A vehicle rollover warning method and system considering changes in road surface parameters
A vehicle side and vehicle technology, applied in the direction of control devices, etc., can solve the problems of large errors, large road surface changes, and low accuracy, and achieve the effects of small errors, good environmental adaptability and robustness, and accurate early warning
Active Publication Date: 2020-11-06
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
This approximate calculation has a large error when the vehicle is close to rollover (that is, the vehicle roll angle is greater than 10°), and the accuracy of the early warning is low
[0007] 3. The selection of the rollover warning value does not consider the change of the road surface environment, and most of them are set to a certain constant
In rural, off-road and other non-urban road environments, the road surface where the vehicle is on changes greatly, and the rollover warning method with a fixed warning value is less applicable
Method used
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Embodiment Construction
[0042] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0043] A vehicle rollover early warning method considering changes in road surface parameters of the present invention, the rollover index adopted is lateral-load transfer ratio (lateral-load transfer ratio, LTR), and its definition is as follows:
[0044]
[0045] Among them, F zl is the sum of the vertical loads of all tires on the left side, F zr is the sum of the vertical loads of all tires on the right side. Since the vertical load of the vehicle tire cannot be directly measured in practice, the calculation of LTR needs the help of the vehicle model to convert the vertical load of the tire into other easily obtained vehicle state quantities.
[0046] figure 1 with figure 2 is the vehicle rollover dynamics model of the present invention. The model is a four-degree-of-freedom model, and the four degrees of freedom are the vertical displacement ...
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The invention discloses a vehicle rollover pre-warning method and system considering pavement parameter change. During establishing a vehicle rollover model used for calculating rollover index LTR, the influence on pavement input is considered so that the rollover index is also suitable for tripping rollover and non-tripping rollover; and meanwhile, the invention further discloses a method for determining a rollover pre-warning value, a vehicle speed and a pavement friction coefficient offline; and therefore, the pre-warning value of a vehicle rollover pre-warning method can be self-adaptivelychanged according to a vehicle state and a pavement environment; and the environmental adaptability and robustness of the pre-warning method are better. Compared with a traditional method, roll angleaccelerated speed is introduced in calculation of rollover index so that the calculation error of the rollover index is smaller when a vehicle approaches a rollover state, and the pre-warning is moreaccurate.
Description
technical field [0001] The invention belongs to the technical field of automatic control and intelligent vehicles, and in particular relates to a vehicle rollover early warning method and system considering changes in road surface parameters. Background technique [0002] With the increase of car ownership, the casualties and property losses caused by traffic accidents are becoming more and more serious. Statistics from the U.S. Highway Safety Administration show that rollovers only involved 1.9% of the 10.96 million traffic accidents that occurred in 2015, but accounted for 18.1% of all fatal accidents. The death toll of traffic accidents accounts for 32% of the total death toll of traffic accidents. Among all traffic accidents, the degree of harm of vehicle rollover accidents ranks second only to vehicle collisions. [0003] Vehicle rollover can be divided into tripping rollover and non-stumbling rollover according to different causes. The tripping rollover refers to th...
Claims
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IPC IPC(8): B60W40/00B60W40/10B60W40/13B60W40/12B60W50/14
CPCB60W40/00B60W40/10B60W40/12B60W40/13B60W50/14B60W2050/143
Inventor 王美玲张雷翟朝阳王健行
Owner BEIJING INSTITUTE OF TECHNOLOGYGY