Active rollover vehicle anti-rollover safety mechanism and control method thereof

Abstract

The present invention relates to an anti-rollover safety mechanism for an active-rolling vehicle and a control method thereof, belonging to the technical field of vehicle chassis, and particularly to a redundancy technology for driving safety of an active-rolling vehicle. During the driving process of an active-rolling vehicle on a curve, if the vehicle automatically controls its roll to a limit roll angle, when the vehicle needs to increase the steering angle to avoid obstacles, or is disturbed by unfavorable road conditions such as a downhill slope, the centrifugal force increases sharply and exceeds the limit value that the vehicle can withstand, which may cause the vehicle to roll to the outside of the curve. The redundant safety measure is: after the vehicle works to the limit roll angle and the inner driving wheel slips, the outer safety tugboat pops out, and the tugboat contacts the road surface with the outer wheel, and the vehicle slides and slows down, preventing the vehicle from rolling to the outside of the curve, protecting the safety of the driver and passengers, and realizing redundancy in vehicle driving safety.

Description

Technical Field

[0001] The present invention relates to an anti-rollover safety mechanism for an active roll vehicle and a control method thereof, belonging to the technical field of vehicle driving safety control, and applied to active roll vehicle driving control technology. Background Art

[0002] The active roll control system improves the vehicle's handling stability, smoothness, speed and safety when turning by controlling the degree to which the vehicle tilts toward the inside of the curve. For small-wheelbase, narrow-body vehicles, active roll technology can automatically tilt the vehicle to a certain angle when cornering, generating a balancing torque to resist the centrifugal force acting on the vehicle, prevent the vehicle from rolling over, and maintain a stable driving posture.

[0003] In order to ensure the driving safety of active rolling vehicles, the invention patent vehicle roll control method CN2020105579660 sets a maximum allowable vehicle roll angle. During the vehicle's turning process, the relationship between the calculated required roll angle and the maximum allowable roll angle is used to determine whether to decelerate the vehicle to ensure vehicle driving stability. Its key technical measure is to decelerate the vehicle and prevent the roll angle required to overcome centrifugal force from exceeding the maximum allowable vehicle roll angle, which is an active safety control technology.

[0004] For active roll vehicles when driving on a curve, if the vehicle's automatic control works to the extreme roll angle, when the vehicle needs to avoid obstacles and increase the steering angle, or is disturbed by unfavorable road conditions such as downhill, the centrifugal force will increase sharply and exceed the limit value that the vehicle can withstand, which may cause the vehicle to roll to the outside of the curve; for small-wheelbase, narrow-body and light vehicles, the driver and passengers sit in a single row in the front and rear, and the space on both sides of the vehicle is small, and side safety protection measures are inconvenient to install; after the vehicle works to the extreme roll angle, once the positive pressure of the wheel on the inside of the curve is zero, the inside wheel leaves the ground, causing the vehicle to roll to the outside of the curve; adding an auxiliary safety mechanism to the outside of the vehicle is a passive safety technical measure to prevent the vehicle from rolling to the outside of the curve to ensure the safety of the occupants, and is used in redundant safety technology for active roll vehicles. Summary of the Invention

[0005] The purpose of the present invention is to provide an anti-rollover safety mechanism for an active-roll vehicle and a control method thereof. When an active-roll vehicle is driving on a curve, after working to the vehicle's maximum roll angle, once it is disturbed by unfavorable road conditions and the ground positive pressure of the inner wheel is zero, the outer safety tugboat pops out, and the tugboat and the outer wheel contact the road surface, the vehicle slides and slows down, and the vehicle is prevented from rolling to the outside of the curve.

[0006] The technical solutions adopted to achieve the purpose of the present invention are as follows:

[0007] The anti-rollover safety mechanism comprises: a positioning surface (10a) and a mounting hole (10b) are provided on the box body (10); one end of the support rod (12) is rotatably connected to the box body (10) and the rotation axis L; the other end of the support rod (12) is rotatably connected to the tugboat (11); the tugboat (11) is freely rotatable relative to the support rod (12); the rotation axes at the two connection points are parallel to each other and perpendicular to the positioning surface (10a); a spring (13) is installed on the box body (10); the displacement of the cylindrical spring (13) is perpendicular to the axis L; a locking pin (14) is movably connected to the box body (10) and the displacement is perpendicular to the positioning surface L. The locking pin (14) is reset and the rotation limit of the support rod (12) after the compression spring (13) is maintained. The unlocking switch (15) is installed on the box body (10). When the unlocking switch (15) is triggered, the locking pin (14) quickly releases the limit of the support rod (12). The buffer block (16) is fixedly installed on the box body (10) to reduce the rotation impact of the support rod (12) and limit the support rod (12). The support rod (12) rotates around the axis L to compress the spring (13) and the rotation-pressing buffer block (16) to two extreme positions, forming an anti-rollover safety mechanism;

[0008] Wherein: under the action of external force, the support rod (12) rotates around the axis L, compresses the spring (13), stores elastic potential energy, generates ejection force, and the locking pin (14) resets the rotation limit of the support rod (12), which is the locked state of the anti-rollover safety mechanism; triggers the unlocking switch (15), quickly releases the limit of the locking pin (14) on the support rod (12), and the ejection force presses the support rod (12) together with the tugboat (11) to rotate around the axis L until the buffer block (16) limits the popped-out support rod (12) and the tugboat (11) is released into place, which is the working state of the anti-rollover safety mechanism.

[0009] In the above-mentioned anti-rollover safety mechanism, the unlocking switch (15) uses a millisecond delay electric detonator and is controlled by the vehicle-mounted VCU to quickly release the limit of the locking pin (14) on the support rod (12) to meet the requirement of rapid ejection of the tugboat (11).

[0010] An active rollover vehicle using an anti-rollover safety mechanism comprises: on a narrow-body light vehicle chassis with an active rollover function and in which the driver and passengers sit in a single row, two sets of anti-rollover safety mechanisms are symmetrically arranged on the side of the driver's seat and under the rear body of the vehicle; a box (10) is fixed to the vehicle body through a positioning surface (10a) and a mounting hole (10b); a support rod is kept parallel to the vehicle body floor, and a tug wheel is raised forward, thereby forming an anti-rollover safety redundant active rollover vehicle;

[0011] Wherein: in the vehicle-mounted anti-rollover safety mechanism, the support rod (12) compresses the spring (13), stores elastic potential energy and generates ejection force, and the locking pin (14) resets the rotation limit of the support rod (12), which is a vehicle-mounted standby mode in which the anti-rollover safety mechanism is locked;

[0012] When an active rolling vehicle is driving on a curve, the vehicle reaches its maximum roll angle and the positive ground pressure of the inner wheel is zero, or the inner wheel leaves the ground. This is the triggering condition for the rollover prevention mechanism on the active rolling vehicle.

[0013] After the vehicle receives the trigger information, the unlocking switch (15) in the anti-rollover safety mechanism on the outside of the vehicle quickly releases the limit of the locking pin (14) on the support rod (12), and the ejection force presses the support rod (12) to rotate until the buffer block (16) limits it and the tugwheel (11) is released into place; if the vehicle flips outward around the line connecting the ground contact points of the outer wheels of the curve, the tugwheel (11) contacts the road surface, and the reverse thrust prevents the vehicle from continuing to flip. The tugwheel (11) contacts the road surface with the outer wheels, and the vehicle slides and slows down, preventing the vehicle from flipping outward to the outside of the curve, protecting the safety of the driver and passengers. This is a working mode in which the tugwheel is in the pop-up state after the anti-rollover safety mechanism is unlocked, and is applied to the active rolling vehicle driving safety redundancy technology.

[0014] Control procedure of an active roll vehicle with anti-roll safety redundancy: When an active roll vehicle is driving on a curve, after the vehicle reaches the extreme roll angle and when the ground positive pressure of the inner wheel is zero, the vehicle will roll to the outside of the curve around the line connecting the ground contact points of the outer wheel of the curve; when the ground positive pressure of the inner wheel is zero, the inner wheel leaves the ground, the inner drive wheel slips, and the speed suddenly increases; since the wheel ground positive pressure is not easy to obtain dynamically, the drive wheel speed is a vehicle driving control parameter, and the sudden change in the inner drive wheel speed under the extreme roll angle condition is used as the judgment condition for the wheel ground positive pressure to be zero; therefore, the detection parameter is: under the extreme roll angle condition, the inner drive wheel speed suddenly increases, which is the trigger condition for the unlocking switch in the vehicle's outer anti-roll safety mechanism.

[0015] The anti-rollover safety redundant active roll vehicle control method includes:

[0016] ⑴. Given vehicle performance parameters: limit roll angle β m , sensor sampling period t, driving wheel slip angular acceleration threshold a, control parameter initial values ​​β0=0, θ0=0, N L0 =0、N R0 =0;

[0017] ⑵. Read driving intention information, including vehicle acceleration and deceleration information and direction control information;

[0018] ⑶. Execute vehicle acceleration, deceleration and steering angle;

[0019] (4) The onboard sensor dynamically reads the vehicle's speed v, steering angle θ, and left and right drive wheel speeds N L 、N R ;

[0020] ⑸、Calculate the vehicle turning radius r=f(θ), the left and right driving wheel angular acceleration T L =(N L -N L0 ) / t、T R =(N R -N R0 ) / t;

[0021] Satisfy the force balance condition when turning: mg×tanβ=mv 2 / r, from tanβ=v 2 / (g×r) is used to calculate the roll angle β;

[0022] (6) If β≤β m , execute the roll angle correction value ∆β=β-β0, β0=β, and go to step ⑻;

[0023] Otherwise, perform the following logical judgment:

[0024] If β0<β m , execute the roll angle correction ∆β=β m -β0, go to step ⑺;

[0025] Otherwise, proceed to the next step;

[0026] 7. β0 = β m , if T L <a and T R <a, go to step ⑻;

[0027] Otherwise, the left and right anti-rollover safety mechanism unlocking switches are triggered:

[0028] If the vehicle turns left, the unlock switch in the right anti-rollover safety mechanism is triggered, the tugboat pops out, an alarm is sent, and the program ends.

[0029] If the vehicle turns right, the unlocking switch in the left anti-rollover safety mechanism is triggered, the tugboat pops out, an alarm is sent, and the program ends.

[0030] Otherwise, proceed to the next step;

[0031] 8. Execute steering angle correction ∆θ=θ-θ0;

[0032] ⑼、θ0=θ,N L0 =N L 、N R0 =N R , return to step ⑵ to continue.

[0033] Where: gravitational acceleration g, vehicle roll mass m, sensor sampling period t, drive wheel slip angular acceleration threshold a; vehicle turning radius function f(θ) is affected by the vehicle wheelbase, track width, steering mode, etc. The larger the steering angle θ, the smaller the turning radius r=f(θ).

[0034] In the above-mentioned anti-rollover safety redundant active roll vehicle control method, step ⑻, the steering angle correction value ∆θ=θ-θ0, is a mandatory execution item to ensure that the vehicle's driving direction is controlled by the driving intention.

[0035] The vehicle's maximum roll angle β is limited by the vehicle hardware m During the vehicle turning process, the roll angle β required to eliminate the centrifugal force of the curve is calculated based on the vehicle driving parameters. If β≤β m When , the roll angle correction value ∆β = β - β0 is executed, and then the steering angle correction value ∆θ = θ - θ0 is executed to eliminate the centrifugal force of the curve, and the vehicle rolls and turns;

[0036] For active rolling vehicles when cornering, if the vehicle automatically controls the roll to the extreme roll angle, when the vehicle needs to avoid obstacles and increases the steering angle, or is disturbed by unfavorable road conditions such as downhill, the centrifugal force will increase sharply and exceed the limit value that the vehicle can withstand, which may cause the vehicle to roll to the outside of the curve; the redundant safety measure is: after the vehicle works to the extreme roll angle and the inner drive wheel slips, the outer safety tugboat pops out, and the tugboat contacts the outer wheel on the road, and the vehicle slides and slows down, preventing the vehicle from rolling to the outside of the curve.

[0037] The beneficial effect of the present invention is that the proposed anti-rollover safety mechanism for an active rolling vehicle and its control method, when the active rolling vehicle is driving on a curve, after working to the extreme roll angle and when the positive ground pressure of the inner wheel is zero, the outer safety tugboat pops out, and the tugboat and the outer wheel contact the road surface, the vehicle slides and slows down, preventing the vehicle from rolling to the outside of the curve, protecting the safety of the driver and passengers, and ensuring the redundancy of vehicle driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of the anti-rollover safety mechanism, (a) right side view, (b) front view;

[0039] Figure 2 This is a diagram of the locking state of the anti-rollover safety mechanism;

[0040] Figure 3 This is the working status diagram of the anti-rollover safety mechanism;

[0041] Figure 4 Schematic diagram of active rollover tricycle for safety redundancy;

[0042] Figure 5 This is a diagram of an active-tilt tricycle turning left and driving on a curve with extreme tilt;

[0043] Figure 6 This is a schematic diagram of an active-tilt tricycle turning left and rolling over in an extreme-tilt curve;

[0044] Figure 7 This is a diagram of an active-tilt tricycle turning right and driving on a curve with extreme tilt;

[0045] Figure 8 This is a schematic diagram of an active-tilt tricycle turning right and rolling over in an extreme-tilt curve;

[0046] Figure 9 Flowchart of the vehicle control method for rollover prevention with redundant active roll safety;

[0047] In the figure: 10--box, 11--tugboat, 12--support rod, 13--spring, 14--locking pin, 15--unlocking switch, 16--buffer block;

[0048] Among them: 10a--positioning surface, 10b--mounting hole. Implementation Method

[0049] The embodiments of the present invention are described below with reference to the accompanying drawings.

[0050] Figure 1 The schematic diagram of the anti-rollover safety mechanism shown in the figure, the anti-rollover safety mechanism includes: a positioning surface (10a) and a mounting hole (10b) are provided on the box body (10), one end of the support rod (12) is rotatably connected to the box body (10), the rotation axis L, the other end of the support rod (12) is rotatably connected to the tugboat (11), the tugboat (11) is freely rotatable relative to the support rod (12), the rotation axes at the two connection points are parallel to each other and perpendicular to the positioning surface (10a), the spring (13) is installed on the box body (10), the displacement of the cylindrical spring (13) is perpendicular to the axis L, the locking pin (14) is movably connected to the box body (10), the displacement Q is perpendicular to the positioning surface (10a), the locking pin (14) is reset, and the rotation limit of the support rod (12) behind the compression spring (13) is maintained, as shown in FIG. Figure 1 As shown in (a), the unlocking switch (15) is installed on the box body (10), and the unlocking switch (15) and the locking pin (14) are triggered to quickly release the limit of the support rod (12), and the buffer block (16) is fixedly installed on the box body (10). Figure 1 As shown in (b), it is used to reduce the rotation impact of the support rod (12), limit the support rod (12) and withstand the force of the road surface on the tugboat (11). The support rod (12) rotates around the axis L to compress the spring (13) and the rotation pressing buffer block (16) to two extreme positions, forming an anti-rollover safety mechanism;

[0051] Wherein: under the action of external force, the support rod (12) rotates around the axis L, compresses the spring (13), stores elastic potential energy, generates the ejection force P, and the locking pin (14) resets the rotation limit of the support rod (12), which is the locking state of the anti-rollover safety mechanism, such as Figure 2 As shown; trigger the unlocking switch (15), quickly release the locking pin (14) to limit the support rod (12), and the ejection force P presses the support rod (12) together with the tugboat (11) to rotate around the axis L until the buffer block (16) limits the popped-out support rod (12) and the tugboat (11) is released into place, which is the working state of the anti-rollover safety mechanism, as shown in FIG. Figure 3 shown.

[0052] In the above-mentioned anti-rollover safety mechanism, the unlocking switch (15) uses a millisecond delay electric detonator and is controlled by the vehicle-mounted VCU to quickly release the limit of the locking pin (14) on the support rod (12) to meet the requirement of rapid ejection of the tugboat (11).

[0053] Figure 4 The schematic diagram of the anti-rollover safety redundant active rollover tricycle shown in the figure, the active rollover vehicle using the anti-rollover safety mechanism comprises: on a narrow-body light vehicle chassis with active rollover function and a driver and passengers sitting in a single row in front and back, two sets of anti-rollover safety mechanisms are symmetrically arranged on the side of the driver's seat and under the rear of the vehicle body, the box (10) is fixed to the vehicle body at C and D through the positioning surface (10a) through the mounting hole (10b), the support rod is kept parallel to the vehicle body floor, and the tug wheel is raised to the front, forming an anti-rollover safety redundant active rollover vehicle;

[0054] Wherein: in the vehicle standby mode of the anti-rollover safety mechanism locked state: the support rod (12) compresses the spring (13), stores elastic potential energy, generates the ejection force P, and the locking pin (14) resets the rotation limit of the support rod (12);

[0055] The triggering conditions of the anti-rollover safety mechanism on an active roll vehicle are as follows: when the active roll vehicle is driving on a curve, the vehicle reaches the extreme roll angle, and the positive ground pressure of the inner wheel is zero, or the inner wheel leaves the ground;

[0056] The working mode of the tugboat ejection state after the anti-rollover safety mechanism is unlocked: after the vehicle receives the trigger information, the unlocking switch (15) in the anti-rollover safety mechanism on the outside of the vehicle quickly releases the limit of the locking pin (14) on the support rod (12), and the ejection force P presses the support rod (12) to rotate until the buffer block (16) limits it and the tugboat (11) is released into place. Figure 5 、 Figure 7 As shown; if the vehicle turns outward around the line connecting the ground contact points of the outer wheels of the curve, the tug (11) contacts the road surface, and the reverse thrust prevents the vehicle from continuing to turn over. The tug (11) contacts the road surface with the outer wheels, and the vehicle slides and slows down, preventing the vehicle from turning outward toward the curve, as shown. Figure 6 、 Figure 8 As shown, the safety of drivers and passengers is protected by the redundancy technology used in active rolling vehicle driving safety.

[0057] The principle that an active roll vehicle cannot roll over to the inside of a curve when it is driving on a curve is that the roll angle of the vehicle is not greater than the roll angle required to offset the centrifugal force, that is, β≤arctan[v 2 / (g×r)], the vehicle will not roll over to the inside of the curve; when the active roll vehicle works within the vehicle's limit roll angle, the vehicle's lateral force is dynamically balanced, then the vehicle will neither roll over to the inside of the curve nor to the outside of the curve.

[0058] The control procedure of the vehicle with active rollover safety redundancy: When the vehicle is driving in a curve, after the vehicle reaches the limit roll angle and the positive pressure of the inner wheel on the ground is zero, the vehicle will roll to the outside of the curve around the line connecting the ground contact points of the outer wheels; when the positive pressure of the inner wheel on the ground is zero, the inner wheel leaves the ground, the inner drive wheel slips, and the speed suddenly increases, such as Figure 5 Middle W L 、 Figure 7 Middle W R ; Since the wheel ground positive pressure is not easy to obtain dynamically, the driving wheel speed is the vehicle driving control parameter. The sudden change in the inner driving wheel speed under the extreme roll angle condition is used as the judgment condition for the wheel ground positive pressure to be zero; therefore, the detection parameters are: under the extreme roll angle condition, the inner driving wheel speed suddenly increases, which is the triggering condition of the unlocking switch in the vehicle's outer anti-rollover safety mechanism; after the unlocking switch is triggered, the tugboat pops out and contacts the road, and the reverse thrust prevents the vehicle from rolling over. The tugboat contacts the road surface with the outer wheel, and the vehicle glides and slows down to protect the safety of the occupants.

[0059] Figure 9 The flowchart of the anti-rollover safety redundant active roll vehicle control method shown in FIG. 1 includes the following steps:

[0060] ⑴. Given vehicle performance parameters: limit roll angle β m , sensor sampling period t, driving wheel slip angular acceleration threshold a, control parameter initial values ​​β0=0, θ0=0, N L0 =0、N R0 =0;

[0061] ⑵. Read driving intention information, including vehicle acceleration and deceleration information and direction control information;

[0062] ⑶. Execute vehicle acceleration, deceleration and steering angle;

[0063] (4) The onboard sensor dynamically reads the vehicle's speed v, steering angle θ, and left and right drive wheel speeds N L 、NR ;

[0064] ⑸、Calculate the vehicle turning radius r=f(θ), the left and right driving wheel angular acceleration T L =(N L -N L0 ) / t、T R =(N R -N R0 ) / t;

[0065] Satisfy the force balance condition when turning: mg×tanβ=mv 2 / r, from tanβ=v 2 / (g×r) is used to calculate the roll angle β;

[0066] (6) If β≤β m , execute the roll angle correction amount ∆β=β-β0, the vehicle reaches the required roll angle β, β0=β, and go to step ⑻;

[0067] Otherwise, perform the following logical judgment:

[0068] If β0<β m , execute the roll angle correction ∆β=β m -β0, the vehicle reaches the limit roll angle β m , go to step ⑺;

[0069] Otherwise, the vehicle has reached the limit roll angle β m , proceed to the next step;

[0070] 7. β0 = β m , if T L <a and T R <a, go to step ⑻;

[0071] Otherwise, the left and right anti-rollover safety mechanism unlocking switches are triggered:

[0072] If the vehicle turns left, Figure 5 As shown, the unlocking switch in the right anti-rollover safety mechanism is triggered, the tugboat pops out, an alarm is sent, and the program ends.

[0073] If the vehicle turns right, Figure 7 As shown, the unlocking switch in the left anti-rollover safety mechanism is triggered, the tugboat pops out, an alarm is sent, and the program ends.

[0074] Otherwise, proceed to the next step;

[0075] 8. Execute the steering angle correction value ∆θ = θ - θ0 to unconditionally achieve the steering angle θ and satisfy the steering driving intention;

[0076] ⑼、θ0=θ,NL0 =N L 、N R0 =N R , return to step ⑵ and continue;

[0077] Where: gravitational acceleration g, g=9.8m / s 2 , the mass of the vehicle's rolling part is m, the sensor sampling period is t=0.01s, and the driving wheel slip angular acceleration threshold a is greater than the maximum working angular acceleration of the vehicle's driving wheel.

[0078] In the above-mentioned anti-rollover safety redundant active roll vehicle control method, step (8), the steering angle correction value ∆θ = θ - θ0, is a mandatory execution item to ensure that the vehicle's driving direction is controlled by the driving intention; the vehicle's turning radius function r = f (θ) is affected by the vehicle's wheelbase, track width, steering method, etc. The larger the steering angle θ, the smaller the turning radius r = f (θ); when the steering angle θ = 0, r → ∞, the vehicle travels in a straight line.

[0079] for Figure 4 The anti-rollover safety redundant active roll tricycle shown is a spur tricycle with front-wheel steering and dual rear wheel hub motors with a roll function. The roll motor drives a small bevel gear to rotate through a reducer. The small bevel gears are respectively engaged with the left and right bevel gears for transmission. The left and right bevel gears respectively drive the two upper swing arms to rotate in opposite directions at equal angles. The two lower swing arms are driven to rotate through shock absorbers. The two wheels move in opposite directions relative to the vehicle body, and the vehicle body rolls relative to the ground to achieve a roll angle β. When the vehicle wheelbase is S and the steering angle θ, the turning radius r = S / tanθ.

[0080] Signal detection and reading method: The left and right drive wheel speeds are detected by the wheel hub motor Hall sensors, the vehicle speed v is detected by the CM12-45P-1-24J wheel speed sensor, and the steering angle θ is detected by the PandAutoP3036-C-90-V1-L-5 angle sensor. The sensor sampling period is 0.01s; the vehicle's maximum roll angle β is limited by the vehicle hardware. m =40°, when the vehicle is turning, calculate the roll angle β required to eliminate the centrifugal force of the curve based on the vehicle driving parameters. If β≤β m When , the roll angle correction value ∆β = β - β0 is executed, and then the steering angle correction value ∆θ = θ - θ0 is executed to eliminate the centrifugal force of the curve, and the vehicle rolls and turns;

[0081] For active rolling vehicles when cornering, if the vehicle automatically controls the roll to the extreme roll angle, when the vehicle needs to avoid obstacles and increases the steering angle, or is disturbed by unfavorable road conditions such as downhill, the centrifugal force will increase sharply and exceed the limit value that the vehicle can withstand, which may cause the vehicle to roll to the outside of the curve; the redundant safety measure is: after the vehicle works to the extreme roll angle and the inner drive wheel slips, the outer safety tugboat pops out, and the tugboat contacts the outer wheel on the road, and the vehicle slides and slows down, preventing the vehicle from rolling to the outside of the curve.

Claims

1. Anti-rollover safety mechanism, characterized in that: include: The box body is provided with a positioning surface and a mounting hole, one end of the support rod is rotatably connected to the box body and the rotation axis L, the other end of the support rod is rotatably connected to the tugboat, and the tugboat can rotate freely relative to the support rod, and the rotation axes at the two connection points are parallel to each other and perpendicular to the positioning surface, the spring is installed on the box body, the displacement of the cylindrical spring is perpendicular to the axis L, the locking pin is movably connected to the box body, and the displacement is perpendicular to the positioning surface, and the locking pin is reset to maintain the rotation limit of the support rod behind the compression spring, and the unlocking switch is installed on the box body. When the unlocking switch is triggered, the locking pin quickly releases the limit on the support rod, and the buffer block is fixedly installed on the box body, which is used to slow down the rotation impact of the support rod and limit the support rod. The support rod rotates around the axis L to compress the spring and rotate to compress the buffer block to form two extreme positions; Among them: under the action of external force, the support rod rotates around the axis L, compresses the spring, stores elastic potential energy, generates ejection force, and the locking pin resets the rotation limit of the support rod, which is the locked state of the anti-rollover safety mechanism; triggering the unlocking switch, quickly releases the limit of the locking pin on the support rod, and the ejection force presses the support rod together with the tugboat to rotate around the axis L until the buffer block limits the popped-out support rod and the tugboat is released into place, which is the working state of the anti-rollover safety mechanism.

2. The anti-rollover safety mechanism according to claim 1, characterized in that: The unlocking switch uses a millisecond delay electric detonator.

3. Anti-rollover safety redundant active roll vehicle, characterized in that, include: On a narrow-body light vehicle chassis with active rollover function and with a driver and passengers seated in a single row, the rollover prevention mechanism according to claim 1 is symmetrically arranged on the side of the driver's seat and under the rear body of the vehicle. The box is fixed to the vehicle body through the positioning surface through the mounting hole, keeping the support rod parallel to the vehicle body floor and the tug wheel raised to the front. Among them: in the vehicle's anti-rollover safety mechanism, the support rod compresses the spring, stores elastic potential energy and generates ejection force, and the locking pin resets the rotation limit of the support rod, which is the vehicle's standby mode when the anti-rollover safety mechanism is locked; When an active rolling vehicle is driving on a curve, the anti-rollover safety mechanism is triggered when the vehicle reaches the maximum roll angle and the positive ground pressure of the inner wheel reaches zero or the inner wheel leaves the ground. After the vehicle receives the trigger information, the unlocking switch in the anti-rollover safety mechanism on the outside of the vehicle quickly releases the lock pin from the limit on the support rod, and the ejection force presses the support rod to rotate until the buffer block limits it and the tugwheel is released into place; if the vehicle flips outward around the line connecting the ground contact points of the outer wheels of the curve, the tugwheel contacts the road surface, and the reverse thrust prevents the vehicle from continuing to flip over. The tugwheel contacts the road surface with the outer wheels, and the vehicle slides and slows down, preventing the vehicle from flipping to the outside of the curve.

4. A method for controlling a rollover-proof vehicle with redundant active rollover safety, according to claim 3, characterized in that: The steps include: ⑴. Given vehicle performance parameters: limit roll angle β m , sensor sampling period t, driving wheel slip angular acceleration threshold a, control parameter initial values ​​β0=0, θ0=0, N L0 =0, N R0 =0; ⑵. Read driving intention information, including vehicle acceleration and deceleration information and direction control information; ⑶. Execute vehicle acceleration, deceleration and steering angle; (4) The onboard sensor dynamically reads the vehicle's speed v, steering angle θ, and left and right drive wheel speeds N L 、N R ; 5. Calculate the vehicle turning radius r = f(θ), the left and right driving wheel angular acceleration T L =(N L -N L0 ) / t、T R =(N R -N R0 ) / t; Satisfy the force balance condition when turning: mg×tanβ=mv 2 / r, from tanβ=v 2 / (g×r) to calculate the roll angle β; (6) If β≤β m , execute the roll angle correction amount Δβ=β-β0, β0=β, and go to step ⑻; Otherwise, perform the following logical judgment: If β0<β m , execute the roll angle correction amount Δβ=β m -β0, go to step ⑺; Otherwise, proceed to the next step; 7. β0 = β m , if T L <a and T R <a, go to step ⑻; Otherwise, the left and right anti-rollover safety mechanism unlocking switches are triggered: If the vehicle turns left, the unlock switch in the right anti-rollover safety mechanism is triggered, the tugboat pops out, an alarm is sent, and the program ends. If the vehicle turns right, the unlocking switch in the left anti-rollover safety mechanism is triggered, the tugboat pops out, an alarm is sent, and the program ends. Otherwise, proceed to the next step; (8) Execute steering angle correction Δθ = θ - θ0; ⑼、θ0=θ,N L0 =N L 、N R0 =N R , return to step ⑵ and continue; Where: gravitational acceleration g, mass of the rolling part of the vehicle m.

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