WO2021258813A1 - 一种基于电子制动减速的罐车侧翻舒缓型控制方法 - Google Patents
一种基于电子制动减速的罐车侧翻舒缓型控制方法 Download PDFInfo
- Publication number
- WO2021258813A1 WO2021258813A1 PCT/CN2021/086569 CN2021086569W WO2021258813A1 WO 2021258813 A1 WO2021258813 A1 WO 2021258813A1 CN 2021086569 W CN2021086569 W CN 2021086569W WO 2021258813 A1 WO2021258813 A1 WO 2021258813A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rollover
- tanker
- tank car
- deceleration
- brake pedal
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004364 calculation method Methods 0.000 claims description 13
- 230000000694 effects Effects 0.000 claims description 9
- 230000000116 mitigating effect Effects 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 238000013139 quantization Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 abstract 1
- 206010039203 Road traffic accident Diseases 0.000 description 4
- 239000000383 hazardous chemical Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
Images
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
- 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
-
- 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
- B60T2210/20—Road shapes
-
- 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
- B60T2210/20—Road shapes
- B60T2210/24—Curve radius
-
- 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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
-
- 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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/02—Vehicle mass
-
- 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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/30—ESP control system
- B60T2270/304—ESP control system during driver brake actuation
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/82—Brake-by-Wire, EHB
-
- 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
- B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
Definitions
- the invention relates to a tank car rollover control method, in particular to a tank car rollover mitigation control method based on electronic brake deceleration, and belongs to the technical field of vehicle safety.
- Tank trucks are tank-shaped transportation vehicles used to carry various liquids, liquefied gases and powdered goods. Due to the large road transportation capacity, high efficiency and low cost of tank trucks, they provide great convenience for the off-site transportation of hazardous chemicals, so they have become the main body of road transportation of hazardous chemicals. However, the tank car body structure has particularity and complexity (higher center of mass, narrower wheelbase, larger vehicle mass, liquid disturbances can easily cause center of mass deviation, etc.), and the frequent occurrence of traffic accidents on high-grade highways has become an impact The main source of road traffic safety. According to the 708 dangerous cargo tanker traffic accidents in the literature, the causes of each traffic accident and its proportion are summarized and analyzed. The main causes of tanker traffic accidents are unilateral overturning, rushing out of the road, rear-end collision of two vehicles, side collision of two vehicles, etc. Among them, unilateral rollovers accounted for the largest proportion (29.10%).
- the anti-rollover of tank cars mainly adopts active anti-rollover control methods, including active stabilizer bar, active steering control, active suspension control and differential braking control. Due to the limited effect of active stabilizer bar, active steering control and active suspension control on the anti-rollover control of the tanker and the need to install too many hardware devices, the differential brake control is a commonly used method for the rollover control of the tanker. A lot of research on differential braking control has been carried out. However, the following problems still exist: 1. The operation of the driver is not considered when performing differential braking, the operation of the actuator may conflict with the operation of the driver, or the driver may adopt 2. Differential braking is to take emergency braking measures when the tanker has a greater risk of rollover, resulting in lower body control stability. However, if the tanker can be braked before it enters the dangerous state of rollover Decelerate, the anti-rollover effect is better.
- EBS Electronic Braking System
- the present invention proposes a tank car rollover mitigation control method based on electronic brake deceleration. This method combines the operation of the driver to perform slow braking and deceleration when the tanker is in a potentially dangerous state of rollover, and does not need to wait for the tanker to have a greater risk of rollover before performing emergency braking, which improves the stability and control of the tanker's rollover. Effectiveness.
- Step 1 Clarify the tanker rollover scenario to which the soothing control method is applicable
- the applicable rollover scenario is: the tanker is currently driving normally, but there is a sharp bend ahead, if the tanker passes the sharp bend at the current speed, the tanker will roll over;
- Step 2 Use the least square method to establish the characteristic function of the tank car braking deceleration
- c 1 , c 2 , c 3 , and c 4 are coefficients, and b is a constant term;
- the basic elements of the brake test scene include vehicle speed, load and brake pedal opening.
- the quantitative parameters of each scene element are shown in the following table. After the scene element is arranged and combined, there are 36 test scenes, and the test is repeated twice in each test scene. , A total of 72 tests;
- Scene primitive Quantization parameter Speed 30km/h, 50km/h, 70km/h Load No load, half load, full load Brake pedal opening 20%, 40%, 60%, 80%
- the medium loaded in the brake test tank car is water, and the calculation formula for the mass m of the tank car is:
- m′ is the mass of the tanker when it is empty
- V is the volume of the tanker
- ⁇ is the density of water
- m′ and V are obtained from the tanker product manual
- the tanker travels at a constant speed v'among 30km/h, 50km/h and 70km/h, and controls the brake pedal to open at one of 20%, 40%, 60%, and 80% through the CAN data bus. Decelerate slowly until the tank car speed is zero, and record the time from the start of the tank car deceleration to the speed of zero as ⁇ t, then the formula for calculating the braking deceleration a is:
- Step 3 Based on the characteristic function of braking deceleration and EBS to realize the relief control of the tank car rollover
- Sub-step 1 Get current vehicle speed
- Sub-step 2 Determine whether there is a risk of rollover in the road section ahead
- Sub-step 3 Calculate the brake pedal opening required for deceleration
- the mass m of the tank car is statically measured beforehand, and the braking deceleration of the tank car is determined by formula (1) Hour brake pedal opening
- Sub-step 4 Determine whether the required brake pedal opening is greater than the driver operating the brake pedal opening
- the present invention fits the functional expression of the tank car's braking deceleration, and can autonomously select an appropriate braking deceleration based on the tank car's kinematics information and vehicle body information in different rollover scenarios.
- the present invention takes the driver's operation into consideration when braking and decelerating the tanker, and realizes the effective combination of man and machine.
- the present invention performs slow braking and deceleration when the tanker is in a potentially dangerous state of rollover, and does not need to wait for the tanker to have a greater risk of rollover before performing emergency braking, thereby improving the stability and effectiveness of the tanker's rollover control.
- Figure 1 is a diagram of the overall design scheme of the tank car rollover mitigation control
- Figure 2 is a control flow chart of the tank car rollover mitigation type.
- the present invention proposes a tank car rollover mitigation control method based on electronic brake deceleration.
- the tank car rollover scenario to which the relaxation control method is applicable is clarified, and then the tank car brake deceleration is established by the least square method.
- the tank car rollover relief control is realized.
- This method fits the functional expression of the tank car’s braking deceleration, and can autonomously select the appropriate braking deceleration according to the tank car’s kinematics and body information in different rollover scenarios; when the tank car’s braking deceleration is performed, driving is considered.
- Step 1 Clarify the tanker rollover scenario to which the soothing control method is applicable
- the existing rollover control method generally takes emergency braking measures when there is a greater risk of rollover when the tank truck is turning. However, it may cause the body to control failure. The problem of unsatisfactory stability and control effect.
- the present invention proposes a rollover mitigation control method, which is applicable to rollover scenarios: the tanker is currently running normally, but there is a sharp bend ahead, and if the tanker passes through the sharp bend at the current speed, the tanker will roll over.
- Step 2 Use the least square method to establish the characteristic function of the tank car braking deceleration
- the braking deceleration a of a tank car is directly related to its brake pedal opening ⁇ .
- the function expression defining the braking deceleration a of the tank car is:
- c 1 , c 2 , c 3 , and c 4 are coefficients, and b is a constant term.
- the basic elements of the brake test scene include vehicle speed, load, and brake pedal opening.
- Scene primitive Quantization parameter Speed 30km/h, 50km/h, 70km/h Load No load, half load, full load Brake pedal opening 20%, 40%, 60%, 80%
- the medium loaded in the brake test tank car is water, and the calculation formula for the mass m of the tank car is:
- m' is the mass of the tanker when it is empty
- V is the volume of the tanker
- ⁇ is the density of water
- m'and V are obtained from the tanker product manual.
- the tanker After determining the quality of the tanker, in the straight line section, the tanker travels at a constant speed v'among 30km/h, 50km/h and 70km/h, and the brake pedal is controlled at 20%, 40%, 60% through the CAN data bus. Decelerate at a certain opening of% and 80% until the tank car speed is zero, and record the time from the start of the tank car deceleration to zero speed as ⁇ t, then the formula for calculating the braking deceleration a is:
- the square of the total error in the least square method is:
- Step 3 Based on the characteristic function of braking deceleration and EBS to realize the relief control of the tank car rollover
- the present invention brakes and decelerates (lower deceleration) before the tanker enters the curve, and can reduce the speed to a safe speed when the tanker enters the curve, thereby overcoming It solves the problem of low body control stability caused by emergency braking.
- the rollover control process is shown in Figure 2. The specific steps are as follows:
- Sub-step 1 Get current vehicle speed
- Sub-step 2 Determine whether there is a risk of rollover in the road section ahead
- Sub-step 3 Calculate the brake pedal opening required for deceleration
- the mass m of the tank car is statically measured beforehand, and the braking deceleration of the tank car is determined by formula (1) Hour brake pedal opening
- Sub-step 4 Sub-step 5: Determine whether the required brake pedal opening is greater than the driver's operating brake pedal opening
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
场景基元 | 量化参数 |
车速 | 30km/h、50km/h、70km/h |
载荷 | 空载、半载、满载 |
制动踏板开度 | 20%、40%、60%、80% |
场景基元 | 量化参数 |
车速 | 30km/h、50km/h、70km/h |
载荷 | 空载、半载、满载 |
制动踏板开度 | 20%、40%、60%、80% |
Claims (1)
- 一种基于电子制动减速的罐车侧翻舒缓型控制方法,其特征在于,具体步骤包括:步骤一:明确舒缓型控制方法适用的罐车侧翻场景适用的侧翻场景为:罐车当前正常行驶,但前方存在急弯,若以当前车速通过急弯,罐车会发生侧翻;步骤二:采用最小二乘法建立罐车制动减速度的表征函数定义罐车制动减速度a的函数表达式为:a=c 1λ 2+c 2λ+c 3m 2+c 4m+b (1)式(1)中,c 1、c 2、c 3、c 4为系数,b为常数项;制动试验场景基元包括车速、载荷和制动踏板开度,各场景基元的量化参数如下表所示,场景基元排列组合后有36种试验场景,每种试验场景下重复两次试验,共计72次试验;
场景基元 量化参数 车速 30km/h、50km/h、70km/h 载荷 空载、半载、满载 制动踏板开度 20%、40%、60%、80% 制动试验罐车装载的介质为水,罐车的整车质量m计算公式为:式(2)中,m′为罐车空载时整车质量,V为罐车容积,ρ为水的密度,m′和V由罐车产品手册获得;在直线路段,罐车以30km/h、50km/h和70km/h中某一车速v′匀速行驶,通过CAN数据总线控制制动踏板以20%、40%、60%和80%中某一开度减速,直至罐车车速为零,记录罐车从开始减速到车速为零的时间为Δt,则制动减速度a的计算公式为:完成72次制动试验后,得到试验数据{λ i,m i,a i},i=1,2,…,72;最小二乘法中总误差的平方为:当总误差的平方J(c 1,c 2,c 3,c 4,b)取最小值时,c 1、c 2、c 3、c 4和b为最优解,计算公式为:从而确定罐车制动减速度a的函数式a=c 1λ 2+c 2λ+c 3m 2+c 4m+b;步骤三:基于制动减速度的表征函数和EBS实现罐车侧翻舒缓型控制子步骤1:获取当前车速在罐车最后轴两侧非转向轮上安装轮速传感器,实时输出两侧轮速v 1和v 2,定义罐车纵向车速为v,计算公式为:子步骤2:判断前方路段是否存在侧翻危险通过增强型数字地图获取前方道路的道路曲率半径、纵向坡度角和横向坡度角,结合当前车速判断罐车经过前方路段是否存在侧翻危险;若无侧翻危险,结束控制;若有侧翻危险,计算罐车当前位置距前方危险地点的距离Δσ和建议的安全车速v s,进入子步骤3;子步骤3:计算减速所需的制动踏板开度子步骤4:判断所需制动踏板开度是否大于驾驶员操作制动踏板开度
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17/764,871 US11603081B2 (en) | 2020-06-24 | 2021-04-12 | Tank truck rollover relieved control method based on electronic braking deceleration |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010587839.5 | 2020-06-24 | ||
CN202010587839.5A CN111775912B (zh) | 2020-06-24 | 2020-06-24 | 一种基于电子制动减速的罐车侧翻舒缓型控制方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021258813A1 true WO2021258813A1 (zh) | 2021-12-30 |
Family
ID=72759923
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2021/086569 WO2021258813A1 (zh) | 2020-06-24 | 2021-04-12 | 一种基于电子制动减速的罐车侧翻舒缓型控制方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11603081B2 (zh) |
CN (1) | CN111775912B (zh) |
WO (1) | WO2021258813A1 (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111775912B (zh) | 2020-06-24 | 2021-06-11 | 东南大学 | 一种基于电子制动减速的罐车侧翻舒缓型控制方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015033872A (ja) * | 2013-08-08 | 2015-02-19 | Ntn株式会社 | 車両の横転防止装置 |
CN107097775A (zh) * | 2017-05-22 | 2017-08-29 | 合肥工业大学 | 一种液体罐车弯道行驶防侧翻预警控制系统和方法 |
CN108473117A (zh) * | 2015-10-13 | 2018-08-31 | 克诺尔商用车制动系统有限公司 | 用于预测地防止车辆倾翻的方法 |
CN109977500A (zh) * | 2019-03-11 | 2019-07-05 | 东南大学 | 基于ds证据理论的半挂罐车多源信息融合侧翻预警方法 |
CN110281888A (zh) * | 2019-05-23 | 2019-09-27 | 纽劢科技(上海)有限公司 | 通过曲线拟合控制减速及刹车的方法 |
CN111775912A (zh) * | 2020-06-24 | 2020-10-16 | 东南大学 | 一种基于电子制动减速的罐车侧翻舒缓型控制方法 |
Family Cites Families (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3747662B2 (ja) * | 1998-12-07 | 2006-02-22 | トヨタ自動車株式会社 | 車輌の運動制御装置 |
DE19918597C2 (de) * | 1999-04-23 | 2001-03-08 | Deutsch Zentr Luft & Raumfahrt | Verfahren zur Reduktion der Kippgefahr von Straßenfahrzeugen |
US6954140B2 (en) * | 2001-03-16 | 2005-10-11 | Bendix Commercial Vehicle Systems Llc | Method and apparatus for vehicle rollover prediction and prevention |
US7321825B2 (en) * | 2003-10-24 | 2008-01-22 | Ford Global Technologies, Llc | Method and apparatus for determining vehicle operating conditions and providing a warning or intervention in response to the conditions |
US7020551B2 (en) * | 2003-12-23 | 2006-03-28 | Bendix Commercial Vehicle Systems Llc | Roll stability control system |
US7165644B2 (en) * | 2004-03-18 | 2007-01-23 | Ford Global Technologies, Llc | Method and apparatus of controlling an automotive vehicle using brake-steer as a function of steering wheel torque |
WO2007026496A1 (ja) * | 2005-08-29 | 2007-03-08 | Komatsu Ltd. | アンチロックブレーキシステム制御装置及び制御方法 |
WO2007081020A1 (ja) * | 2006-01-16 | 2007-07-19 | Mitsubishi Heavy Industries, Ltd. | フォークリフト及びフォークリフトの転倒防止制御方法 |
US7970512B2 (en) * | 2006-08-30 | 2011-06-28 | Ford Global Technologies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system with pitch information |
US7885750B2 (en) * | 2006-08-30 | 2011-02-08 | Ford Global Technologies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine a sideslip angle |
US7739014B2 (en) * | 2006-08-30 | 2010-06-15 | Ford Global Technolgies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine a final linear lateral velocity |
US8712639B2 (en) * | 2006-08-30 | 2014-04-29 | Ford Global Technologies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine longitudinal velocity |
US8321088B2 (en) * | 2006-08-30 | 2012-11-27 | Ford Global Technologies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine lateral velocity |
US7778741B2 (en) * | 2007-03-29 | 2010-08-17 | Ford Global Technologies | Vehicle stability control system with tire monitoring |
US10821795B2 (en) * | 2009-01-07 | 2020-11-03 | Fox Factory, Inc. | Method and apparatus for an adjustable damper |
US8983722B2 (en) * | 2011-12-12 | 2015-03-17 | GM Global Technology Operations LLC | System and method for vehicle rollover prediction |
WO2015063309A1 (en) * | 2013-11-03 | 2015-05-07 | Desarrollo Tecnológico Agroindustrial | Dynamic rollover protection system |
WO2015175879A1 (en) * | 2014-05-15 | 2015-11-19 | Robert Bosch Gmbh | Method and system for vehicle rollover engine protection, emergency call and location services |
PL225483B1 (pl) * | 2014-11-07 | 2017-04-28 | Inst Tech Eksploatacji Państwowy Inst Badawczy | Zestaw zwłaszcza do badań właściwości jezdnych pojazdów samochodowych |
CN108025796A (zh) * | 2015-09-17 | 2018-05-11 | 日本电产株式会社 | 动力辅助装置和具有该动力辅助装置的车辆 |
CN106875510B (zh) * | 2017-02-14 | 2019-04-05 | 吉林大学 | 一种车辆侧翻预警方法和系统 |
US10046770B1 (en) * | 2017-04-10 | 2018-08-14 | GM Global Technology Operations LLC | Systems and methods for estimating a road surface friction coefficient and vehicle lateral velocity using a decoupled dynamical model |
CN108407800B (zh) * | 2018-02-06 | 2019-11-12 | 淮阴工学院 | 装载机防倾翻控制系统及控制方法 |
US20220219691A1 (en) * | 2018-03-04 | 2022-07-14 | Traxen Inc. | Automated cruise control system |
US11072329B2 (en) * | 2018-06-11 | 2021-07-27 | Traxen Inc. | Ground vehicle control techniques |
CN108657175B (zh) * | 2018-05-04 | 2020-08-11 | 合肥工业大学 | 一种基于gis系统的液罐车侧翻预警系统 |
US20190375394A1 (en) * | 2018-06-11 | 2019-12-12 | Taxen Inc. | Ground Vehicle Control Techniques |
CN109368076B (zh) * | 2018-08-31 | 2019-11-12 | 淮阴工学院 | 一种液罐车罐体防侧翻控制方法 |
CN110001657B (zh) * | 2019-04-19 | 2020-04-03 | 中睿宏智汽车技术(深圳)有限公司 | 基于轮胎状态信息的车辆安全控制方法及车辆 |
CN110533796B (zh) * | 2019-07-11 | 2020-08-18 | 肇庆学院 | 基于截断重要性抽样失效概率法的车辆侧翻预测算法 |
CN110775046B (zh) * | 2019-10-22 | 2023-02-17 | 浙江万安科技股份有限公司 | 一种车辆防侧翻控制系统和防侧翻控制方法 |
CN111216787B (zh) * | 2019-10-25 | 2021-04-06 | 浙江工业大学 | 一种基于主动转向和差动制动的货车防侧翻混杂控制系统 |
EP3862237B1 (de) * | 2020-02-07 | 2022-09-21 | ZF CV Systems Global GmbH | Fahrzeugsicherungssystem |
CA3172131A1 (en) * | 2020-03-17 | 2021-09-23 | Base Air Management Limited | Load monitoring, braking control, and height management |
-
2020
- 2020-06-24 CN CN202010587839.5A patent/CN111775912B/zh active Active
-
2021
- 2021-04-12 US US17/764,871 patent/US11603081B2/en active Active
- 2021-04-12 WO PCT/CN2021/086569 patent/WO2021258813A1/zh active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015033872A (ja) * | 2013-08-08 | 2015-02-19 | Ntn株式会社 | 車両の横転防止装置 |
CN108473117A (zh) * | 2015-10-13 | 2018-08-31 | 克诺尔商用车制动系统有限公司 | 用于预测地防止车辆倾翻的方法 |
CN107097775A (zh) * | 2017-05-22 | 2017-08-29 | 合肥工业大学 | 一种液体罐车弯道行驶防侧翻预警控制系统和方法 |
CN109977500A (zh) * | 2019-03-11 | 2019-07-05 | 东南大学 | 基于ds证据理论的半挂罐车多源信息融合侧翻预警方法 |
CN110281888A (zh) * | 2019-05-23 | 2019-09-27 | 纽劢科技(上海)有限公司 | 通过曲线拟合控制减速及刹车的方法 |
CN111775912A (zh) * | 2020-06-24 | 2020-10-16 | 东南大学 | 一种基于电子制动减速的罐车侧翻舒缓型控制方法 |
Also Published As
Publication number | Publication date |
---|---|
CN111775912A (zh) | 2020-10-16 |
US11603081B2 (en) | 2023-03-14 |
CN111775912B (zh) | 2021-06-11 |
US20220348174A1 (en) | 2022-11-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108473117B (zh) | 用于预测地防止车辆倾翻的方法 | |
Zong et al. | Multi-objective stability control algorithm of heavy tractor semi-trailer based on differential braking | |
AU2011380327B2 (en) | Method and arrangement for vehicle stabilization | |
US6324447B1 (en) | Process and device for stabilizing a vehicle on the basis of a determined torsional value | |
US9573589B2 (en) | Method and arrangement for vehicle stabilization | |
US6253123B1 (en) | Process and device for stabilizing a vehicle depending on the speed of the vehicle | |
EP0798615B1 (en) | Procedure for drive stability enhancement | |
JPH11271045A (ja) | 車両の重心高さを表わす値の決定方法及び装置 | |
CN203876738U (zh) | 一种半挂车及其防侧翻装置 | |
US6873897B2 (en) | Method and device for stabilizing a vehicle | |
CN101323300A (zh) | 提高车辆转弯制动侧向稳定性的增强型汽车abs系统 | |
WO2021258813A1 (zh) | 一种基于电子制动减速的罐车侧翻舒缓型控制方法 | |
CN104843004B (zh) | 一种通过差动制动和油气悬架综合调节的运输车辆主动防侧翻控制装置 | |
CN103253249B (zh) | 提高车辆爆胎后稳定性的控制方法和装置 | |
CN111216787B (zh) | 一种基于主动转向和差动制动的货车防侧翻混杂控制系统 | |
Zheng et al. | Interconnected roll stability control system for semitrucks with double trailers | |
JP2004224262A (ja) | 自動ブレーキ制御装置 | |
CN115246384A (zh) | 一种牵引式载重车辆的辅助驾驶系统及其控制方法 | |
CN107864646A (zh) | 用于在三轮车的前轴和后轴之间分配制动作用的系统和方法 | |
Iombriller et al. | Comparative Analysis between American and European Requirements for Electronic Stability Control (ESC) Focusing on Commercial Vehicles | |
Chen et al. | Field Testing and Performance Evaluation of Roll Stabil-ity Control System of Double-trailer Trucks | |
CN215944520U (zh) | 一种车辆驻坡装置 | |
Bako et al. | Improving the Stability of Semi Trailer Articulated Vehicles | |
Zagorski | Compatibility of ABS disc/drum brakes on class VIII vehicles with multiple trailers and their effects on jackknife stability | |
Dzerkelis et al. | Modeling and research of bus equipped with dynamic stability control system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21829336 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 21829336 Country of ref document: EP Kind code of ref document: A1 |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 08/08/2023) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 21829336 Country of ref document: EP Kind code of ref document: A1 |