Truck center of gravity deviation warning method and system

Abstract

The present invention discloses a truck center of gravity deviation warning method and system, comprising the following steps: during loading, obtaining the positions of leaf springs at different locations of the truck when unloaded and when loaded, respectively recorded as the unloaded position and the loaded position; obtaining a relative loading displacement based on the unloaded position and the loaded position; obtaining the truck's loaded center of gravity offset, and determining whether the loaded center of gravity offset is within a preset loading center of gravity threshold range; during transportation, when the truck is detected to be traveling on a road surface that meets preset conditions, obtaining the real-time positions of leaf springs at different locations in real time; and obtaining the real-time relative displacement of the leaf springs at different locations relative to the unloaded state based on the real-time positions, obtaining the truck's real-time driving center of gravity offset, and determining whether the real-time driving center of gravity offset is within a preset driving center of gravity threshold range in real time. The present invention achieves the purpose of real-time measurement of the truck's center of gravity offset.

Description

Technical Field

[0001] The present invention relates to the technical field of truck detection, and in particular to a truck center of gravity deviation early warning method and system. Background Art

[0002] In recent years, China's rapid economic growth, accelerated infrastructure construction, and rapidly developing logistics have fueled growing demand for trucks in the domestic market. Trucks, with their high chassis, excellent off-road capabilities, flexible steering, and convenient unloading, are indispensable tools in logistics and transportation. However, a truck's high chassis also results in a high center of gravity and poor stability. This requires drivers to pay close attention to traffic safety and drive cautiously to prevent serious accidents caused by truck rollovers.

[0003] However, for trucks, in addition to the driver's driving awareness and driving habits, which may cause the truck to roll over, the stacking state of the goods when the truck is loaded and the road conditions when the truck is transporting the goods may also cause the truck to roll over. When carrying out logistics transportation, there will be a large number of different goods mixed in the loaded goods. If the goods of different proportions are not placed properly, it may cause the center of gravity of the truck to deviate seriously, so that after the goods are loaded, once the truck is started, it will cause the truck to roll over. In the existing technology, for trucks that have just been loaded with goods, people only weigh the trucks and ignore the measurement of the offset of the center of gravity of the trucks, which greatly increases the probability of the truck rolling over. Specifically, Figure 2 shown.

[0004] Furthermore, while a truck's center of gravity doesn't significantly shift when traveling on normal roads, it can experience significant left-right shifts when encountering uneven surfaces, as the truck's body tilts left and right. Furthermore, when encountering steep uphill or downhill slopes, the truck's body tilts front and back, causing a significant fore-and-aft shift in its center of gravity. Both of these factors can cause the truck to tip over during transportation.

[0005] As can be seen from the above, the prior art lacks a method for measuring the center of gravity offset of a truck, which causes the truck to easily roll over when starting after loading the cargo and during transportation. Summary of the Invention

[0006] In order to overcome the shortcomings of the existing technology, the present invention provides a truck center of gravity deviation warning method and system, which is used to solve the technical problem that the existing technology lacks a method for measuring the center of gravity offset of the truck, resulting in the truck being prone to rollover, thereby achieving the purpose of real-time measurement of the center of gravity offset of the truck.

[0007] In order to solve the above problems, the technical solutions adopted by the present invention are as follows:

[0008] A truck center of gravity deviation warning method includes the following steps:

[0009] During loading, the position of the leaf springs at different positions of the truck when unloaded and their positions relative to the longitudinal load-bearing main beam when loaded are obtained by a sensor device installed on the longitudinal load-bearing main beam of the truck, which are recorded as the unloaded position and the loaded position respectively;

[0010] Obtaining loaded relative displacements of the leaf springs at different positions according to the unloaded position and the loaded position;

[0011] Obtaining a loading center of gravity offset of the truck according to the loading relative displacement, and determining whether the loading center of gravity offset is within a preset loading center of gravity threshold range;

[0012] If not, the warning will remind the driver that the center of gravity is shifted. If so, the driver will be informed that the center of gravity test has passed.

[0013] During transportation, when the road surface detection device on the truck detects that the truck is traveling on a road surface that meets preset conditions, the real-time positions of the leaf springs at different positions relative to the longitudinal load-bearing main beam are obtained in real time;

[0014] and obtaining, based on the real-time position, the real-time relative displacement of the leaf springs at different positions relative to the no-load state, and obtaining the real-time center-of-gravity offset of the truck based on the real-time relative displacement, and determining in real time whether the real-time center-of-gravity offset is within a preset center-of-gravity threshold range;

[0015] If not, the warning will remind the driver that the center of gravity is shifted. If so, the driver will be reminded that the center of gravity test has passed.

[0016] As a preferred embodiment of the present invention, when obtaining the loading center of gravity offset of the truck according to the loading relative displacement, the method includes:

[0017] When unloaded, the positions of the first leaf spring, the second leaf spring, the third leaf spring and the fourth leaf spring relative to the longitudinal load-bearing main beam are respectively recorded as the first unloaded position H 10 , the second no-load position H 20 , the third no-load position H 30 and the fourth unloaded position H 40 ;

[0018] When loading is completed, the positions of the first leaf spring, the second leaf spring, the third leaf spring and the fourth leaf spring relative to the longitudinal load-bearing main beam are respectively recorded as the first loading position H1, the second loading position H2, the third loading position H3 and the fourth loading position H4;

[0019] According to the unloaded position and loaded position, the first loaded relative displacement h1=H1-H is obtained respectively. 10 , the second loading relative displacement h2=H2-H 20 , the third loading relative displacement h3=H3-H 30 And the fourth loading relative displacement h4=H4-H 40 ;

[0020] According to the spring characteristic curve, the load corresponding to the first loading relative displacement h1 is W1, the load corresponding to the second loading relative displacement h2 is W2, the load corresponding to the third loading relative displacement h3 is W3, and the load corresponding to the fourth loading relative displacement h4 is W4.

[0021] The first leaf spring and the third leaf spring are located on the same side, which is recorded as the first side; the second leaf spring and the fourth leaf spring are located on the same side, which is recorded as the second side;

[0022] The first side load is C1=W1+W3, and the second side load is C2=W2+W4;

[0023] The lateral offset of the loading center of gravity is obtained according to the first side load and the second side load, as shown in Formula 1:

[0024]

[0025] Where L1 is the lateral length of the truck, and P1 is the lateral offset of the loaded center of gravity;

[0026] Among them, the leaf springs in different positions include the first leaf spring, the second leaf spring, the third leaf spring and the fourth leaf spring, and the four leaf springs are respectively located on the front left side, the front right side, the rear left side and the rear right side of the truck, and the loading center of gravity offset includes the loading center of gravity lateral offset.

[0027] As a preferred embodiment of the present invention, when obtaining the loading center of gravity offset of the truck according to the loading relative displacement, the method further includes:

[0028] The first leaf spring and the second leaf spring are located at the same end, which is recorded as the first end; the third leaf spring and the fourth leaf spring are located at the same end, which is recorded as the second end;

[0029] The first end load is D1=W1+W2, and the second end load is D2=W3+W4;

[0030] The longitudinal offset of the loading center of gravity is obtained according to the first end load and the second end load, as shown in Formula 2:

[0031]

[0032] Where L2 is the longitudinal length of the truck, and P2 is the longitudinal offset of the loaded center of gravity;

[0033] Wherein, the loading center of gravity offset includes the loading center of gravity longitudinal offset.

[0034] As a preferred embodiment of the present invention, when the road surface detection device detects that the truck is traveling on a road surface that meets preset conditions, the method includes:

[0035] Get the first image m of the binocular camera L and the second image m R , the depth information at the imaging point (x, y) is obtained according to the first image and the second image, as shown in Formula 3:

[0036] s=g1(x,y) (3);

[0037] Where s is the corresponding depth, x, y are the image plane coordinates, x∈(1,A), y∈(1,B), A is the number of pixels in the x direction, and B is the number of pixels in the y direction;

[0038] The projection angle at the imaging point (x, y) is obtained, as shown in Formula 4:

[0039] α=arctan(y / j) (4);

[0040] Wherein, j is the focal length of the binocular camera, and α is the projection angle;

[0041] For a flat road surface, the flat depth of the ground point D corresponding to the imaging point (x, y) is specifically shown in Formula 5:

[0042] X D =h·j / y (5);

[0043] Wherein, h is the height of the binocular camera;

[0044] If the actual depth X>X D , then the road surface at that location is sunken. If the actual depth X<X D , then the road surface is a protrusion at that location. If the actual depth X=X D , the road surface at that location is flat;

[0045] When the actual depth X≠X D When , the road surface roughness is obtained according to the projection angle, flat depth and actual depth at the imaging point (x, y), as shown in Formula 6:

[0046] g2(x,y)=(XX D )·tanα (6);

[0047] determining whether the roughness of the road surface on which the truck is traveling exceeds a threshold; if so, determining that the road surface meets a preset condition;

[0048] The road surface that meets the preset conditions includes a road surface whose unevenness exceeds a threshold value, and the road surface detection device includes the binocular camera.

[0049] As a preferred embodiment of the present invention, when the road surface detection device detects that the truck is traveling on a road surface that meets preset conditions, the method includes:

[0050] Capturing an image of the road ahead of the truck using a binocular camera;

[0051] Performing image processing on the road surface image to obtain a real-time lane line;

[0052] According to the real-time lane line, an instantaneous vanishing point is estimated in real time, and an instantaneous horizontal line is obtained in real time according to the instantaneous vanishing point;

[0053] Obtaining a real-time displacement between the instantaneous horizontal line and a preset reference horizontal line, and obtaining a real-time inclination of the road surface on which the truck is traveling based on the real-time displacement;

[0054] determining whether the real-time inclination exceeds a threshold value, and if so, determining that the driving road surface meets a preset condition;

[0055] The road surface meeting the preset condition includes a road surface whose inclination exceeds a threshold, and the road surface detection device includes the binocular camera.

[0056] As a preferred embodiment of the present invention, when the road surface detection device detects that the truck is traveling on a road surface that meets preset conditions, the present invention further includes:

[0057] First, a reference vanishing point is measured when the truck is evenly loaded and located on an absolute horizontal plane, and the reference vanishing point is continuously collected to establish the reference horizontal line;

[0058] The real-time displacement is the difference between the reference horizontal line and the instantaneous horizontal line. If the real-time displacement is a negative value, it indicates that the truck is located on an uphill section. If the real-time displacement is a positive value, it indicates that the truck is located on a downhill section.

[0059] As a preferred embodiment of the present invention, when obtaining a real-time lane line, it includes:

[0060] Extracting a road surface image from the road surface image, and enhancing edges of each line in the road surface image using a Sobel algorithm that is sensitive to the horizontal direction to obtain enhanced line information;

[0061] Binarizing the enhanced line information, and applying a lane line inner edge extraction algorithm to the binarized line information to extract lane line inner edge points;

[0062] According to the inner edge points of the lane line, the lane line is fitted using Hough transform, and the lane line obtained by fitting is the real-time lane line.

[0063] As a preferred embodiment of the present invention, when determining whether the loading center of gravity offset is within a preset loading center of gravity threshold range, it includes:

[0064] If the lateral offset of the loading center of gravity exceeds the left loading center of gravity threshold edge line or the right loading center of gravity threshold edge line, it is considered that the loading center of gravity offset is not within the preset loading center of gravity threshold range;

[0065] If the longitudinal offset of the loading center of gravity exceeds the upper loading center of gravity threshold boundary or the lower loading center of gravity threshold boundary, it is considered that the loading center of gravity offset is not within the preset loading center of gravity threshold range;

[0066] Among them, the preset loading center of gravity threshold range includes the left loading center of gravity threshold edge line, the right loading center of gravity threshold edge line, the upper loading center of gravity threshold edge line and the lower loading center of gravity threshold edge line. The four loading center of gravity threshold edge lines constitute a first rectangle, and the first rectangle is the preset loading center of gravity threshold range.

[0067] As a preferred embodiment of the present invention, when determining in real time whether the real-time driving center of gravity offset is within a preset driving center of gravity threshold range, the method includes:

[0068] If the real-time lateral offset of the driving center of gravity exceeds the left driving center of gravity threshold edge or the right driving center of gravity threshold edge, it is considered that the real-time driving center of gravity offset is not within the preset driving center of gravity threshold range;

[0069] If the real-time longitudinal offset of the driving center of gravity exceeds the upper driving center of gravity threshold boundary or the lower driving center of gravity threshold boundary, it is considered that the real-time driving center of gravity offset is not within the preset driving center of gravity threshold range;

[0070] Among them, the real-time driving center of gravity offset includes the real-time driving center of gravity lateral offset and the real-time driving center of gravity longitudinal offset, and the preset driving center of gravity threshold range includes the left driving center of gravity threshold edge line, the right driving center of gravity threshold edge line, the upper driving center of gravity threshold edge line and the lower driving center of gravity threshold edge line. The four driving center of gravity threshold edges constitute a second rectangle, and the second rectangle is the preset driving center of gravity threshold range.

[0071] A truck center of gravity deviation warning system, comprising:

[0072] a loading relative displacement acquisition unit configured to acquire, during loading, the positions of leaf springs at different locations of the truck when unloaded and their positions relative to the longitudinal load-bearing main beam when loaded, using a sensor device installed on the truck's longitudinal load-bearing main beam, which are recorded as unloaded positions and loaded positions, respectively; and to obtain the loading relative displacements of the leaf springs at the different locations based on the unloaded positions and the loaded positions;

[0073] A loading center of gravity offset detection unit is configured to obtain the loading center of gravity offset of the truck based on the loading relative displacement, and determine whether the loading center of gravity offset is within a preset loading center of gravity threshold range; if not, an early warning is issued to the driver to indicate that the center of gravity has shifted; if so, an early warning is issued to the driver to indicate that the center of gravity test has passed;

[0074] a real-time relative displacement acquisition unit; configured to acquire, during transportation, the real-time positions of the leaf springs at different positions relative to the longitudinal load-bearing main beam when the road surface detection device on the truck detects that the truck is traveling on a road surface that meets preset conditions; and to acquire, based on the real-time positions, the real-time relative displacements of the leaf springs at different positions relative to an unloaded state;

[0075] Driving center of gravity offset detection unit: used to obtain the real-time driving center of gravity offset of the truck based on the real-time driving relative displacement, and to determine in real time whether the real-time driving center of gravity offset is within the preset driving center of gravity threshold range; if not, an early warning is issued to remind the driver of the center of gravity offset; if so, the driver is prompted that the center of gravity test is qualified.

[0076] Compared with the prior art, the present invention has the following beneficial effects:

[0077] (1) After the truck is loaded with cargo, the present invention can immediately obtain the center of gravity offset of the truck. If the center of gravity offset is found to be outside the preset loading center of gravity threshold range, an early warning will be issued to remind the driver to place the cargo as evenly as possible, thereby effectively preventing the truck from rolling over when starting after the cargo is loaded;

[0078] (2) During the truck transportation process, when the present invention encounters a road surface with a large unevenness or a large inclination, the center of gravity offset of the truck can be continuously obtained in real time. Once it is found that the center of gravity offset is outside the preset driving center of gravity threshold range, an early warning will be issued to remind the driver that the truck is at risk of rollover, so that the driver can take measures such as reducing the speed and stopping the vehicle to improve the driving safety factor and reduce the risk of the truck rollover.

[0079] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 - is a step diagram of a truck center of gravity deviation warning method according to an embodiment of the present invention;

[0081] Figure 2 - is a real-life illustration of a truck rollover accident caused by a severe shift in its center of gravity, as described in the background art of the present invention;

[0082] Figure 3 - is a schematic diagram of the center of gravity threshold range in an embodiment of the present invention. DETAILED DESCRIPTION

[0083] The truck center of gravity deviation warning method provided by the present invention is as follows: Figure 1 As shown, the following steps are included:

[0084] Step S1: During loading, a sensor device installed on the longitudinal load-bearing main beam of the truck is used to obtain the positions of the leaf springs at different locations of the truck when unloaded and their positions relative to the longitudinal load-bearing main beam when loaded, which are recorded as the unloaded position and the loaded position, respectively;

[0085] Step S2: obtaining the loaded relative displacement of the leaf spring at different positions according to the unloaded position and the loaded position;

[0086] Step S3: obtaining the loading center of gravity offset of the truck according to the loading relative displacement, and determining whether the loading center of gravity offset is within a preset loading center of gravity threshold range;

[0087] Step S4: If no, then an early warning is issued to remind the driver that the center of gravity is shifted; if yes, then the driver is reminded that the center of gravity test is passed;

[0088] Step S5: During transportation, when the road surface detection device on the truck detects that the truck is traveling on a road surface that meets the preset conditions, the real-time positions of the leaf springs at different positions relative to the longitudinal load-bearing main beam are obtained in real time;

[0089] Step S6: Based on the real-time position, the real-time relative displacement of the leaf springs at different positions relative to the no-load state is obtained, and the real-time center of gravity offset of the truck is obtained based on the real-time relative displacement, and it is determined in real time whether the real-time center of gravity offset is within a preset center of gravity threshold range;

[0090] Step S7: If not, an early warning is issued to remind the driver that the center of gravity is shifted; if so, the driver is reminded that the center of gravity test is qualified.

[0091] Specifically, the present invention obtains the truck's center of gravity offset in real time as soon as the truck is loaded with cargo, thereby immediately determining whether the truck's center of gravity is still within a safe range, thereby preventing the truck from rolling over and minimizing cargo loss and personal injury. When the road surface detection device on the truck immediately detects that the truck has entered a road surface that meets preset conditions, the present invention immediately and continuously obtains the truck's center of gravity offset in real time, continuously monitoring whether the truck's center of gravity is still within a safe range, thereby immediately reminding the driver to take appropriate measures to improve driving safety and reduce the risk of rollover.

[0092] In the above step S3, when obtaining the loading center of gravity offset of the truck according to the loading relative displacement, it includes:

[0093] When unloaded, the positions of the first leaf spring, the second leaf spring, the third leaf spring and the fourth leaf spring relative to the longitudinal load-bearing main beam are respectively recorded as the first unloaded position H 10 , the second no-load position H 20 , the third no-load position H 30 and the fourth unloaded position H 40 ;

[0094] When loading is completed, the positions of the first leaf spring, the second leaf spring, the third leaf spring, and the fourth leaf spring relative to the longitudinal load-bearing main beam are respectively recorded as the first loading position H1, the second loading position H2, the third loading position H3, and the fourth loading position H4;

[0095] According to the unloaded position and loaded position, the first loaded relative displacement h1=H1-H is obtained respectively. 10 , the second loading relative displacement h2=H2-H 20 , the third loading relative displacement h3=H3-H 30 And the fourth loading relative displacement h4=H4-H 40 ;

[0096] According to the spring characteristic curve, the load corresponding to the first loading relative displacement h1 is W1, the load corresponding to the second loading relative displacement h2 is W2, the load corresponding to the third loading relative displacement h3 is W3, and the load corresponding to the fourth loading relative displacement h4 is W4.

[0097] The first leaf spring and the third leaf spring are located on the same side, which is recorded as the first side; the second leaf spring and the fourth leaf spring are located on the same side, which is recorded as the second side;

[0098] The first side load is C1=W1+W3, and the second side load is C2=W2+W4;

[0099] The lateral offset of the loading center of gravity is obtained according to the first side load and the second side load, as shown in Formula 1:

[0100]

[0101] Where L1 is the lateral length of the truck, and P1 is the lateral offset of the loaded center of gravity;

[0102] Among them, the leaf springs in different positions include a first leaf spring, a second leaf spring, a third leaf spring and a fourth leaf spring. The four leaf springs are respectively located on the front left side, the front right side, the rear left side and the rear right side of the truck. The loading center of gravity offset includes a lateral offset of the loading center of gravity.

[0103] In the above step S3, when obtaining the loading center of gravity offset of the truck according to the loading relative displacement, the following steps are also included:

[0104] The first leaf spring and the second leaf spring are located at the same end, which is recorded as the first end; the third leaf spring and the fourth leaf spring are located at the same end, which is recorded as the second end;

[0105] The load at the first end is D1 = W1 + W2, and the load at the second end is D2 = W3 + W4;

[0106] The longitudinal offset of the loading center of gravity is obtained based on the first end load and the second end load, as shown in Formula 2:

[0107]

[0108] Where L2 is the longitudinal length of the truck and P2 is the longitudinal offset of the loaded center of gravity;

[0109] The loading center of gravity offset includes the loading center of gravity longitudinal offset.

[0110] In the above step S5, when the road surface detection device detects that the truck is traveling on a road surface that meets the preset conditions, the following steps are performed:

[0111] Get the first image m of the binocular cameraL and the second image m R , the depth information at the imaging point (x, y) is obtained according to the first image and the second image, as shown in Formula 3:

[0112] s=g1(x,y) (3);

[0113] Where s is the corresponding depth, x, y are the image plane coordinates, x∈(1,A), y∈(1,B), A is the number of pixels in the x direction, and B is the number of pixels in the y direction;

[0114] Get the projection angle at the imaging point (x, y), as shown in Formula 4:

[0115] α=arctan(y / j) (4);

[0116] Where j is the focal length of the binocular camera, and α is the projection angle;

[0117] For a flat road surface, the flat depth of the ground point D corresponding to the imaging point (x, y) is as shown in Formula 5:

[0118] X D =h·j / y (5);

[0119] Where h is the height of the binocular camera;

[0120] If the actual depth X>X D , then the road surface at that location is sunken. If the actual depth X<X D , then the road surface is a protrusion at that location. If the actual depth X=X D , the road surface at that location is flat;

[0121] When the actual depth X≠X D When , the road surface roughness is obtained according to the projection angle, flat depth and actual depth at the imaging point (x, y), as shown in Formula 6:

[0122] g2(x,y)=(XX D )·tanα (6);

[0123] Determine whether the roughness of the road surface on which the truck is traveling exceeds a threshold. If so, the road surface is deemed to meet the preset conditions.

[0124] The road surface that meets the preset conditions includes a road surface whose unevenness exceeds a threshold value, and the road surface detection device includes a binocular camera.

[0125] Specifically, the present invention uses a binocular camera as a road surface detection device to accurately and in real time capture images of the road surface, thereby obtaining accurate depth information, accurate projection angle, accurate flat depth, and accurate actual depth, and ultimately obtaining accurate road surface roughness, so as to immediately determine whether the truck has entered a road surface that meets the preset conditions, further reducing the risk of the truck rolling over.

[0126] In the above step S5, when the road surface detection device detects that the truck is traveling on a road surface that meets the preset conditions, the following steps are performed:

[0127] The image of the road in front of the truck is collected by a binocular camera;

[0128] Perform image processing on the road surface image to obtain a real-time lane line;

[0129] According to the real-time lane line, an instantaneous vanishing point is estimated in real time, and an instantaneous horizontal line is obtained in real time based on the instantaneous vanishing point;

[0130] Obtaining a real-time displacement between an instantaneous horizontal line and a preset reference horizontal line, and obtaining a real-time inclination of the road surface on which the truck is traveling based on the real-time displacement;

[0131] Determine whether the real-time inclination exceeds a threshold value. If so, the driving road surface is considered to meet the preset conditions.

[0132] The road surface that meets the preset conditions includes a road surface whose inclination exceeds a threshold, and the road surface detection device includes a binocular camera.

[0133] Specifically, the present invention adopts a binocular camera as a road surface detection device to accurately capture the road surface image in front of the truck in real time, and obtains accurate real-time lane lines based on the accurate road surface image, and then obtains accurate instantaneous horizontal lines, and finally obtains accurate real-time inclination, so as to judge at the first time whether the truck has entered a road surface that meets the preset conditions, further reducing the risk of the truck rolling over.

[0134] Furthermore, when the road surface detection device detects that the truck is traveling on a road surface that meets the preset conditions, the method further includes:

[0135] First, a reference vanishing point is measured when the truck is evenly loaded and on an absolute horizontal plane. The reference vanishing points are continuously collected to establish a reference horizontal line.

[0136] The real-time displacement is the difference between the reference horizontal line and the instantaneous horizontal line. If the real-time displacement is a negative value, it means that the truck is on an uphill section. If the real-time displacement is a positive value, it means that the truck is on a downhill section.

[0137] Specifically, when a truck is on an uphill section, the center of gravity will move backward, thereby greatly increasing the risk of the truck rolling over. When the truck is on a downhill section, the center of gravity will move forward, also greatly increasing the risk of the truck rolling over.

[0138] Furthermore, when obtaining a real-time lane line, it includes:

[0139] Extract the road surface image from the road surface image, and use the Sobel algorithm that is sensitive to the horizontal direction to enhance the edge of each line in the road surface image to obtain enhanced line information;

[0140] Binarize the enhanced line information, and use the lane line inner edge extraction algorithm on the binarized line information to extract the lane line inner edge points;

[0141] According to the inner edge points of the lane line, the lane line is fitted using Hough transform, and the fitted lane line is the real-time lane line.

[0142] Specifically, the present invention enhances the edges of each line using the Sobel algorithm to obtain more accurate line information, effectively improving the accuracy of the obtained real-time lane lines. It then uses an edge extraction algorithm to extract edge points within the lane lines and employs a Hough transform to fit the lane lines, further improving the accuracy of the obtained real-time lane lines.

[0143] In the above step S6, when determining whether the load center of gravity offset is within a preset load center of gravity threshold range, it includes:

[0144] If the lateral offset of the loading center of gravity exceeds the left loading center of gravity threshold edge line or the right loading center of gravity threshold edge line, it is considered that the loading center of gravity offset is not within the preset loading center of gravity threshold range;

[0145] If the longitudinal offset of the loading center of gravity exceeds the upper loading center of gravity threshold edge or the lower loading center of gravity threshold edge, it is considered that the loading center of gravity offset is not within the preset loading center of gravity threshold range;

[0146] Among them, the preset loading center of gravity threshold range includes the left loading center of gravity threshold edge line, the right loading center of gravity threshold edge line, the upper loading center of gravity threshold edge line and the lower loading center of gravity threshold edge line. The four loading center of gravity threshold edge lines constitute a first rectangle, and the first rectangle is the preset loading center of gravity threshold range.

[0147] In the above step S6, when determining in real time whether the real-time driving center of gravity offset is within a preset driving center of gravity threshold range, it includes:

[0148] If the real-time driving center of gravity lateral offset exceeds the left driving center of gravity threshold edge or the right driving center of gravity threshold edge, it is considered that the real-time driving center of gravity offset is not within the preset driving center of gravity threshold range;

[0149] If the real-time longitudinal offset of the driving center of gravity exceeds the upper driving center of gravity threshold edge or the lower driving center of gravity threshold edge, it is considered that the real-time driving center of gravity offset is not within the preset driving center of gravity threshold range;

[0150] Among them, the real-time driving center of gravity offset includes the real-time driving center of gravity lateral offset and the real-time driving center of gravity longitudinal offset. The preset driving center of gravity threshold range includes the left driving center of gravity threshold edge line, the right driving center of gravity threshold edge line, the upper driving center of gravity threshold edge line and the lower driving center of gravity threshold edge line. The four driving center of gravity threshold edge lines constitute a second rectangle, and the second rectangle is the preset driving center of gravity threshold range.

[0151] Specifically, if Figure 3 As shown, Figure 3 The single solid-line box represents the preset loading center of gravity threshold range, while the double solid-line box represents the preset driving center of gravity threshold range. As can be seen in the figure, the double solid-line box is larger than the single solid-line box. This is because the preset loading center of gravity threshold range is more stringent. This not only ensures that the truck does not roll over when starting after loading, but also provides a certain degree of rollover resistance when driving on different road conditions. The double solid-line box represents the actual danger boundary value during actual driving. Therefore, the requirements are not as strict as the preset loading center of gravity threshold range, resulting in a larger range.

[0152] The truck center of gravity deviation warning system provided by the present invention includes:

[0153] Loading relative displacement acquisition unit: used to acquire the position of the leaf springs at different positions of the truck when unloaded and their positions relative to the longitudinal load-bearing main beam when loaded, through a sensor device installed on the truck's longitudinal load-bearing main beam during loading, which are recorded as the unloaded position and loaded position respectively; and the loading relative displacement of the leaf springs at different positions is obtained based on the unloaded position and loaded position;

[0154] Loading center of gravity offset detection unit: used to obtain the truck's loading center of gravity offset based on the relative displacement of the load, and determine whether the loading center of gravity offset is within the preset loading center of gravity threshold range; if not, an early warning will be issued to the driver to remind him that the center of gravity has shifted; if so, the driver will be informed that the center of gravity test has passed;

[0155] A real-time relative displacement acquisition unit is used to acquire the real-time position of leaf springs at different locations relative to the longitudinal load-bearing main beam when the road surface detection device on the truck detects that the truck is traveling on a road surface that meets preset conditions during transportation; and based on the real-time position, acquire the real-time relative displacement of the leaf springs at different locations relative to the no-load state;

[0156] Driving center of gravity offset detection unit: used to obtain the real-time driving center of gravity offset of the truck based on the real-time driving relative displacement, and to determine in real time whether the real-time driving center of gravity offset is within the preset driving center of gravity threshold range; if not, an early warning will be issued to remind the driver of the center of gravity offset; if so, the driver will be prompted that the center of gravity test has passed.

[0157] Compared with the prior art, the present invention has the following beneficial effects:

[0158] (1) After the truck is loaded with cargo, the present invention can immediately obtain the center of gravity offset of the truck. If the center of gravity offset is found to be outside the preset loading center of gravity threshold range, an early warning will be issued to remind the driver to place the cargo as evenly as possible, thereby effectively preventing the truck from rolling over when starting after the cargo is loaded;

[0159] (2) During the truck transportation process, when the present invention encounters a road surface with a large unevenness or a large inclination, the center of gravity offset of the truck can be continuously obtained in real time. Once it is found that the center of gravity offset is outside the preset driving center of gravity threshold range, an early warning will be issued to remind the driver that the truck is at risk of rollover, so that the driver can take measures such as reducing the speed and stopping the vehicle to improve the driving safety factor and reduce the risk of the truck rollover.

[0160] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A truck center of gravity deviation warning method, characterized in that: The following steps are involved: During loading, the position of the leaf springs at different positions of the truck when unloaded and their positions relative to the longitudinal load-bearing main beam when loaded are obtained by a sensor device installed on the longitudinal load-bearing main beam of the truck, which are recorded as the unloaded position and the loaded position respectively; Obtaining loaded relative displacements of the leaf springs at different positions according to the unloaded position and the loaded position; Obtaining a loading center of gravity offset of the truck according to the loading relative displacement, and determining whether the loading center of gravity offset is within a preset loading center of gravity threshold range; If not, the warning will remind the driver that the center of gravity is shifted. If so, the driver will be informed that the center of gravity test has passed. During transportation, when the road surface detection device on the truck detects that the truck is traveling on a road surface that meets preset conditions, the real-time positions of the leaf springs at different positions relative to the longitudinal load-bearing main beam are obtained in real time; and obtaining, based on the real-time position, the real-time relative displacement of the leaf springs at different positions relative to the no-load state, and obtaining the real-time center-of-gravity offset of the truck based on the real-time relative displacement, and determining in real time whether the real-time center-of-gravity offset is within a preset center-of-gravity threshold range; If not, the warning will remind the driver that the center of gravity is shifted. If so, the driver will be reminded that the center of gravity test has passed.

2. The truck center of gravity deviation warning method according to claim 1, characterized in that: When obtaining the loading center of gravity offset of the truck according to the loading relative displacement, the method includes: When unloaded, the positions of the first leaf spring, the second leaf spring, the third leaf spring and the fourth leaf spring relative to the longitudinal load-bearing main beam are respectively recorded as the first unloaded position H 10 , the second no-load position H 20 , the third no-load position H 30 and the fourth unloaded position H 40 ; When loading is completed, the positions of the first leaf spring, the second leaf spring, the third leaf spring and the fourth leaf spring relative to the longitudinal load-bearing main beam are respectively recorded as the first loading position H1, the second loading position H2, the third loading position H3 and the fourth loading position H4; According to the unloaded position and loaded position, the first loaded relative displacement h1=H1-H is obtained respectively. 10 , the second loading relative displacement h2=H2-H 20 , the third loading relative displacement h3=H3-H 30 And the fourth loading relative displacement h4=H4-H 40 ; According to the spring characteristic curve, the load corresponding to the first loading relative displacement h1 is W1, the load corresponding to the second loading relative displacement h2 is W2, the load corresponding to the third loading relative displacement h3 is W3, and the load corresponding to the fourth loading relative displacement h4 is W4. The first leaf spring and the third leaf spring are located on the same side, which is recorded as the first side; the second leaf spring and the fourth leaf spring are located on the same side, which is recorded as the second side; The first side load is C1=W1+W3, and the second side load is C2=W2+W4; The lateral offset of the loading center of gravity is obtained according to the first side load and the second side load, as shown in Formula 1: Where L1 is the lateral length of the truck, and P1 is the lateral offset of the loaded center of gravity; Among them, the leaf springs in different positions include the first leaf spring, the second leaf spring, the third leaf spring and the fourth leaf spring, and the four leaf springs are respectively located on the front left side, the front right side, the rear left side and the rear right side of the truck, and the loading center of gravity offset includes the loading center of gravity lateral offset.

3. The truck center of gravity deviation warning method according to claim 2, characterized in that: When obtaining the loading center of gravity offset of the truck according to the loading relative displacement, the method further includes: The first leaf spring and the second leaf spring are located at the same end, which is recorded as the first end; the third leaf spring and the fourth leaf spring are located at the same end, which is recorded as the second end; The first end load is D1=W1+W2, and the second end load is D2=W3+W4; The longitudinal offset of the loading center of gravity is obtained according to the first end load and the second end load, as shown in Formula 2: Where L2 is the longitudinal length of the truck, and P2 is the longitudinal offset of the loaded center of gravity; Wherein, the loading center of gravity offset includes the loading center of gravity longitudinal offset.

4. The truck center of gravity deviation warning method according to claim 1, characterized in that: When the road surface detection device detects that the truck is traveling on a road surface that meets preset conditions, the method includes: Get the first image m of the binocular camera L and the second image m R , the depth information at the imaging point (x, y) is obtained according to the first image and the second image, as shown in Formula 3: s=g1(x,y) (3); Where s is the corresponding depth, x, y are the image plane coordinates, x∈(1,A), y∈(1,B), A is the number of pixels in the x direction, and B is the number of pixels in the y direction; The projection angle at the imaging point (x, y) is obtained, as shown in Formula 4: α=arctan(y / j) (4); Wherein, j is the focal length of the binocular camera, and α is the projection angle; For a flat road surface, the flat depth of the ground point D corresponding to the imaging point (x, y) is specifically shown in Formula 5: X D =h·j / y (5); Wherein, h is the height of the binocular camera; If the actual depth X>X D , then the road surface at that location is sunken. If the actual depth X<X D , then the road surface is a protrusion at that location. If the actual depth X=X D , the road surface at that location is flat; When the actual depth X≠X D When , the road surface roughness is obtained according to the projection angle, flat depth and actual depth at the imaging point (x, y), as shown in Formula 6: g2(x,y)=(X-X D )·tanα (6); determining whether the roughness of the road surface on which the truck is traveling exceeds a threshold; if so, determining that the road surface meets a preset condition; The road surface that meets the preset conditions includes a road surface whose unevenness exceeds a threshold value, and the road surface detection device includes the binocular camera.

5. The truck center of gravity deviation warning method according to claim 1, characterized in that: When the road surface detection device detects that the truck is traveling on a road surface that meets preset conditions, the method includes: Capturing an image of the road ahead of the truck using a binocular camera; Performing image processing on the road surface image to obtain a real-time lane line; According to the real-time lane line, an instantaneous vanishing point is estimated in real time, and an instantaneous horizontal line is obtained in real time according to the instantaneous vanishing point; Obtaining a real-time displacement between the instantaneous horizontal line and a preset reference horizontal line, and obtaining a real-time inclination of the road surface on which the truck is traveling based on the real-time displacement; determining whether the real-time inclination exceeds a threshold value, and if so, determining that the driving road surface meets a preset condition; The road surface meeting the preset condition includes a road surface whose inclination exceeds a threshold, and the road surface detection device includes the binocular camera.

6. The truck center of gravity deviation warning method according to claim 5, characterized in that: When the road surface detection device detects that the truck is traveling on a road surface that meets a preset condition, the method further includes: First, a reference vanishing point is measured when the truck is evenly loaded and located on an absolute horizontal plane, and the reference vanishing point is continuously collected to establish the reference horizontal line; The real-time displacement is the difference between the reference horizontal line and the instantaneous horizontal line. If the real-time displacement is a negative value, it indicates that the truck is located on an uphill section. If the real-time displacement is a positive value, it indicates that the truck is located on a downhill section.

7. The truck center of gravity deviation warning method according to claim 5, characterized in that: When obtaining a real-time lane line, it includes: Extracting a road surface image from the road surface image, and enhancing edges of each line in the road surface image using a Sobel algorithm that is sensitive to the horizontal direction to obtain enhanced line information; Binarizing the enhanced line information, and applying a lane line inner edge extraction algorithm to the binarized line information to extract lane line inner edge points; According to the inner edge points of the lane line, the lane line is fitted using Hough transform, and the lane line obtained by fitting is the real-time lane line.

8. The truck center of gravity deviation warning method according to claim 3, characterized in that: When determining whether the loading center of gravity offset is within a preset loading center of gravity threshold range, it includes: If the lateral offset of the loading center of gravity exceeds the left loading center of gravity threshold edge line or the right loading center of gravity threshold edge line, it is considered that the loading center of gravity offset is not within the preset loading center of gravity threshold range; If the longitudinal offset of the loading center of gravity exceeds the upper loading center of gravity threshold boundary or the lower loading center of gravity threshold boundary, it is considered that the loading center of gravity offset is not within the preset loading center of gravity threshold range; Among them, the preset loading center of gravity threshold range includes the left loading center of gravity threshold edge line, the right loading center of gravity threshold edge line, the upper loading center of gravity threshold edge line and the lower loading center of gravity threshold edge line. The four loading center of gravity threshold edge lines constitute a first rectangle, and the first rectangle is the preset loading center of gravity threshold range.

9. The truck center of gravity deviation warning method according to claim 1, characterized in that: When determining in real time whether the real-time driving center of gravity offset is within a preset driving center of gravity threshold range, it includes: If the real-time lateral offset of the driving center of gravity exceeds the left driving center of gravity threshold edge or the right driving center of gravity threshold edge, it is considered that the real-time driving center of gravity offset is not within the preset driving center of gravity threshold range; If the real-time longitudinal offset of the driving center of gravity exceeds the upper driving center of gravity threshold boundary or the lower driving center of gravity threshold boundary, it is considered that the real-time driving center of gravity offset is not within the preset driving center of gravity threshold range; Among them, the real-time driving center of gravity offset includes the real-time driving center of gravity lateral offset and the real-time driving center of gravity longitudinal offset, and the preset driving center of gravity threshold range includes the left driving center of gravity threshold edge line, the right driving center of gravity threshold edge line, the upper driving center of gravity threshold edge line and the lower driving center of gravity threshold edge line. The four driving center of gravity threshold edges constitute a second rectangle, and the second rectangle is the preset driving center of gravity threshold range.

10. A truck center of gravity deviation warning system, characterized in that: include: a loading relative displacement acquisition unit configured to acquire, during loading, the positions of leaf springs at different locations of the truck when unloaded and their positions relative to the longitudinal load-bearing main beam when loaded, using a sensor device installed on the truck's longitudinal load-bearing main beam, which are recorded as unloaded positions and loaded positions, respectively; and to obtain the loading relative displacements of the leaf springs at the different locations based on the unloaded positions and the loaded positions; a loading center of gravity offset detection unit configured to obtain a loading center of gravity offset of the truck according to the loading relative displacement, and to determine whether the loading center of gravity offset is within a preset loading center of gravity threshold range; If not, the warning will remind the driver that the center of gravity is shifted. If so, the driver will be informed that the center of gravity test has passed. a real-time relative displacement acquisition unit; configured to acquire, during transportation, the real-time positions of the leaf springs at different positions relative to the longitudinal load-bearing main beam when the road surface detection device on the truck detects that the truck is traveling on a road surface that meets preset conditions; and to acquire, based on the real-time positions, the real-time relative displacements of the leaf springs at different positions relative to an unloaded state; Driving center of gravity offset detection unit: used to obtain the real-time driving center of gravity offset of the truck based on the real-time driving relative displacement, and to determine in real time whether the real-time driving center of gravity offset is within the preset driving center of gravity threshold range; if not, an early warning is issued to remind the driver of the center of gravity offset; if so, the driver is prompted that the center of gravity test is qualified.

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