Vehicle cornering assistance system

Abstract

The present invention discloses a vehicle auxiliary cornering system, which relates to the field of vehicle cornering technology. The vehicle auxiliary cornering system includes: an auxiliary cornering detection module, an auxiliary cornering control module and a vehicle height adjustment module, wherein the auxiliary cornering control module is electrically connected to the auxiliary cornering detection module and the vehicle height adjustment module respectively; the auxiliary cornering detection module detects the vehicle cornering signal and feeds the signal back to the auxiliary cornering control module, the auxiliary cornering control module processes and generates a control signal according to the electrical signal fed back by the auxiliary cornering detection module, and controls the vehicle height adjustment module to adjust the inclination angle of the vehicle chassis and the wheelset frame when the vehicle corners through the control signal. The present invention solves the problem that when a vehicle is cornering, although the road surface of a part of the line at the corner is designed to be super-high on one side, which can provide some centripetal force, it still cannot match the vehicle speed, thereby causing sideslip or derailment accidents due to inertial centrifugation.

Description

Technical Field

[0001] The present invention relates to the field of vehicle cornering technology, and in particular to a vehicle cornering assistance system. Background Art

[0002] When negotiating curves, existing vehicles rely solely on friction between the wheels and the road surface to provide centripetal force, limiting their cornering speed. While some lines have elevated road surfaces on one side of the curve, providing some centripetal force, this cannot match the vehicle's speed. To prevent skidding or derailment caused by centrifugal force during cornering, existing technology requires significant speed limits or modified route conditions.

[0003] While some lines have superelevated pavement on one side of the curve to provide some centripetal force when vehicles negotiate corners, this still fails to match the vehicle's speed, leading to skidding or derailment due to centrifugal force. Currently, no effective solution has been proposed for this problem. Summary of the Invention

[0004] Purpose of the invention: To provide a vehicle assisted cornering system to solve the above-mentioned problems existing in the prior art.

[0005] Technical solution: A vehicle assisted cornering system includes: an assisted cornering detection module, an assisted cornering control module and a vehicle height adjustment module, wherein the assisted cornering control module is electrically connected to the assisted cornering detection module and the vehicle height adjustment module respectively; the vehicle cornering signal is detected by the assisted cornering detection module and the signal is fed back to the assisted cornering control module, the assisted cornering control module processes and generates a control signal based on the electrical signal fed back by the assisted cornering detection module, and controls the vehicle height adjustment module through the control signal to adjust the inclination angle of the vehicle chassis and the wheelset structure when the vehicle corners.

[0006] Preferably, the auxiliary cornering detection module includes: a load detection unit, a speed detection unit, an inclination detection unit, a turning angle detection unit, a route detection unit and a road condition detection unit, and the load detection unit, the speed detection unit, the inclination detection unit, the turning angle detection unit, the route detection unit and the road condition detection unit are electrically connected to the auxiliary cornering control module respectively.

[0007] Preferably, it further includes: a warning module for outputting a sound or light warning signal, and the warning module is electrically connected to the auxiliary cornering control module.

[0008] Preferably, it further includes: a vehicle cornering mode selection module, used to select a vehicle cornering mode, and the vehicle cornering mode selection module is electrically connected to the auxiliary cornering control module.

[0009] Preferably, the vehicle cornering mode selection module includes: a vehicle control unit and a signal output unit.

[0010] Preferably, the vehicle height adjustment module includes: a horizontally arranged vehicle underframe, a central traction device is arranged at the center of the bottom of the vehicle underframe, a wheelset frame is arranged at the bottom of the central traction device, elastic components are symmetrically arranged between the vehicle underframe and the wheelset frame, and a height control component is also provided at the bottom of the vehicle underframe, one end of the height control component is connected to the bottom of the vehicle underframe, and the other end is connected to the wheelset frame, and the height control component is electrically connected to the auxiliary cornering control module; the action of the elastic component is controlled by the height control component to assist in adjusting the distance between the vehicle underframe and the wheelset frame when cornering.

[0011] Preferably, the speed detection unit comprises: a speed sensor, which is arranged near the wheel axle of the wheelset frame and is used to detect the vehicle's cornering speed.

[0012] Preferably, the tilt detection unit comprises: a tilt sensor, which is arranged on the vehicle underframe and is used to detect the angle between the vehicle underframe and a horizontal plane.

[0013] Preferably, the rotation angle detection unit comprises: an angle sensor, which is arranged between the wheelset frame and the central traction device and is used to detect the rotation angle of the wheelset frame relative to the vehicle chassis.

[0014] Preferably, the load detection unit includes: a pressure sensor, which is electrically connected to the auxiliary cornering control module and is used to detect the air pressure of the elastic component and lock the load information before the vehicle goes through a corner.

[0015] Beneficial effect: In the embodiment of the present application, an auxiliary cornering control method is adopted, and the auxiliary cornering detection module detects the vehicle cornering signal and feeds the signal back to the auxiliary cornering control module. The auxiliary cornering control module processes and generates a control signal according to the electrical signal fed back by the auxiliary cornering detection module, and controls the vehicle height adjustment module through the control signal to adjust the inclination angle of the vehicle chassis and the wheelset frame when the vehicle is cornering, thereby achieving the purpose of adjusting the inclination angle of the vehicle chassis and the wheelset frame when the vehicle is cornering, thereby achieving the technical effect of providing centripetal force to overcome the inertial centrifugal force, and thus achieving the technical effect of improving the vehicle cornering safety factor, thereby solving the technical problem that when the vehicle is cornering, although the road surface of some lines at the bend is designed to be super-high on one side, which can provide some centripetal force, it still cannot match the vehicle speed, thereby causing skidding or derailment accidents due to inertial centrifugal force. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic flow chart of a vehicle cornering assistance method according to an embodiment of the present application;

[0017] Figure 2 is a flow chart of a vehicle assisted cornering method according to a preferred embodiment of the present application;

[0018] Figure 3 is a schematic structural diagram of a vehicle cornering assistance device according to an embodiment of the present application;

[0019] Figure 4 1 is a schematic diagram of the process flow of the vehicle assist cornering system of the present invention;

[0020] Figure 5 It is a structural schematic diagram of a vehicle height adjustment module of the vehicle auxiliary cornering system of the present invention.

[0021] The accompanying drawings are marked as follows: 1. Auxiliary cornering detection module; 11. Load detection unit; 12. Speed ​​detection unit; 13. Tilt detection unit; 14. Turning angle detection unit; 15. Route detection unit; 16. Road condition detection unit; 2. Auxiliary cornering control module; 3. Vehicle height adjustment module; 31. Vehicle chassis; 32. Wheel set frame; 33. Elastic component; 34. Height control component; 35. Tilt sensor; 36. Speed ​​sensor; 37. Angle sensor; 38. Center traction device; 4. Warning module; 5. Vehicle cornering mode selection module; 51. Vehicle control unit; 52. Signal output unit; 10. Receiving module; 20. Calculation module; 30. Judgment module; 40. Generation module. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] Furthermore, the terms "installed," "disposed," "provided with," "connected," "connected," and "socketed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0025] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] According to an embodiment of the present invention, a vehicle assisting cornering method is provided, such as Figure 1-2 As shown, the method includes the following steps S101 to S104:

[0027] Step S101: receiving detection data from an auxiliary cornering detection module or a signal module;

[0028] The auxiliary cornering detection module is used to provide necessary information for auxiliary cornering control, including an inclination detection unit, a speed detection unit, a load detection unit, and a turning angle detection unit. The inclination detection unit is used to provide inclination information of the vehicle chassis relative to the horizontal plane, the speed detection unit is used to provide vehicle cornering speed information, the load detection unit is used to provide vehicle load information, and the turning angle detection unit is used to provide vehicle cornering starting and ending points and vehicle turning angle information. Furthermore, the vehicle cornering starting and ending points and vehicle turning angle information can also be provided by the signal system.

[0029] Furthermore, the auxiliary cornering detection module may be provided with a route detection unit, and the route detection unit is used to provide the available adhesion between the wheel and the rail surface or the wheel and the road surface. Furthermore, the available adhesion between the wheel and the rail surface or the wheel and the road surface of the autonomous driving vehicle may also be provided by a signal system, and the available adhesion between the wheel and the rail surface or the wheel and the road surface of a manned vehicle may also be set to a fixed value.

[0030] Furthermore, the auxiliary turning detection system may be provided with a road condition detection unit, which is used to provide the maximum and minimum turning radius of the route available to the vehicle. Furthermore, the road condition information of the autonomous driving vehicle may also be provided by the signal system.

[0031] It can detect, collect and feedback various data when the vehicle is turning, thereby achieving accurate data collection effects, and then facilitating subsequent accurate data processing effects.

[0032] According to an embodiment of the present invention, preferably, in step S101, receiving detection data includes:

[0033] The auxiliary cornering detection module or the signal module transmits the detection data required for the vehicle cornering to the auxiliary cornering control module, wherein the detection data includes: the inclination angle information θ s , speed information v, load information m and turning angle information R. Optional information includes route information and road condition information.

[0034] It can collect data information on vehicle inclination, speed, load and turning angle.

[0035] Step S102: performing a cornering calculation according to a preset inclination angle calculation model;

[0036] The system performs cornering calculations based on the collected real-time vehicle cornering data, and uses the inclination angle calculation model to obtain the inclination angle value, thereby facilitating subsequent accurate judgment.

[0037] According to an embodiment of the present invention, preferably, in step S102, performing the cornering calculation according to the preset inclination angle calculation model includes:

[0038] The auxiliary cornering control module performs cornering calculations based on the input detection data and preliminarily gives the required vehicle inclination angle θ when the vehicle is cornering. x =arctan(gR / v 2 ).

[0039] Based on the inclination angle calculation model or formula, the vehicle's current cornering inclination angle value can be accurately calculated, thereby achieving the effect of accurate calculation.

[0040] Step S103: determining whether the calculation result does not meet a preset maximum tilt angle threshold;

[0041] By judging the calculation results, it can be determined whether the inclination angle meets the maximum inclination angle threshold, thereby achieving accurate judgment and avoiding misjudgment.

[0042] According to an embodiment of the present invention, preferably, in step S1032, determining whether the calculation result does not meet a preset maximum tilt angle threshold includes:

[0043] The auxiliary cornering control module verifies the relationship between the initial calculation of the tilt angle and the maximum tilt angle, where the maximum tilt angle is a value θ pre-set based on the vehicle's center of gravity and passenger comfort. max =min[arctan(h max / L), θ r ], where h max The maximum lifting height of a vehicle on one side considering the safety factor is θ r Maximum angle recommended for passenger comfort.

[0044] By verifying the calculated inclination angle value with the maximum inclination angle value, the optimal cornering mode of the vehicle can be determined, thereby achieving the best cornering effect while ensuring safety.

[0045] Specifically, if the preliminary calculated inclination angle is less than or equal to the set maximum inclination angle, it will be output to the vehicle height adjustment mechanism; if it is greater than the set maximum inclination angle, the autonomous driving vehicle can choose to limit the vehicle speed or increase the vehicle turning radius and recalculate the turning, and the manually driven vehicle can choose to output sound or light warning signals to the cab.

[0046] Step S104: If yes, generate a control instruction to control the vehicle speed limit, increase the turning radius or issue a turning warning.

[0047] If the verification result indicates that the current vehicle inclination angle does not meet the maximum inclination angle requirement, control instructions are generated to limit the vehicle's speed, increase the turning radius, or issue a turning warning, thereby ensuring safe cornering and preventing skidding or derailment accidents. This ensures optimal mode selection, thereby improving cornering safety. Furthermore, after selecting the appropriate mode based on actual vehicle driving conditions, the system continues to monitor the vehicle's current data and recalculates until the inclination angle meets the maximum inclination angle range. The vehicle's height adjustment module then performs height adjustments to ensure the vehicle's cornering accuracy.

[0048] From the above description, it can be seen that this application achieves the following technical effects:

[0049] In an embodiment of the present application, an auxiliary cornering control method is adopted, by receiving detection data from an auxiliary cornering detection module or a signal module; performing cornering calculations according to a preset inclination angle calculation model; judging whether the calculation result does not meet a preset maximum inclination angle threshold; if so, generating a control instruction to control the vehicle speed limit, increase the cornering radius or provide a cornering warning, thereby achieving the purpose of cornering inclination angle calculation and verification of the maximum inclination angle, thereby achieving the technical effect of improving the cornering safety factor of the vehicle, and further solving the technical problem that when the vehicle is cornering, although the road surface of some lines at the corners is designed to be super-high on one side, which can provide some centripetal force, it still cannot match the vehicle speed, thereby causing skidding or derailment accidents due to inertial centrifugal force.

[0050] According to an embodiment of the present invention, preferably, after determining whether the calculation result does not meet a preset maximum tilt angle threshold, the method further includes:

[0051] If not, a control instruction for controlling the tilt angle adjustment is generated and sent to the vehicle height adjustment module for action.

[0052] After verifying that the vehicle's cornering value meets the maximum tilt angle requirement, a control instruction for tilt angle adjustment is generated and sent to the vehicle height adjustment module for action, thereby achieving vehicle height adjustment and achieving the effect of safe cornering of the vehicle.

[0053] According to an embodiment of the present invention, preferably, if not, generating a control instruction for controlling the tilt angle adjustment includes:

[0054] According to the instructions of the auxiliary cornering control module, the vehicle height adjustment module adjusts the inclination angle of the vehicle chassis, θ = arctan (h / L), where h is the height difference between the two sides of the vehicle chassis and L is the support point distance.

[0055] According to the actual vehicle cornering situation, the effect of the tilt angle adjustment is performed according to the model or formula to ensure that the vehicle meets the safety requirements when cornering.

[0056] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a vehicle cornering assist device is provided. Figure 3 As shown, the vehicle auxiliary cornering device includes:

[0057] Receiving module 10, for receiving detection data;

[0058] The auxiliary cornering detection module is used to provide necessary information for auxiliary cornering control, including an inclination detection unit, a speed detection unit, a load detection unit, and a turning angle detection unit. The inclination detection unit is used to provide inclination information of the vehicle chassis relative to the horizontal plane, the speed detection unit is used to provide vehicle cornering speed information, the load detection unit is used to provide vehicle load information, and the turning angle detection unit is used to provide vehicle cornering starting and ending points and vehicle turning angle information. Furthermore, the vehicle cornering starting and ending points and vehicle turning angle information can also be provided by the signal system.

[0059] Furthermore, the auxiliary cornering detection module may be provided with a route detection unit, and the route detection unit is used to provide the available adhesion between the wheel and the rail surface or the wheel and the road surface. Furthermore, the available adhesion between the wheel and the rail surface or the wheel and the road surface of the autonomous driving vehicle may also be provided by a signal system, and the available adhesion between the wheel and the rail surface or the wheel and the road surface of a manned vehicle may also be set to a fixed value.

[0060] Furthermore, the auxiliary turning detection system may be provided with a road condition detection unit, which is used to provide the maximum and minimum turning radius of the route available to the vehicle. Furthermore, the road condition information of the autonomous driving vehicle may also be provided by the signal system.

[0061] It can detect, collect and feedback various data when the vehicle is turning, thereby achieving accurate data collection effects, and then facilitating subsequent accurate data processing effects.

[0062] A calculation module 20 is used to perform cornering calculations according to a preset inclination angle calculation model;

[0063] The system performs cornering calculations based on the collected real-time vehicle cornering data, and uses the inclination angle calculation model to obtain the inclination angle value, thereby facilitating subsequent accurate judgment.

[0064] According to an embodiment of the present invention, preferably, performing cornering calculation according to a preset inclination angle calculation model includes:

[0065] The auxiliary cornering control module performs cornering calculations based on the input detection data and preliminarily gives the required vehicle inclination angle θ when the vehicle is cornering. x =arctan(gR / v 2 ).

[0066] Based on the inclination angle calculation model or formula, the vehicle's current cornering inclination angle value can be accurately calculated, thereby achieving the effect of accurate calculation.

[0067] A judgment module 30 is used to judge whether the calculation result does not meet a preset maximum inclination angle threshold;

[0068] By judging the calculation results, it can be determined whether the inclination angle meets the maximum inclination angle threshold, thereby achieving accurate judgment and avoiding misjudgment.

[0069] The generating module 40 is configured to generate a control instruction for controlling the vehicle speed limit, increasing the turning radius or providing a turning warning if the condition is correct.

[0070] If the verification result indicates that the current vehicle inclination angle does not meet the maximum inclination angle requirement, control instructions are generated to limit the vehicle's speed, increase the turning radius, or issue a turning warning, thereby ensuring safe cornering and preventing skidding or derailment accidents. This ensures optimal mode selection, thereby improving cornering safety. Furthermore, after selecting the appropriate mode based on actual vehicle driving conditions, the system continues to monitor the vehicle's current data and recalculates until the inclination angle meets the maximum inclination angle range. The vehicle's height adjustment module then performs height adjustments to ensure the vehicle's cornering accuracy.

[0071] According to an embodiment of the present invention, preferably, the judgment module 30 includes:

[0072] Verification unit, used to assist the cornering control module in verifying the relationship between the preliminary calculated tilt angle and the maximum tilt angle, where the maximum tilt angle is a value θ pre-set based on the vehicle's center of gravity and passenger comfort max =min[arctan(h max / L), θ r ], where h max The maximum lifting height of a vehicle on one side considering the safety factor is θ r Maximum angle recommended for passenger comfort.

[0073] By verifying the calculated inclination angle value with the maximum inclination angle value, the optimal cornering mode of the vehicle can be determined, thereby achieving the best cornering effect while ensuring safety.

[0074] Specifically, if the preliminary calculated inclination angle is less than or equal to the set maximum inclination angle, it will be output to the vehicle height adjustment mechanism; if it is greater than the set maximum inclination angle, the autonomous driving vehicle can choose to limit the vehicle speed or increase the vehicle turning radius and recalculate the turning, and the manually driven vehicle can choose to output sound or light warning signals to the cab.

[0075] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program is configured to execute a vehicle assisted cornering method when running.

[0076] Computer readable storage medium:

[0077] If the module integrated into the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the processes in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, it can implement the above-mentioned steps of displaying the above-mentioned memory power consumption optimization and processing the memory power consumption optimization.

[0078] The term "computer program" includes computer program code, which may be in source code, object code, executable file, or some intermediate form. Computer-readable media may include any entity or device capable of carrying computer program code, recording media, USB flash drives, removable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signals, telecommunications signals, and software distribution media. It should be noted that the content of computer-readable media may be appropriately expanded or reduced based on the requirements of legislation and patent practice within a jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, computer-readable media does not include electric carrier signals or telecommunications signals.

[0079] One embodiment of the present application further provides an electronic device for storing the vehicle assisted cornering method. The electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the vehicle assisted cornering method.

[0080] Obviously, those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using a general-purpose computing device. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Alternatively, they can be implemented using program code executable by a computing device, which can then be stored in a storage device and executed by the computing device. Alternatively, they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0081] The present invention also has the following beneficial effects:

[0082] 1. When turning, the vehicle tilts its chassis, using the combined force of gravity and support to provide partial centripetal force, allowing the vehicle to pass through the curve with no speed limit or with less speed limit or with a small radius;

[0083] 2. Reduce the vehicle's reliance on wheel-rail or wheel-road adhesion when cornering, reducing the risk of vehicle skidding or derailment;

[0084] 3. It can reduce the super-elevation design of the line's bend section, thus reducing the difficulty and cost of line construction;

[0085] 4. Vehicle cornering control is matched to vehicle speed, increasing vehicle controllability and reducing the difficulty of cornering for the driver during manual driving;

[0086] 5. When the vehicle's operating conditions do not meet the cornering requirements, the auxiliary cornering control system will give a warning or change the vehicle's cornering conditions to improve the vehicle's cornering safety.

[0087] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a vehicle assisting cornering system is provided. Figure 4 As shown, the vehicle auxiliary cornering system includes: an auxiliary cornering detection module 1, an auxiliary cornering control module 2 and a vehicle height adjustment module 3. The auxiliary cornering detection module 1 refers to a module that performs multiple detections when the vehicle is cornering, which can realize real-time monitoring of the vehicle's status, thereby achieving accurate data collection and signal feedback. Furthermore, the auxiliary cornering detection module 1 includes: a load detection unit 11, a speed detection unit 12, an inclination detection unit 13, a turning angle detection unit 14, a route detection unit 15 and a road condition detection unit 16. The load detection unit 11, the speed detection unit 12, the inclination detection unit 13, the turning angle detection unit 14, the route detection unit 15 and the road condition detection unit 16 are respectively electrically connected to the auxiliary cornering control module 2. By providing multiple detection units, it is possible to achieve the effect of data collection for various states of the vehicle when cornering, thereby achieving the effect of accurate detection, thereby ensuring the accuracy of data collection.

[0088] The auxiliary cornering control module 2 is a module that controls the actions of other modules to achieve effective control. The vehicle height adjustment module 3 is a module that adjusts the vehicle's height to overcome the centrifugal force of inertia generated when the vehicle corners, thereby ensuring safe cornering. The auxiliary cornering control module 2 is electrically connected to the auxiliary cornering detection module 1 and the vehicle height adjustment module 3. By electrically connecting the modules, electrical signals can be transmitted between the modules, thereby achieving a coordinated control effect between the modules.

[0089] The auxiliary cornering detection module 1 detects the vehicle cornering signal and feeds the signal back to the auxiliary cornering control module 2. The auxiliary cornering control module 2 processes the electrical signal fed back by the auxiliary cornering detection module 1 and generates a control signal. The control signal controls the vehicle height adjustment module 3 to adjust the inclination angle between the vehicle chassis 31 and the wheelset frame 32 when the vehicle corners. The auxiliary cornering detection module 1 collects information such as the vehicle's speed, inclination, and angle when the vehicle corners and feeds the collected signal back to the auxiliary cornering control module 2. The auxiliary cornering control module 2 processes the vehicle cornering signal collected by the auxiliary cornering detection module 1 to produce a result, such as a speed signal or an angle signal, and generates a control signal to control the vehicle height adjustment module 3 to adjust the inclination angle between the vehicle chassis 31 and the wheelset frame 32 when the vehicle corners, thereby achieving an assisted cornering effect for the vehicle and ensuring safe cornering.

[0090] From the above description, it can be seen that this application achieves the following technical effects:

[0091] In an embodiment of the present application, an auxiliary cornering control method is adopted, in which the auxiliary cornering detection module 1 detects the vehicle cornering signal and feeds the signal back to the auxiliary cornering control module 2, and the auxiliary cornering control module 2 processes and generates a control signal according to the electrical signal fed back by the auxiliary cornering detection module 1, and controls the vehicle height adjustment module 3 through the control signal to adjust the inclination angle of the vehicle chassis 31 and the wheelset frame 32 when the vehicle is cornering, thereby achieving the purpose of adjusting the inclination angle of the vehicle chassis 31 and the wheelset frame 32 when the vehicle is cornering, thereby achieving the technical effect of providing centripetal force to overcome the inertial centrifugal force, and thus achieving the technical effect of improving the vehicle cornering safety factor, thereby solving the technical problem that when the vehicle is cornering, although the road surface of some lines at the bend is designed to be super-high on one side, which can provide partial centripetal force, it still cannot match the vehicle speed, thereby causing skidding or derailment accidents due to inertial centrifugal force.

[0092] Furthermore, the system includes a warning module 4 configured to output an audible or visual warning signal. The warning module 4 is electrically connected to the auxiliary cornering control module 2. The presence of the warning module 4 enables the issuance of a warning signal. Preferably, the warning signal can be output as an audible or visual warning signal to the warning system, enabling multiple options for achieving diverse warning functions.

[0093] Furthermore, it also includes: a vehicle cornering mode selection module 5, which is used to select the vehicle cornering mode, and the vehicle cornering mode selection module 5 is electrically connected to the auxiliary cornering control module 2. The vehicle cornering mode is selected according to the calculation results of the auxiliary cornering control module 2, so as to achieve a cornering method that is more in line with the actual situation, thereby ensuring the safety of cornering. Furthermore, the vehicle cornering mode selection module 5 includes: a vehicle control unit 51 and a signal output unit 52. Specifically, based on the calculation results of the auxiliary cornering control module 2, the autonomous driving vehicle can choose to output the vehicle speed limit or increase the vehicle cornering radius requirement to the vehicle control system or signal system, thereby achieving the effect of multiple mode selection.

[0094] like Figure 5 As shown, the vehicle height adjustment module 3 includes: a horizontally arranged vehicle underframe 31, a central traction device 38 is provided at the bottom center of the vehicle underframe 31, a wheelset frame 32 is provided at the bottom of the central traction device 38, and elastic components 33 are symmetrically provided between the vehicle underframe 31 and the wheelset frame 32. A height control component 34 is also provided at the bottom of the vehicle underframe 31, one end of the height control component 34 is connected to the bottom of the vehicle underframe 31, and the other end is connected to the wheelset frame 32. The height control component 34 is electrically connected to the auxiliary cornering control module 2; the action of the elastic component 33 is controlled by the height control component 34 to assist in adjusting the distance between the vehicle underframe 31 and the wheelset frame 32 when cornering.

[0095] Specifically, the vehicle underframe 31 refers to the vehicle's bottom bracket, ensuring excellent bottom fixation and support, thereby achieving a good accommodation. A central traction device 38 is located at the center of the underframe 31. This device connects the vehicle body and bogie, enabling flexible rotation of the bogie relative to the vehicle body, transmitting traction and braking forces. It also allows for flexible vertical and lateral movement of the secondary springs, providing appropriate longitudinal and lateral elasticity to dampen longitudinal and lateral impact vibrations of the bogie, thereby achieving excellent traction and connection. A wheelset frame 32 is located at the bottom of the central traction device 38, ensuring excellent connection and fixation, while also providing space for wheel fixation and installation. Elastic components 33 are symmetrically located between the vehicle underframe 31 and the wheelset frame 32. These components include, but are not limited to, air springs. The height of the vehicle underframe 31 is adjusted by controlling the inflation and deflation of the air springs. Preferably, the elastic component 33 can be replaced with an actuator with telescopic functionality, such as a hydraulic cylinder, enabling a variety of options. A height control component 34 is also provided at the bottom of the vehicle underframe 31. One end of the height control component 34 is connected to the bottom of the vehicle underframe 31, and the other end is connected to the wheelset frame 32. The height control component 34 is electrically connected to the auxiliary cornering control module 2. The height control component 34 controls the movement of the elastic component 33 to assist in adjusting the distance between the vehicle underframe 31 and the wheelset frame 32 during cornering. By providing the height control component 34, a height control effect can be achieved, thereby controlling the movement of the elastic component 33, and then adjusting the distance between the vehicle underframe 31 and the wheelset frame 32 during cornering, ultimately achieving the effect of adjusting the vehicle's center of gravity to improve the safety of the vehicle during cornering. Preferably, the height control component 34 can be a height control valve or a sensor and solenoid valve with a height detection function. This can achieve a good height control effect. The height control valve is mounted on the vehicle underframe 31, with the other end of its horizontal rod connected to the wheelset frame 32. It detects the distance between the vehicle underframe 31 and the wheelset frame 32 and provides feedback to the cornering control system. The height control valve is a solenoid-controlled on / off valve that controls the inflation and deflation of an air spring, adjusting the gap between the vehicle underframe 31 and the wheelset frame 32 during cornering.

[0096] Furthermore, the speed detection unit 12 includes a speed sensor 36, which is disposed near the wheel axle of the wheelset frame 32 and is used to detect the vehicle's cornering speed. The speed sensor 36 enables accurate detection of the vehicle's speed, thereby providing accurate speed data feedback.

[0097] Furthermore, the tilt detection unit 13 includes a tilt sensor 35, which is provided on the vehicle chassis 31 and is used to detect the angle between the vehicle chassis 31 and the horizontal plane. The provision of the tilt sensor 35 enables the acquisition and detection of the angle between the vehicle chassis 31 and the horizontal plane, thereby achieving good tilt detection and signal acquisition effects.

[0098] Furthermore, the turning angle detection unit 14 includes an angle sensor 37, which is disposed between the wheelset frame 32 and the central traction device 38 and is used to detect the turning angle of the wheelset frame 32 relative to the vehicle chassis 31. The angle sensor 37 enables detection of the turning angle of the wheelset frame 32 relative to the vehicle chassis 31, thereby achieving excellent turning angle detection and signal collection effects, and further enabling detection of the vehicle's turning start and end points and actual turning angle.

[0099] Furthermore, the load detection unit 11 includes a pressure sensor electrically connected to the auxiliary cornering control module 2 for detecting the air pressure of the elastic component 33 and capturing load information before the vehicle enters a corner. This enables effective load detection, collection, and feedback, thereby obtaining accurate load values. The location of the pressure sensor is not critical; it only requires that pressure detection and interference prevention are achieved.

[0100] Furthermore, the route detection unit 15 is composed of a light sensor or other sensor or a combination of multiple sensors, which is used to provide the available adhesion between the wheel and the rail surface or the wheel and the road surface. Furthermore, the available adhesion between the vehicle wheel and the rail surface or the wheel and the road surface can also be provided by a signal system or set to a fixed value.

[0101] Furthermore, the road condition detection unit 16 is composed of a light sensor or other sensors or a combination of multiple sensors, and is used to provide the maximum and minimum turning radius of the route available to the vehicle.

[0102] The working principle of the present invention is as follows:

[0103] When the vehicle enters a curve, the Assisted Cornering Control Module calculates and verifies the vehicle's inclination angle based on input from the Assisted Cornering Detection Module. If the required inclination angle is met, the Vehicle Height Adjustment Module controls the vehicle's underframe and wheelset structure to adjust the inclination angle, ensuring safe cornering. If the required inclination angle is not met, the autonomous vehicle can request a speed limit or increase the cornering radius to the vehicle control system or signaling system. A manually driven vehicle can send an audible or visual warning signal to the warning system.

[0104] After the vehicle turns, the auxiliary cornering control system returns to the normal driving state of the vehicle.

[0105] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the scope of protection of the present invention.

Claims

1. Vehicle assisted cornering system, characterized in that: include: Auxiliary cornering detection module, auxiliary cornering control module and vehicle height adjustment module, The auxiliary cornering control module is electrically connected to the auxiliary cornering detection module and the vehicle height adjustment module respectively; The auxiliary cornering detection module detects a vehicle cornering signal and feeds the signal back to the auxiliary cornering control module. The auxiliary cornering control module processes the electrical signal fed back by the auxiliary cornering detection module and generates a control signal. The vehicle height adjustment module is controlled by the control signal to adjust the inclination angle of the vehicle underframe and the wheelset frame when the vehicle corners. The auxiliary cornering detection module includes: a load detection unit, a speed detection unit, a tilt detection unit, a turning angle detection unit, a route detection unit, and a road condition detection unit, wherein the load detection unit, the speed detection unit, the tilt detection unit, the turning angle detection unit, the route detection unit, and the road condition detection unit are electrically connected to the auxiliary cornering control module respectively; The system further includes: a vehicle cornering mode selection module, configured to select a vehicle cornering mode, wherein the vehicle cornering mode selection module is electrically connected to the auxiliary cornering control module; The vehicle height adjustment module includes: a horizontally arranged vehicle underframe, a central traction device provided at the center of the bottom of the vehicle underframe, a wheelset frame provided at the bottom of the central traction device, elastic components symmetrically provided between the vehicle underframe and the wheelset frame, a height control component provided at the bottom of the vehicle underframe, one end of the height control component connected to the bottom of the vehicle underframe and the other end connected to the wheelset frame, and the height control component is electrically connected to the auxiliary cornering control module; The movement of the elastic component is controlled by the height control component to assist in adjusting the distance between the vehicle underframe and the wheelset frame when cornering.

2. The vehicle cornering assistance system according to claim 1, characterized in that: Also includes: The warning module is used to output a sound or light warning signal, and the warning module is electrically connected to the auxiliary cornering control module.

3. The vehicle cornering assistance system according to claim 1, characterized in that: The vehicle cornering mode selection module includes: a vehicle control unit and a signal output unit.

4. The vehicle cornering assistance system according to claim 1, characterized in that: The speed detection unit includes a speed sensor, which is arranged near the wheel axle of the wheelset frame and is used to detect the vehicle's cornering speed.

5. The vehicle cornering assistance system according to claim 1, characterized in that: The tilt detection unit includes a tilt sensor, which is arranged on the vehicle underframe and is used to detect the angle between the vehicle underframe and a horizontal plane.

6. The vehicle cornering assistance system according to claim 1, characterized in that: The rotation angle detection unit includes an angle sensor, which is arranged between the wheelset frame and the central traction device and is used to detect the rotation angle of the wheelset frame relative to the vehicle chassis.

7. The vehicle cornering assistance system according to claim 1, characterized in that: The load detection unit includes a pressure sensor, which is electrically connected to the auxiliary cornering control module and is used to detect the air pressure of the elastic component and lock the load information before the vehicle passes the corner.

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