A safety control system for commercial trailers

Abstract

This invention discloses a safety control system applicable to commercial trailers, belonging to the field of automotive safety. Its purpose is to solve the problems of folding instability and tilting during turning and lane changes in commercial trailers, as well as to avoid potential tire blowouts and brake fade during vehicle operation. This invention employs a multi-modal safety control approach, including a detachable articulated rod and a main controller, as well as an overload warning module, a tilt monitoring module, a tire condition monitoring module, a brake warning module, and a cloud control module connected to the main controller. Through these modules and devices, the vehicle's status is comprehensively monitored, thereby improving the vehicle's driving stability and safety.

Description

Technical Field

[0001] This invention belongs to the field of automotive safety and relates to active safety technology for vehicles. Specifically, it relates to a safety control system applicable to full trailers, used to improve the driving safety and stability of full trailers. Background Technology

[0002] In recent years, with the continuous improvement of highway conditions and the rapid development of the national economy in my country, the production and sales of commercial vehicles, as the main transportation equipment for passenger and freight transport on highways, have increased rapidly. At the same time, commercial trailers, as the main means of road freight transport, have played a significant role in economic consumption and cargo transportation due to their advantages of large transport capacity, low cost, and high efficiency. In recent years, with the ongoing pandemic, freight vehicles, due to their characteristics, have played a crucial role in disaster relief, transporting medical supplies and daily necessities, providing assistance to the fight against the pandemic and alleviating transportation pressure.

[0003] However, due to the inherent characteristics of trailers, such as their large size, poor maneuverability, and heavy curb weight, when vehicles travel at high speeds and with heavy loads, the system becomes unstable during turning and lane changes, easily leading to tipping, instability, and lateral tilting. Overloading also places a significant load on the tires, and a tire blowout could severely impact road safety. Currently available safety control systems for commercial trailers cannot effectively prevent and control potential safety issues such as tipping, tipping, and tire blowouts. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a safety control system suitable for commercial trailers, which can be used to judge, analyze, and provide early warning control for potential risks such as folding, overloading, tilting, and tire and brake risks that may occur during trailer operation.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] A safety control system for commercial trailers, primarily applicable to full trailers, includes: an actively detachable articulated rod, an articulation control module, a main controller, an overload warning module, a roll monitoring module, a tire condition monitoring module, a brake warning module, and a cloud control module.

[0007] The actively detachable articulated rod connects the tractor and trailer. The connection between the articulated rod and the tractor is made by an electric locking mechanism, which has two modes: open and closed. The mode switching is determined by the articulation control module. If the determination result is separation, the system enters the open mode, and the electric locking mechanism opens, separating the articulated rod from the tractor. If the determination result is locking, the electric locking mechanism remains closed, and the tractor and trailer remain connected, which is the closed mode.

[0008] The articulation control module collects the articulation angles of the tractor and trailer, and uses the articulation safety separation model to judge and analyze them to determine whether the actively separable articulation rod is in open or closed mode.

[0009] The main controller is connected and communicates with the overload warning module, the tilt monitoring module, the tire condition monitoring module, the brake warning module, and the cloud control module.

[0010] The overload warning module collects the vertical load of each wheel and calculates the total mass of the vehicle using the vehicle mass calculation formula. If the load exceeds the vehicle load threshold, it issues a warning signal to the driver.

[0011] The roll monitoring module collects vehicle lateral acceleration, tractor roll angle, trailer roll angle, steering wheel angle and vehicle speed, and judges the vehicle roll state according to the roll comprehensive judgment formula and issues a warning signal to the driver.

[0012] The tire condition monitoring module collects data on the vehicle's total mass, ambient temperature, tire pressure of each tire, wheel speed, and tire surface temperature. It quantifies the tire condition using a comprehensive tire warning formula and uses a fuzzy control method to rate the tire risk status, classifying the tire risk status into three levels: normal, medium-risk, and high-risk.

[0013] The brake warning module collects information on the surface temperature of the brake, the total mass of the vehicle, and the wheel speed of each wheel. It then uses a brake warning judgment formula to determine the brake status and promptly issues a warning signal to the driver.

[0014] The cloud control module comprehensively analyzes the overload information, rollover information, high-risk tire status information, and brake danger information uploaded by the vehicle through a cloud analysis model, and then intervenes and controls the vehicle.

[0015] Furthermore, the actively detachable articulated rod includes an electric locking mechanism, an articulation angle sensor, a vehicle speed sensor, and a force sensor; the articulation safety separation model determines whether the actively detachable articulated rod is in an open or closed mode; the electric locking mechanism is installed at the end of the actively detachable articulated rod connected to the tractor; the articulation angle sensor and the force sensor are installed at the connection position between the tractor and the actively detachable articulated rod.

[0016] The specific details of the articulated safe separation model are as follows:

[0017] The hinge angle sensor is responsible for acquiring the angle α between the actively separable hinge rod and the centerline of the tractor; the force sensor is responsible for acquiring the longitudinal force F along the centerline of the tractor between the actively separable hinge rod and the tractor. qy ;

[0018] when or When the actively separable articulated rod enters the open mode, the electric locking mechanism opens, allowing the tractor and trailer to separate.

[0019] In the formula, v is the vehicle speed measured by the vehicle speed sensor;

[0020] η is the maximum separation threshold of the vehicle, which is the threshold for determining whether the actively separable articulated rod enters the open mode;

[0021] When α < -30° or α > 30°, the frequency counting factor K f Add 1, if Then the actively detachable articulated rod enters the open mode, the electric locking mechanism opens, and the tractor and trailer separate, where t is a certain time interval, and f qy The tractor-trailer angle change factor is a value used to determine whether the trailer's swaying frequency is too high and whether to enter the open mode.

[0022] The overload warning module includes vertical force sensors for each wheel and a central display screen for the driver. The vertical force sensors for each wheel are mounted above the suspension on different wheels. For wheels on the same axle, the vertical force sensors are parallel and collinear with the axis of the same axle and are equidistant from the centerline of the vehicle body. This module is responsible for collecting the vertical load F of each wheel. x Where x is the number of each wheel, x = 1, 2, 3, 4...; the overload warning module communicates with the cloud control module and the brake warning module;

[0023] The overload warning module calculates the total vehicle mass using the vehicle mass calculation formula:

[0024]

[0025] In the formula, M is the total mass of the vehicle, in kg;

[0026] t represents the current time.

[0027] F x (t) represents the vertical force of the tire measured by the x-th wheel sensor at time t;

[0028] g is the acceleration due to gravity;

[0029] F x (t+1) represents the tire vertical force measured by the x-th wheel vertical force sensor at time t+1;

[0030] y represents the number of measurements and the time taken by each wheel vertical force sensor;

[0031] F x (t+y) represents the tire vertical force measured by the x-th wheel vertical force sensor at time t+y;

[0032] n is the number of wheels on the vehicle;

[0033] τ is the threshold value of the deviation between the vertical force sensors of each wheel at the current time and the vertical force of each wheel at the next time.

[0034] When M > M lim At that time, the overload warning module transmits the overload information to the cloud control module and the driver's central display screen, wherein M lim The driver's central display screen will play an overload warning animation to alert the driver based on the vehicle's standard full load gross weight.

[0035] The roll monitoring module includes a vehicle lateral acceleration sensor, a tractor roll angle sensor, a trailer roll angle sensor, a steering wheel angle sensor, and a vehicle speed sensor; the tractor roll angle sensor is used to collect the roll angle φ of the tractor body. tra The trailer roll angle sensor is installed at the trailer's center of gravity to collect the trailer's roll angle φ. semi The roll monitoring module communicates with the cloud control module; the roll monitoring module determines the vehicle's roll state using a comprehensive roll judgment formula.

[0036]

[0037] Among them, Ce is the roll index, which is used to determine the overall roll degree of a vehicle;

[0038] ρ1, ρ2, and ρ3 are weighting factors, and appropriate values ​​can be obtained through neural network training;

[0039] a y The lateral acceleration of the vehicle as measured by the vehicle lateral acceleration sensor;

[0040] v is the vehicle speed measured by the vehicle speed sensor;

[0041] g is the acceleration due to gravity;

[0042] δ sw The steering wheel angle is the angle measured by the steering wheel angle sensor.

[0043] When Ce > σ, it is determined that the current vehicle tilt exceeds the maximum tilt threshold, and the vehicle is at risk of rollover. Here, σ is the maximum tilt threshold. The tilt monitoring module transmits the rollover information to the cloud control module and the driver's central display screen. The driver's central display screen plays a tilt warning animation to warn the driver.

[0044] The tire condition monitoring module includes a buzzer, hazard warning lights, a driver's central display screen, a tire surface temperature sensor, tire pressure sensors for each tire, wheel speed sensors for each wheel, and an ambient temperature sensor.

[0045] The tire warning module predicts the tire risk coefficient using a comprehensive tire warning formula.

[0046]

[0047] Where CL is the tire risk factor, used to determine the tire condition; T i The ambient temperature measured by the ambient temperature sensor mentioned in the complaint; T tire v is the tire surface temperature measured by the tire surface temperature sensor. i The wheel speeds of the vehicles are measured by the wheel speed sensors of different wheel numbers; p i The tire pressure of each wheel is measured by the tire pressure sensor of the vehicle.

[0048] The tire warning module uses a fuzzy control method to rate tire risk.

[0049] The fuzzy control method takes the tire risk coefficient as input, and its fuzzy subset is defined as TD={LL,MM,HH}, i.e. {low, medium, high}, CC={LL,MM,HH}, i.e. {low, medium, high}. The output is the tire risk assessment level, and its fuzzy set is defined as E={LL,MM,HH}, i.e. {normal state, medium risk state, high risk state}. Where TD is the tire risk coefficient, CC is the rate of change of CL, and E is the tire risk assessment level.

[0050] The fuzzy control rules are as follows:

[0051]

[0052] When the tire condition monitoring module determines that the tire risk level reaches a medium risk level, the driver's central display screen will display a corresponding warning animation and show the medium risk level on the screen; when the tire condition monitoring module determines that the tire risk level is high risk level, the driver's central display screen will display a corresponding warning animation and show the high risk level on the screen, the buzzer will sound, the hazard warning light will flash, and the high risk tire status information will be transmitted to the cloud control module.

[0053] The brake warning module includes a brake surface temperature sensor and wheel speed sensors for each wheel of the vehicle; the brake surface temperature sensor is installed on the brake surface to measure the brake surface temperature; the brake warning module communicates with the overload warning module and the cloud control module.

[0054] The brake warning module determines the brake's state using a brake warning judgment formula:

[0055]

[0056] Wherein, Zd is the brake state coefficient, used to determine the state of the brake;

[0057] c1 and c2 are braking warning weight coefficients, which can be obtained by training a neural network.

[0058] T Zd The brake surface temperature is measured by the brake surface temperature sensor.

[0059] M represents the total mass of the vehicle, which is transmitted by the overload warning module.

[0060] v i (t) represents the wheel speed of the i-th wheel as measured by the vehicle wheel speed sensor at the current moment;

[0061] v i (t-1) represents the wheel speed of the i-th wheel as measured by the vehicle wheel speed sensor at the previous moment;

[0062] When Zd > κ and the duration exceeds 5s, the brake is determined to be in a dangerous state. The brake warning module communicates with the cloud control module to transmit the brake danger information to the cloud control module and send the brake danger information to the driver's central display screen. The driver's central display screen will play a brake warning animation to warn the driver.

[0063] The cloud control module includes a data sending and receiving device and a cloud server; the cloud control module communicates with the overload warning module, the roll monitoring module, the tire condition monitoring module, and the brake warning module; the data sending and receiving device sends the overload information, roll information, tire high-risk status information, and brake danger information collected by the cloud control module from the overload warning module, the roll monitoring module, the tire condition monitoring module, and the brake warning module to the cloud server, and judges the current vehicle condition through the cloud analysis model, sends the result to the current vehicle, and is received by the data sending and receiving device;

[0064] The cloud-based analytics model:

[0065] When the cloud server receives the overload warning module information sent by the data sending and receiving device, the cloud server immediately sends T lim1 A countdown warning signal is sent to the vehicle, and the driver is warned on the central display screen to stop at a suitable location as soon as possible. lim1 When the countdown reaches 0, the cloud server will send a speed limit signal to the current vehicle based on the minimum speed limit and traffic flow information of the road segment where the vehicle is located, using big data analysis. The data sending and receiving device will then receive the command, ensuring that v < v lim1 T lim1 The countdown time sent by the cloud server, v is the vehicle speed measured by the vehicle speed sensor, v lim1 The maximum speed threshold sent by the cloud server to the current vehicle;

[0066] When the cloud server receives rollover information from the rollover monitoring module sent by the data sending and receiving device, the cloud server will send a speed limit signal to the vehicle based on the minimum speed limit and traffic flow information of the current road segment through big data analysis. The data sending and receiving device will then receive the command, ensuring that v < v lim2 Where v is the vehicle speed measured by the vehicle speed sensor, v lim2 The maximum speed threshold sent by the cloud server to the current vehicle;

[0067] When the cloud server receives the high-risk tire status information from the tire condition monitoring module sent by the data sending and receiving device, the cloud server immediately sends T lim2 The countdown warning signal will appear when the vehicle stops, alerting the driver to move to a suitable location as soon as possible. lim2When the countdown reaches 0, the cloud server will send a speed limit signal to the current vehicle based on the minimum speed limit and traffic flow information of the road segment where the vehicle is located, using big data analysis. The data sending and receiving device will then receive the command, ensuring that v < v lim3 T lim2 The countdown time sent by the cloud server; v is the vehicle speed measured by the vehicle speed sensor. lim3 The maximum speed threshold sent by the cloud server to the current vehicle;

[0068] When the cloud server receives brake hazard information from the brake warning module sent by the data sending and receiving device, the cloud server will send a speed limit signal to the vehicle based on the minimum speed limit and traffic flow information of the current road segment through big data analysis. The data sending and receiving device will then receive the command, ensuring that v < v lim4 Where v is the vehicle speed measured by the vehicle speed sensor, v lim4 The maximum speed threshold sent to the current vehicle by the cloud server. Attached Figure Description

[0069] Figure 1 This is a structural schematic diagram of the commercial trailer of the present invention.

[0070] Figure 2 This is a schematic diagram of the structure of the actively detachable hinge rod of the present invention.

[0071] Figure 3 This is a schematic diagram of the safety control system proposed in this invention.

[0072] Figure 4 This is a flowchart illustrating the workflow of the cloud analytics model in the cloud analytics module of the present invention. Detailed Implementation

[0073] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0074] See Figure 1 , Figure 1 The diagram shows the structure of the commercial trailer of the present invention. The articulated rod, which can be actively separated, connects the tractor and the trailer. The connection between the articulated rod and the tractor is made by an electric locking mechanism. The electric locking mechanism has two modes: open and closed. The switching of modes is determined by the articulation control module. If the determination result is separation, the trailer enters the open mode, the electric locking mechanism opens, and the articulated rod is separated from the tractor. If the determination result is locking, the electric locking mechanism remains closed, and the tractor and the trailer remain connected, which is the closed mode.

[0075] See Figure 2 , Figure 2 This is a schematic diagram of the structure of the actively separable hinge rod of the present invention. The actively separable hinge rod consists of an electric locking mechanism, a hinge device, a hinge rod, a hinge angle sensor, and a force sensor. The hinge safety separation model determines whether the actively separable hinge rod is in an open or closed mode.

[0076] The articulated safety separation model uses a vehicle speed sensor, an articulation angle sensor, and a force sensor to detect the state parameters of the vehicle and the actively separable articulated rod. The articulation angle sensor is responsible for collecting the angle α between the actively separable articulated rod and the centerline of the tractor. The force sensor is responsible for collecting the longitudinal force F between the actively separable articulated rod and the tractor along the centerline of the tractor. qy ;

[0077] when or When the actively separable articulated rod enters the open mode, the electric locking mechanism opens, causing the tractor and trailer to separate, where v is the vehicle speed measured by the vehicle speed sensor, η is the maximum separation threshold of the vehicle, and is the judgment threshold for determining that the actively separable articulated rod enters the open mode.

[0078] When α < -30° or α > 30°, the frequency counting factor K f Add 1, if The actively detachable articulated rod then enters the open mode, and the electric locking mechanism opens, causing the tractor and trailer to separate; where t is a certain time interval; f qy The tractor-trailer angle change factor is a value used to determine whether the trailer's swaying frequency is too high and whether to enter the open mode.

[0079] See Figure 3 , Figure 3This is a schematic diagram of the safety control system proposed in this invention. The entire system includes a main controller, and overload warning module, roll monitoring module, tire condition monitoring module, brake warning module, and cloud control module, all connected to the main controller. The overload warning module collects the vertical load of each wheel and calculates the vehicle mass using a vehicle mass calculation formula. If the load exceeds the vehicle's load threshold, it issues a warning signal to the driver. The roll monitoring module collects the vehicle's lateral acceleration, tractor roll angle, trailer roll angle, steering wheel angle, and vehicle speed, and determines the vehicle's roll state according to a comprehensive roll judgment formula, issuing a warning signal to the driver. The tire condition monitoring module collects the vehicle's total mass, ambient temperature, tire pressure of each tire, wheel speed, and tire surface temperature. It quantifies the tire condition using a comprehensive tire warning formula and uses fuzzy control to rate the tire risk state, classifying it into three levels: normal, medium risk, and... The system includes a brake warning module, which collects information on brake surface temperature, vehicle weight, and wheel speed, and uses a brake warning judgment formula to determine the brake status and issue timely warning signals to the driver. The cloud control module analyzes the overload status, tire status, rollover status, and brake status uploaded by the vehicle using a cloud analysis model, and intervenes to control the vehicle. Simultaneously, the overload warning module, rollover monitoring module, tire status monitoring module, and brake warning module communicate with the cloud control module, transmitting overload information, rollover information, high-risk tire status information, and brake hazard information to the cloud control module. The overload warning module also communicates with the brake warning module. The entire system also includes an articulation control module, which collects the tractor-trailer articulation angle and vehicle tire pressure signals, and uses an articulation safety separation model to determine whether actively separable articulation rods should separate.

[0080] The overload warning module includes vertical force sensors for each wheel and a central display screen for the driver. The vertical force sensors for each wheel are mounted above the suspension on different wheels. For wheels on the same axle, the vertical force sensors are parallel and collinear with the axis of the same axle and are equidistant from the vehicle's centerline. They are responsible for collecting the vertical load F of each wheel. x Where x is the wheel number, x = 1, 2, 3, 4..., the overload warning module communicates with the cloud control module and the brake warning module, and calculates the total vehicle mass using the vehicle mass calculation formula:

[0081]

[0082] Where M is the total mass of the vehicle, in kg;

[0083] t represents the current time.

[0084] F x (t) represents the vertical force of the tire measured by the x-th wheel sensor at time t;

[0085] g is the acceleration due to gravity;

[0086] F x (t+1) represents the tire vertical force measured by the x-th wheel vertical force sensor at time t+1;

[0087] y represents the number of measurements and the time taken by each wheel vertical force sensor;

[0088] F x (t+y) represents the tire vertical force measured by the x-th wheel vertical force sensor at time t+y;

[0089] n is the number of wheels on the vehicle;

[0090] τ is the threshold value of the deviation between the vertical force sensors of each wheel at the current time and the vertical force of each wheel at the next time.

[0091] When M > M lim At that time, the overload warning module transmits the overload information to the cloud control module and the driver's central display screen, wherein M lim The standard full load gross weight of the vehicle; the driver's central display screen will play an overload warning animation to warn the driver.

[0092] The roll monitoring module includes a vehicle lateral acceleration sensor, a tractor roll angle sensor, a trailer roll angle sensor, a steering wheel angle sensor, and a vehicle speed sensor; the tractor roll angle sensor is used to collect the roll angle φ of the tractor body. tra The trailer roll angle sensor is installed at the trailer's center of gravity to collect the trailer's roll angle φ. semi The roll monitoring module communicates with the cloud control module; the roll monitoring module determines the vehicle's roll state using a comprehensive roll judgment formula.

[0093]

[0094] Among them, Ce is the roll index, which is used to determine the overall roll degree of a vehicle;

[0095] ρ1, ρ2, and ρ3 are weighting factors, and appropriate values ​​can be obtained through neural network training;

[0096] a y The lateral acceleration of the vehicle as measured by the vehicle lateral acceleration sensor;

[0097] v is the vehicle speed measured by the vehicle speed sensor;

[0098] g is the acceleration due to gravity;

[0099] δ sw The steering wheel angle is the angle measured by the steering wheel angle sensor.

[0100] When Ce > σ, it is determined that the current vehicle tilt exceeds the maximum tilt threshold, and the vehicle is at risk of rollover. Here, σ is the maximum tilt threshold. The tilt monitoring module transmits the rollover information to the cloud control module and the driver's central display screen. The driver's central display screen plays a tilt warning animation to warn the driver.

[0101] The tire condition monitoring module includes a buzzer, hazard warning lights, driver's central display screen, tire surface temperature sensor, tire pressure sensors for each tire, wheel speed sensors for each wheel, and ambient temperature sensor.

[0102] The tire warning module predicts the tire risk coefficient using a comprehensive tire warning formula.

[0103]

[0104] Where CL is the tire risk factor, used to determine the tire condition; T i The ambient temperature measured by the ambient temperature sensor mentioned in the complaint; T tire v is the tire surface temperature measured by the tire surface temperature sensor. i The wheel speeds of the vehicles are measured by the wheel speed sensors of different wheel numbers; p i The tire pressure of each wheel is measured by the tire pressure sensor of the vehicle.

[0105] The tire warning module uses a fuzzy control method to rate tire risk.

[0106] The fuzzy control method takes the tire risk coefficient as input, and its fuzzy subset is defined as TD={LL,MM,HH}, i.e. {low, medium, high}, CC={LL,MM,HH}, i.e. {low, medium, high}. The output is the tire risk assessment level, and its fuzzy set is defined as E={LL,MM,HH}, i.e. {normal state, medium risk state, high risk state}. Where TD is the tire risk coefficient, CC is the rate of change of CL, and E is the tire risk assessment level.

[0107] The fuzzy control rules are as follows:

[0108]

[0109] When the tire condition monitoring module determines that the tire risk level reaches a medium risk level, the driver's central display screen will display a corresponding warning animation and show the medium risk level on the screen; when the tire condition monitoring module determines that the tire risk level is high risk level, the driver's central display screen will display a corresponding warning animation and show the high risk level on the screen, the buzzer will sound, the hazard warning light will flash, and the high risk tire status information will be transmitted to the cloud control module.

[0110] The brake warning module includes a brake surface temperature sensor and wheel speed sensors for each wheel of the vehicle; the brake surface temperature sensor is installed on the brake surface to measure the brake surface temperature; the brake warning module communicates with the overload warning module and the cloud control module.

[0111] The brake warning module determines the brake's state using a brake warning judgment formula:

[0112]

[0113] Wherein, Zd is the brake state coefficient, used to determine the state of the brake;

[0114] c1 and c2 are braking warning weight coefficients, which can be obtained by training a neural network.

[0115] T Zd The brake surface temperature is measured by the brake surface temperature sensor.

[0116] M represents the total mass of the vehicle, which is transmitted by the overload warning module.

[0117] v i (t) represents the wheel speed of the i-th wheel as measured by the wheel speed sensors of the vehicle at the current moment;

[0118] v i (t-1) represents the wheel speed of the i-th wheel as measured by the wheel speed sensors of each wheel of the vehicle at the previous moment;

[0119] When Zd > κ and the duration exceeds 5s, the brake is determined to be in a dangerous state. The brake warning module communicates with the cloud control module to transmit the brake danger information to the cloud control module and send the brake danger information to the driver's central display screen. The driver's central display screen will play a brake warning animation to warn the driver.

[0120] See Figure 4 , Figure 4 This is a flowchart of the cloud analysis model in the cloud analysis module of the present invention. The cloud analysis model is shown below:

[0121] When the cloud server receives the overload warning module information sent by the data sending and receiving device, the cloud server immediately sends T lim1 A countdown warning signal is sent to the vehicle, and the driver is warned on the central display screen to stop at a suitable location as soon as possible. lim1 When the countdown reaches 0, the cloud server will send a speed limit signal to the current vehicle based on the minimum speed limit and traffic flow information of the road segment where the vehicle is located, using big data analysis. The data sending and receiving device will then receive the command, ensuring that v < v lim1 T lim1 The countdown time sent by the cloud server, v is the vehicle speed measured by the vehicle speed sensor, v lim1 The maximum speed threshold sent by the cloud server to the current vehicle;

[0122] When the cloud server receives rollover information from the rollover monitoring module sent by the data sending and receiving device, the cloud server will send a speed limit signal to the vehicle based on the minimum speed limit and traffic flow information of the current road segment through big data analysis. The data sending and receiving device will then receive the command, ensuring that v < v lim2 Where v is the vehicle speed measured by the vehicle speed sensor, v lim2 The maximum speed threshold sent by the cloud server to the current vehicle;

[0123] When the cloud server receives the high-risk tire status information from the tire condition monitoring module sent by the data sending and receiving device, the cloud server immediately sends T lim2 The countdown warning signal will appear when the vehicle stops, alerting the driver to move to a suitable location as soon as possible. lim2 When the countdown reaches 0, the cloud server will send a speed limit signal to the current vehicle based on the minimum speed limit and traffic flow information of the road segment where the vehicle is located, using big data analysis. The data sending and receiving device will then receive the command, ensuring that v < v lim3 T lim2 The countdown time sent by the cloud server; v is the vehicle speed measured by the vehicle speed sensor. lim3 The maximum speed threshold sent by the cloud server to the current vehicle;

[0124] When the cloud server receives brake hazard information from the brake warning module sent by the data sending and receiving device, the cloud server will send a speed limit signal to the vehicle based on the minimum speed limit and traffic flow information of the current road segment through big data analysis. The data sending and receiving device will then receive the command, ensuring that v < v lim4 Where v is the vehicle speed measured by the vehicle speed sensor, v lim4 The maximum speed threshold sent to the current vehicle by the cloud server.

[0125] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make several improvements and equivalent substitutions without departing from the principles of the present invention, and these improvements and equivalent substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A safety control system suitable for commercial trailers, characterized in that: This safety control system is applicable to full trailers and includes an actively detachable articulated bar, an articulation control module, a main controller, an overload warning module, a roll monitoring module, a tire condition monitoring module, a brake warning module, and a cloud control module. The actively detachable articulated rod connects the tractor and trailer. The connection between the articulated rod and the tractor is made by an electric locking mechanism, which has two modes: open and closed. The mode switching is determined by the articulation control module. If the determination result is separation, the system enters the open mode, and the electric locking mechanism opens, separating the articulated rod from the tractor. If the determination result is locking, the electric locking mechanism remains closed, and the tractor and trailer remain connected, which is the closed mode. The articulation control module collects the articulation angles of the tractor and trailer, and uses the articulation safety separation model to judge and analyze them to determine whether the actively separable articulation rod is in open or closed mode. The main controller is connected and communicates with the overload warning module, the tilt monitoring module, the tire condition monitoring module, the brake warning module, and the cloud control module. The overload warning module collects the vertical load of each wheel and calculates the total mass of the vehicle using the vehicle mass calculation formula. If the load exceeds the vehicle load threshold, it issues a warning signal to the driver. The roll monitoring module collects vehicle lateral acceleration, tractor roll angle, trailer roll angle, steering wheel angle and vehicle speed, and judges the vehicle roll state according to the roll comprehensive judgment formula and issues a warning signal to the driver. The tire condition monitoring module collects data on the vehicle's total mass, ambient temperature, tire pressure of each tire, wheel speed, and tire surface temperature. It quantifies the tire condition using a comprehensive tire warning formula and uses a fuzzy control method to rate the tire risk status, classifying the tire risk status into three levels: normal, medium-risk, and high-risk. The brake warning module collects information on the surface temperature of the brake, the total mass of the vehicle, and the wheel speed of each wheel. It then uses a brake warning judgment formula to determine the brake status and promptly issues a warning signal to the driver. The cloud control module comprehensively analyzes the overload information, rollover information, tire high-risk status information and brake danger information uploaded by the vehicle through a cloud analysis model, and then intervenes and controls the vehicle. The actively detachable articulated rod includes an electric locking mechanism, an articulation angle sensor, a vehicle speed sensor, an articulation device, and a force sensor; The hinge safety separation model is used to determine whether the actively separable hinge rod is in an open or closed mode. The electric locking mechanism is installed at the end of the actively detachable articulated rod that is connected to the tractor; the articulation angle sensor and the force sensor are installed at the connection position between the tractor and the actively detachable articulated rod. The specific details of the articulated safe separation model are as follows: The hinge angle sensor is responsible for collecting the angle between the actively detachable hinge rod and the centerline of the tractor. The force sensor is responsible for collecting the longitudinal force along the centerline of the tractor between the actively separable articulated rod and the tractor. ; when or When the actively detachable articulated rod enters the open mode, the electric locking mechanism opens, causing the tractor and trailer to separate. The vehicle speed is the speed measured by the vehicle speed sensor. The maximum separation threshold of the vehicle is the threshold for determining whether the actively detachable articulated rod has entered the open mode. when or At that time, frequency counting factor Add 1, if The actively detachable hinged rod then enters the open mode, and the electric locking mechanism opens, separating the tractor and trailer; wherein For a certain time interval; The tractor-trailer angle change factor is a value used to determine whether the trailer's swaying frequency is too high and whether to enter the open mode.

2. A safety control system for commercial trailers according to claim 1, characterized in that, The overload warning module includes vertical force sensors for each wheel and a central display screen for the driver. The vertical force sensors for each wheel are mounted above the suspension on different wheels. For wheels on the same axle, the vertical force sensors are parallel and collinear with the axis of the same axle and are equidistant from the centerline of the vehicle body. This module is responsible for collecting the vertical load of each wheel. ,in, These are the markings for each wheel. The overload warning module is communicatively connected to the cloud control module and the brake warning module. The overload warning module calculates the total vehicle mass using the vehicle mass calculation formula: in, The total mass of the vehicle is expressed in units of... ; The current moment; In order to be in The time mentioned above The vertical force of the tire measured by the wheel sensor; It is the acceleration due to gravity; In order to be in The time mentioned above The vertical force of the tire measured by the wheel vertical force sensor; The number of measurements and the time for each wheel's vertical force sensor to continue performing the measurements; In order to be in The time mentioned above The vertical force of the tire measured by the wheel vertical force sensor; The number of wheels on the vehicle; The threshold value is the deviation between the vertical force sensors of each wheel at the current moment and the vertical force of each wheel at the next moment. when At that time, the overload warning module transmits the overload information to the cloud control module and the driver's central display screen, wherein The standard full load gross weight of the vehicle; the driver's central display screen will play an overload warning animation to warn the driver.

3. A safety control system for commercial trailers according to claim 1, characterized in that, The roll monitoring module includes a vehicle lateral acceleration sensor, a tractor roll angle sensor, a trailer roll angle sensor, a steering wheel angle sensor, and a vehicle speed sensor; the tractor roll angle sensor is used to collect the roll angle of the tractor body. The trailer roll angle sensor is installed at the trailer's center of gravity to collect the trailer's roll angle. The roll monitoring module communicates with the cloud control module; the roll monitoring module determines the vehicle's roll state using a comprehensive roll judgment formula. in, The roll index is used to determine the overall roll degree of a vehicle. , and These are weighting factors, and appropriate values ​​can be obtained through neural network training; The lateral acceleration of the vehicle as measured by the vehicle lateral acceleration sensor; The vehicle speed is the speed measured by the vehicle speed sensor. It is the acceleration due to gravity; The steering wheel angle is the angle measured by the steering wheel angle sensor. when If the vehicle's tilt exceeds the maximum tilt threshold, it is determined that the vehicle is at risk of rollover. The maximum roll threshold is set; the rollover monitoring module transmits rollover information to the cloud control module and the driver's central display screen; the driver's central display screen plays a rollover warning animation to warn the driver.

4. A safety control system for commercial trailers according to claim 1, characterized in that, The tire condition monitoring module includes a buzzer, hazard warning lights, a driver's central display screen, a tire surface temperature sensor, tire pressure sensors for each tire, wheel speed sensors for each wheel, and an ambient temperature sensor. The tire warning module predicts the tire risk coefficient using a comprehensive tire warning formula. Where CL is the tire risk coefficient, used to determine the condition of the tire; The ambient temperature measured by the ambient temperature sensor mentioned in the complaint; The tire surface temperature is measured by the tire surface temperature sensor. The wheel speeds of the vehicles are measured by the wheel speed sensors of each wheel, and are labeled with different wheel speeds. The tire pressure of each wheel is measured by the tire pressure sensor of the vehicle. The tire warning module uses a fuzzy control method to rate tire risk. The input of this fuzzy control method is the tire risk coefficient, and its fuzzy subset is defined as TD={L,M,H}, which means {low, medium, high}. The output is the tire risk assessment level, and its fuzzy set is defined as E={L,M,H}, which means {normal state, medium risk state, high risk state}. Where TD is the tire risk coefficient and E is the tire risk assessment level; When the tire condition monitoring module determines that the tire risk level has reached a medium risk state, the driver's central display screen will display a corresponding warning animation and show the medium risk state on the screen; When the tire condition monitoring module determines that the tire is in a high-risk state, the driver's central display screen will show a corresponding warning animation and display the high-risk state on the screen. The buzzer will sound, the hazard warning light will flash, and the high-risk tire state information will be transmitted to the cloud control module.

5. A safety control system for commercial trailers according to claim 1, characterized in that, The brake warning module includes a brake surface temperature sensor and wheel speed sensors for each wheel of the vehicle; the brake surface temperature sensor is installed on the brake surface to measure the brake surface temperature; the brake warning module communicates with the overload warning module and the cloud control module. The brake warning module determines the brake's state using a brake warning judgment formula: in, This is the brake state coefficient, used to determine the state of the brake; and The braking warning weight coefficient can be obtained by training a neural network to obtain the corresponding value; The brake surface temperature is measured by the brake surface temperature sensor. The total mass of the vehicle is transmitted by the overload warning module. The wheel speed of the i-th wheel as measured by the wheel speed sensors of the vehicle at the current moment; The wheel speed of the i-th wheel is measured by the wheel speed sensors of each wheel of the vehicle at the previous moment; when If the warning is maintained for more than 5 seconds, the brake is determined to be in a dangerous state. The brake warning module communicates with the cloud control module to transmit the brake danger information to the cloud control module and send the brake danger information to the driver's central display screen. The driver's central display screen will play a brake warning animation to warn the driver.

6. A safety control system for commercial trailers according to claim 1, characterized in that, The cloud control module includes a data sending and receiving device and a cloud server; the cloud control module communicates with the overload warning module, the roll monitoring module, the tire condition monitoring module, and the brake warning module; the data sending and receiving device sends the overload information, roll information, tire high-risk status information, and brake danger information collected by the cloud control module from the overload warning module, the roll monitoring module, the tire condition monitoring module, and the brake warning module to the cloud server, and judges the current vehicle condition through the cloud analysis model, sends the result to the current vehicle, and is received by the data sending and receiving device; The cloud-based analytics model: When the cloud server receives the overload warning module information sent by the data sending and receiving device, the cloud server immediately sends... A countdown warning signal is sent to the vehicle, and the driver is warned on the central display screen to pull over to a suitable location as soon as possible. When the countdown reaches 0, the cloud server will send a speed limit signal to the vehicle based on the minimum speed limit and traffic flow information of the current road segment using big data analysis. The data sending and receiving device will then receive the command, enabling... ,in The countdown time sent to the cloud server. The vehicle speed is the speed measured by the vehicle speed sensor. The maximum speed threshold sent by the cloud server to the current vehicle; When the cloud server receives rollover information from the rollover monitoring module sent by the data sending and receiving device, the cloud server will send a speed limit signal to the vehicle based on the minimum speed limit and traffic flow information of the current road segment through big data analysis. The data sending and receiving device will then receive the command, enabling... ,in The vehicle speed is the speed measured by the vehicle speed sensor. The maximum speed threshold sent by the cloud server to the current vehicle; When the cloud server receives the high-risk tire status information from the tire condition monitoring module sent by the data sending and receiving device, the cloud server immediately sends... The countdown warning signal indicates that the vehicle has been stopped, alerting the driver to proceed to a suitable location as soon as possible. When the countdown reaches 0, the cloud server will send a speed limit signal to the vehicle based on the minimum speed limit and traffic flow information of the current road segment using big data analysis. The data sending and receiving device will then receive the command, enabling... ,in The countdown time sent to the cloud server; The vehicle speed is the speed measured by the vehicle speed sensor. The maximum speed threshold sent by the cloud server to the current vehicle; When the cloud server receives brake hazard information from the brake warning module sent by the data sending and receiving device, the cloud server will send a speed limit signal to the vehicle based on the minimum speed limit and traffic flow information of the current road segment through big data analysis. The data sending and receiving device will then receive the command, enabling... ,in The vehicle speed is the speed measured by the vehicle speed sensor. The maximum speed threshold sent to the current vehicle by the cloud server.

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