[0023] The present invention will be described in detail below with reference to the drawings and embodiments.
[0024] The present invention includes the following steps:
[0025] 1) An anti-rollover warning system for heavy trucks is set up, which includes an anti-roll measurement device, an anti-roll early warning device, an anti-roll man-machine coordination device and an anti-roll cloud computing connection device.
[0026] 2) Use the camera to capture information such as the width of the road slope and the obstacles around the vehicle, and combine it with the car's roll angle measured by the inclinometer, the curvature of the curve and the height of the center of mass measured by the cloud to calculate the vehicle roll acceleration, and estimate the roll warning time and side Tilting affects the result of adjacent vehicles.
[0027] 3) The warning level is judged according to the wheel camber angle, the center of mass offset distance and the car inclination angle, the warning device works, and combined with the cloud computing results to adopt the early warning response plan under the cooperation of man and machine.
[0028] Such as figure 1 Shown is a block diagram of the system structure of the present invention.
[0029] Such as figure 2 Shown is the roll model of a heavy truck. Among them, FL and FR represent the force on the left and right tires of the vehicle.
[0030] The anti-roll measurement device includes 6 100° wide-angle cameras, left ultrasonic sensor, right ultrasonic sensor and inclinometer:
[0031] The six cameras are respectively placed on the four vertical edges of the vehicle, the front upper edge, and the midpoint of the rear lower edge; the cameras placed on the four vertical edges of the vehicle are installed at this point and extend k 1 On the bracket of the distance, the camera placed at the midpoint of the front upper line and the rear lower line is installed at this point and extends k 2 Distance of the bracket, the extension length of the two brackets k 1 , K 2 Determined by the following relationship: Among them, x is the length of the vehicle, y is the width of the vehicle, and z is the height of the vehicle; the six cameras are all attached to the right side to take a 100° range, used for horizontal and vertical 360° capture of the slope width and the surrounding area of the driving section before and Obstacles and other information, combined with cloud road curvature and car inclination angle, to simulate the results of roll time and roll impact on vehicles on both sides. Two ultrasonic sensors on the left and right are placed at the end points of the bottom line on both sides of the carriage to collect the distance between the inner side of the roll trend and the adjacent vehicle or the isolation zone, and generate image information in the background to provide the best roll avoidance response for the background connection manager Data to make it calculate the maximum anti-roll speed and the required steering angle of the vehicle. The inclinometer is placed in the geometric center of the vehicle chassis to collect and measure the side inclination angle of the car, that is, the inclinometer reading minus the road slope, and the road slope is provided by cloud storage data.
[0032] Such as image 3 As shown, it is a schematic diagram of the installation position of the camera in the measuring device of the present invention. The camera adopts a 100° wide-angle camera with distortion correction function and night vision function, which can avoid blind spots in the line of sight when the truck is driving, and can safely pass corners at night. The camera is mainly used to capture the image information of the road slope width, the position of the road where the vehicle is located, the density of the surrounding vehicles and other obstacles around.
[0033] Such as Figure 4 Shown is a schematic diagram of the installation position of the ultrasonic sensor in the measuring device of the present invention.
[0034] Among them, the principle of ultrasonic sensor ranging is to transmit ultrasonic waves in a certain direction through an ultrasonic transmitter, and start timing at the same time as the launch time. When the ultrasonic waves propagate in the air, they will return immediately when they encounter obstacles, and the ultrasonic receiver will immediately return to the reflected wave. Stop timing. The propagation speed of ultrasonic waves in the air is v, and according to the time difference △t between transmitting and receiving echo recorded by the timer, the distance S from the transmitting point to the obstacle can be calculated, namely: ① This is the so-called time difference ranging method. Since the ultrasonic propagation speed is greatly affected by temperature, the correction here is: when the site environment temperature T is known, the calculation formula of the ultrasonic propagation speed V is: ②v=331.45+0.607T. From this, the required distance from the adjacent vehicle or isolation zone can be obtained.
[0035] The anti-roll warning device includes warning lights, alarms, in-vehicle display screens and acceleration containment devices:
[0036] The warning light is installed on the left side of the instrument panel, and its function is to remind the driver that the vehicle is about to roll over with an optical signal, flashing at different frequencies according to the warning level; the alarm is installed directly above the driver, and its function is to remind the driver through an acoustic signal When the driver's vehicle is in a roll state, it emits buzzers with different frequencies according to the warning level; the in-car display is installed on the right side of the upper surface of the center console of the cab to display the roll warning level and warning response plan; The containment device is installed above the foot brake of the cab to contain the driver's continuous acceleration power when a warning occurs.
[0037] The anti-roll cloud computing connection device is placed in the front of the vehicle, the road curvature is captured through the satellite cloud, and the data measured by the measurement device is sent out by microwave communication, and the manager, namely the database computing system, is connected to the backend to calculate the corresponding response plan and use it The microwave communication is sent back to the display in the driver's car. That is, the curvature of the curve and the height of the center of mass measured by the cloud, the vehicle roll acceleration, the above three data are transmitted to the background manager, the cloud computing the roll warning time and the roll impact on the neighboring vehicle results, and the results are in the form of images Present. The background manager judges the early warning level according to the results, and feeds the corresponding response plan to the heavy truck, and the driver makes early warning response measures according to the corresponding plan.
[0038] Combining the image information collected by the cloud and the camera, the curvature of the curve is calculated by the database computing system, and the range and relationship between the lateral acceleration of the vehicle and the load when driving safely is calculated, and the camber angle of the wheel is calculated:
[0039] M = fr then
[0040] When the car is cornering, the lateral friction provides centripetal force: f=ma, and
[0041] M is the resistance moment, f is the resistance, r is the vertical distance from the point of resistance to the shaft, m is the mass of the vehicle after load, a is the vehicle acceleration, and γ is the camber angle; It is the rate of change of the camber angle caused by the cabin roll, that is, the roll camber coefficient:
[0042] Such as Figure 5 Shown is the schematic diagram of the force applied when the camber angle coefficient of the present invention is too large or insufficient, where the force is applied to F.
[0043] Use the left and right ultrasonic sensors to measure the distance between the inside of the roll trend and the adjacent vehicle or the isolation zone; the background connection manager calculates the maximum anti-roll speed and the maximum steering deflection angle required by the vehicle based on the measured distance, image information, and road slope. The height of the center of mass and the load transfer determine the roll angle threshold to provide the driver with the best roll avoidance response data; the back-end connection manager calculates the optimal roll avoidance response data using vehicle load and road gradient as variables, where h is static When the height of the center of mass, a is the offset distance of the center of mass, b is the offset angle of the center of mass; the chassis is equipped with an inclinometer, when the inclination angle of the carriage relative to the ground is greater than 0, an early warning will be given, and the warning light will act and the vehicle is in a state of roll is about to occur; When the instrument reaches the roll angle threshold, the vehicle is in a roll state;
[0044]
[0045] Camber on the front side of the vehicle 0.61~0.88°, that is, insufficient, the rear side tilt angle coefficient It is 0~0.86°, that is, under excessive conditions; according to the deviation distance of the center of mass and the tilt angle of the carriage, the warning is divided into the following four levels:
[0046] 1) First-level warning: 9h/10
[0047] 2) Two-level early warning: 9h/10
[0048] 3) Three-level early warning: a<9h/10 or a>11h/10 and 10°
[0049] 4) Four-level early warning: a<9h/10 or a>11h/10 and 15°
[0050] Among them, a represents the offset distance of the center of mass, h represents the height of the center of mass of the vehicle under normal driving, and b represents the tilt angle of the carriage.
[0051] Place the man-machine coordination device in front of the driver's seat. When the warning level is level one or two, the man-machine interface operation does not work; only when the warning level is level three, the man-machine cooperative driving the vehicle, where the driver’s power is greater than Vehicles: When the warning level is level 4, the man-machine interface operation takes the driver's acceleration power through the acceleration restraint device, and automatically decelerates to a safe speed range.
[0052] That is, for different levels of early warning, the alarm device has four different working states:
[0053] Table 1:
[0054]
[0055] Finally, it should be noted that the above are only preferred embodiments of the technical solution of the present invention, and the structure, installation position, and connection of each component can be changed, and all are within the spirit and principle of the present invention. Any modification, equivalent replacement, improvement, etc., should not be excluded from the protection scope of the present invention.
