issue a request for route recalculation and road parameter configuration to the car network information center 1 and then transmit it to the in-vehicle terminal computer 2.

As shown in Fig. 4, preferably, the in-vehicle terminal computer 2 judges whether the vehicle is in a curve in the following manner:

The road curve data corresponding to each curve is correspondingly provided with a curved rectangular area A and a curved rectangular area B, and the curved rectangular area A and the curved rectangular area B are respectively located at the entrance of the curved line and The exits are all defined based on the latitude and longitude coordinates; when the latitude and longitude of the current position signal of the vehicle falls into the curved rectangular area A, it indicates that the vehicle enters the curve area; when the latitude and longitude of the current position signal of the vehicle falls into the curved rectangular area B The time indicates that the vehicle has left the corner area.

In addition, in order to prevent the vehicle from entering the curved rectangular area A, due to the failure of the GPS positioning module 24, etc., there is no risk of releasing the reminder because the inability to enter the curved rectangular area B; the road curve data also includes the curve a rectangular area C, the curved rectangular area C corresponding to each curve and covering the entire current curve, the curved rectangular area A and the curved rectangular area B are both located in the curved rectangular area C; when the vehicle is currently When the latitude and longitude of the position signal falls into the rectangular area C of the curve, it indicates that it is in the curve area, and when the vehicle leaves the rectangular area C of the curve, it indicates that it has left the curve area. Of course, it is not limited to the above, and the manner of the bending is not limited to the above. For example, it is also possible to directly collect and record the length of the curve and determine whether or not to bend by counting the length of the actual running curve.

If the vehicle is in a curve, the limit vehicle speed is calculated based on the vehicle parameter data, the vehicle running data, and the road curve data; specifically, the quasi-static rollover model is adopted, and the limit vehicle speed calculation process is as follows: m, x− = a , x;

y

Where m _s is the suspension mass (in kg); u _s is the ultimate speed (in km/h); R is the radius of curvature (unit m); a _y is the critical lateral acceleration when the rollover occurs (unit m/s ² ); G _s is the suspension weight (unit N); g is the gravitational acceleration; B is the wheelbase (unit m); h _g is the height of the center of gravity (in m); h _r is the height of the roll center (m); ^ is the roll rate (unit rad/g).

As a specific comparison and alarm mode, the vehicle running data includes a current vehicle speed, an accelerator pedal opening degree, and a brake pedal opening degree;

In step 3:

If u>u _s and the brake pedal opening is 0, the driver is reminded to decelerate;

If 11 1^ and the accelerator pedal opening degree is > 0 and the brake pedal opening degree is =0, the driver is reminded to decelerate;

If u _s uk*u _s and the brake pedal opening degree is > 0, there is no reminder;

If uk*u _s , there is no reminder.

Where k is the safety factor, and 0. 8<k<1. 0; which is related to the degree of slippage of the road and the radius of the road curvature, specifically, the GPS positioning module 24 is used to obtain the weather condition of the current position of the vehicle.

In summary, the present invention relates to a vehicle incursion rollover prevention system and method for calculating a limit vehicle speed of a corresponding curve by vehicle parameter data, vehicle running data, and road curve data, and in the vehicle When entering the corner, the current speed is compared with the limit speed, and an alarm is issued to the driver according to the comparison result, thereby reminding the driver to slow down, thereby achieving the effect of preventing the vehicle from rolling over and ensuring the safety of the driver and the occupant.

The above-mentioned embodiments and the drawings are not intended to limit the scope of the invention, and any suitable variations or modifications of the invention will be apparent to those skilled in the art. Industrial applicability

The present invention is easy to implement in the industry and has good industrial applicability.

Claims

Claim

[Claim 1] A vehicle incursion rollover prevention system, comprising: a human-machine interaction module, an operation processing module, and a vehicle information data storage module, a vehicle operation state acquisition module, and a GPS, all connected to the operation processing module; a positioning module, a road information storage module and an alarm decision module, the human-computer interaction module is connected to the alarm decision module; the vehicle information data storage module stores vehicle parameter data, and the vehicle running state acquisition module collects vehicle operation data and transmits the operation data to the operation a processing module, the GPS positioning module acquires a current position signal of the vehicle and transmits the signal to the operation processing module; the road information memory stores the road curve data and is called by the operation processing module; the operation processing module is based on the vehicle parameter data and the vehicle Calculating the limit vehicle speed of the corresponding curve by running the data and the road curve data; the alarm decision module determines whether the vehicle is in the curve area based on the road camber data and the current position signal of the GPS positioning module, and if so, compares the current vehicle speed with the limit vehicle speed And based on The results and decide whether to inform human-computer interaction module alarm.

[Claim 2] The vehicle incursion rollover reminding system according to claim 1, wherein the human-machine interaction module further comprises an input interface connected to the arithmetic processing module, wherein the input interface is used for driving The member inputs the load condition of the current vehicle.

[Claim 3] The vehicle incursion rollover reminding system according to claim 1, wherein the vehicle parameter data includes a vehicle weight, a vehicle center of gravity height, a wheelbase, a suspension weight, and a roll Rate and roll center height; the vehicle operating data includes vehicle speed, accelerator pedal opening, brake pedal opening, and clutch pedal state; the road curve data includes road type, road width, and curve characteristic parameters.

[Claim 4] A vehicle incursion rollover reminding system according to claim 1, wherein the human-machine interaction module, the arithmetic processing module, the vehicle information data storage module, the vehicle operating state acquisition module, and the GPS The positioning module and the alarm decision module are all disposed on the vehicle terminal computer, and the road information storage module is disposed in the vehicle network information center; the vehicle cornering anti-rollover reminding system further comprises a vehicle set terminal computer and is connected to the operation processing module. a wireless communication module and a network communication system installed in the vehicle network information center, the wireless communication module receiving the network communication of the vehicle networking information center Road curve data issued by the system.

[Claim 5] A method for reminding a vehicle to prevent rollover prevention, comprising the steps of:

3. Compare the current speed in the limit vehicle speed with the vehicle running data, and determine whether to generate reminder information based on the comparison result.

[Claim 6] A method for reminding a vehicle to prevent rollover of a vehicle according to claim 5, wherein in step 1, the road curve data is correspondingly set with a bending moment corresponding to each curve a curved area and a curved rectangular area, the curved rectangular area and the curved rectangular area are respectively located at the entrance and exit of the curved line and are defined based on the latitude and longitude coordinates; when the latitude and longitude of the current position signal of the vehicle falls into the curved rectangle In the area, the vehicle enters the curve area; when the latitude and longitude of the current position signal of the vehicle falls into the curved rectangular area, it indicates that the vehicle has left the curve area.

[Claim 7] The method for reminding a rollover prevention of a vehicle according to claim 6, wherein the road curve data further includes a curve corresponding to each curve and covering the entire current curve. The rectangular area, the curved rectangular area and the curved rectangular area are all located in the rectangular area of the curve; when the latitude and longitude of the current position signal of the vehicle falls into the rectangular area of the curve, it indicates that it is in the curved area, and when the vehicle leaves the bend The rectangular area of the road indicates that it has left the corner area.

[Claim 8] The method for reminding a vehicle to prevent rollover of a vehicle according to claim 5, wherein the vehicle running data includes a current vehicle speed, an accelerator pedal opening degree, and a brake pedal opening degree; If the current speed u> extreme speed and the brake pedal opening is 0, the driver is reminded to decelerate; if u _s uk*u _s and the accelerator pedal opening degree is >0 and the brake pedal opening degree=0, the driver is reminded Deceleration; if u _s uk* _Us and the brake pedal opening degree is > 0, there is no reminder; if uk* _Us , there is no reminder; k is the safety factor, 0. 8<k<1. 0.

[Claim 9] A method for reminding a vehicle to prevent rollover prevention according to claim 5, wherein In step 2, the vehicle parameter data includes vehicle weight, vehicle center of gravity height, wheelbase, suspension weight, roll rate, and roll center height; the road curve data includes road type, road width, and bend Channel characteristic parameters.

[Claim 10] The method for reminding a vehicle to prevent rollover prevention according to claim 5, wherein in step 2, the vehicle parameter data further includes a current input through an input interface of the human-machine interaction module. The load condition of the vehicle.