Liquid tank type vehicle rollover risk early warning method and device, medium and equipment

Abstract

The invention belongs to the technical field of automobile active safety, and provides a liquid tank type vehicle rollover risk early warning method and device, a medium and equipment. According to the technical scheme, the roll angle and the vehicle speed of a liquid tank type vehicle, position information of the vehicle and the liquid level height in a liquid tank are obtained; determining the total weight of the liquid tank vehicle based on the roll angle of the liquid tank vehicle and the liquid level height in the liquid tank; determining the current turning radius of the vehicle based on the position information of the liquid tank type vehicle; the total weight, the vehicle speed, the roll angle and the current turning radius of the vehicle serve as input variables, the current rollover risk serves as an output variable, the input variables and the output variable are fuzzified, and the current rollover risk of the vehicle is predicted after fuzzy reasoning; determining the current rollover risk level of the vehicle according to the current rollover risk value of the vehicle; and formulating a corresponding rollover early warning scheme based on the rollover risk level of the vehicle, and performing graded early warning. And through a refined grading early warning method, the rollover risk is effectively avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobile active safety, and in particular relates to a liquid tank vehicle rollover risk warning method, device, medium and equipment. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] During road transportation, liquid tank vehicles have a high center of gravity because the mass of the entire vehicle is mainly concentrated in the tank body. At the same time, the loaded liquid cargo is prone to shaking due to the vehicle's driving state or road conditions, which makes it easy for the vehicle to roll over. These accidents will not only cause significant losses to the vehicle and cargo, but may also seriously threaten the lives, health and environmental safety of personnel due to the leakage of flammable, explosive and highly toxic liquids. Therefore, it is crucial to conduct timely and effective assessment and early warning of the rollover risk of liquid tank vehicles.

[0004] At present, liquid tank vehicles generally use the method of installing a lateral stabilizer bar on the chassis to reduce the risk of vehicle rollover. When the vehicle rolls, the lateral stabilizer bar twists and generates a torsional internal torque, which inhibits the deformation of the suspension spring, thereby reducing the lateral tilt of the vehicle body and improving driving stability.

[0005] However, this is a passive protection measure. When the vehicle rolls over, it can only reduce the degree of vehicle rollover through the internal torque generated by the deformation of the lateral stabilizer bar. It is impossible to monitor the rollover risk in real time during driving, and it is impossible to give advance warning of the driver's operation. It is difficult to prevent liquid tank trucks from rolling over during driving, especially when driving on slopes or curves. Summary of the invention

[0006] In order to solve at least one technical problem existing in the above-mentioned background technology, the present invention provides a liquid tank vehicle rollover risk warning method, device, medium and equipment, which monitors the key operating data of the vehicle and uses a refined graded warning method to instantly evaluate the current rollover risk of the vehicle and effectively avoid the rollover risk.

[0007] In order to achieve the above object, the present invention adopts the following technical solution: A first aspect of the present invention provides a liquid tank vehicle rollover risk warning method, comprising the following steps: Obtaining the tilt angle, vehicle speed, vehicle position information and liquid level height in the liquid tank of the liquid tank vehicle; Determine the total weight of the liquid tank vehicle based on the tilt angle of the liquid tank vehicle and the liquid level height in the liquid tank; determine the current turning radius of the vehicle based on the position information of the liquid tank vehicle; The vehicle's gross weight, speed, roll angle and current turning radius are used as input variables, and the current rollover risk is used as the output variable. The input and output variables are fuzzified, and the current rollover risk of the vehicle is predicted after fuzzy reasoning. Determine the current rollover risk level of the vehicle according to the current rollover risk value of the vehicle; Based on the vehicle's rollover risk level, a corresponding rollover warning plan is formulated to provide graded warnings.

[0008] Further, the determining the total weight of the liquid tank vehicle based on the tilt angle of the liquid tank vehicle and the liquid level height in the liquid tank includes: Determine the shape of the liquid tank, and calculate the mass of the liquid by combining the liquid level height in the liquid tank and the parameters of the liquid tank; Determine the vehicle's curb weight; The total weight of the liquid tank vehicle is obtained by summing the mass of the liquid and the curb mass of the vehicle.

[0009] Further, based on the position information of the liquid tank vehicle, determining the current turning radius of the vehicle includes: The vehicle position information received at the current time and the previous two times is defined as P 1( x 1, y 1), P 2( x 2, y 2), P 3( x 3, y 3), where x i , i = 1, 2, 3 are the horizontal coordinates of each position point. y i , i = 1, 2, 3 are the ordinates of each position point; then, P 1 and P 3 Distance between location points L for: , calculate P 2 to P 1 and P 3 Distance between two points H : , The vehicle's current turning radius R for: .

[0010] Furthermore, the input variables and output variables are fuzzified, and the current rollover risk of the vehicle is predicted after fuzzy reasoning, including: According to the value range of input variables and output variables, define the fuzzy subsets of each variable; Perform fuzzification on input variables and output variables, and convert the exact value of the variable into the membership degree of the fuzzy subset; Analyze the current rollover risk of the vehicle under different combinations of input variables and formulate fuzzy rules; According to the fuzzy rules and the membership degree of the fuzzy subsets of the input variables, fuzzy reasoning is performed to obtain the fuzzy set of the current rollover risk of the vehicle; The fuzzy set of the current rollover risk of the vehicle is defuzzified to obtain the rollover risk value of the vehicle.

[0011] Furthermore, when the input variables and output variables are fuzzified and the exact values ​​of the variables are converted into the membership of the fuzzy subsets, the exact values ​​of the variables are converted into the membership of the fuzzy subsets through the membership function, and the trapezoidal function is selected as the membership function of the input variables and the output variables.

[0012] Furthermore, the current rollover risk level of the vehicle under different combinations of input variables is analyzed, and the If-Then form is adopted when formulating fuzzy rules.

[0013] Further, according to the current rollover risk value of the vehicle, the current rollover risk level of the vehicle is determined, including: If the current rollover risk value is in the range of 0% to 30%, the current rollover risk level is level 1; If the current rollover risk value is between 30% and 60%, the current rollover risk level is level 2; If the current rollover risk value reaches 60% or above, the current rollover risk level is level 3.

[0014] A second aspect of the present invention provides a liquid tank vehicle rollover risk warning device, comprising: A data acquisition module is used to acquire the tilt angle, vehicle speed, vehicle position information and liquid level height in the liquid tank of the liquid tank vehicle; A parameter determination module, used to determine the total weight of the liquid tank vehicle based on the tilt angle of the liquid tank vehicle and the liquid level height in the liquid tank; and to determine the current turning radius of the vehicle based on the position information of the liquid tank vehicle; The rollover risk level assessment module is used to take the vehicle's gross weight, speed, roll angle and current turning radius as input variables and the current rollover risk as output variable, fuzzify the input variables and output variables, and predict the vehicle's current rollover risk after fuzzy reasoning; determine the vehicle's current rollover risk level based on the vehicle's current rollover risk value; The graded warning module is used to formulate corresponding rollover warning plans based on the vehicle's rollover risk level and perform graded warnings.

[0015] A third aspect of the present invention provides a computer-readable storage medium.

[0016] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in the above-mentioned liquid tank vehicle rollover risk warning method.

[0017] A fourth aspect of the present invention provides a computer device.

[0018] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the above-mentioned method for early warning of the rollover risk of a liquid tank vehicle are implemented.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can instantly evaluate the current rollover risk of the vehicle by acquiring parameters such as vehicle weight, vehicle speed, roll angle and current turning radius in real time. Once a potential rollover risk is detected, the alarm device will send out sound and light signals to warn the driver, reminding the driver to take timely measures to effectively avoid the rollover risk, thereby ensuring driving safety.

[0020] 2. The present invention proposes a rollover risk classification warning method based on the fuzzy intelligent warning algorithm. m , vehicle speed v , tilt angle i And the current turning radius R The fuzzy intelligent warning algorithm is used as the input variable to obtain the current rollover level, and the driver is reminded through sound and light signals of different intensities. This refined hierarchical warning method can ensure the effectiveness of the warning effect and the smoothness of the driving process.

[0021] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0023] Figure 1 This is a flow chart of a liquid tank vehicle rollover risk warning method provided by an embodiment of the present invention; Figure 2is a schematic diagram of the structure of a controller and peripheral devices provided by an embodiment of the present invention; Figure 3 is a schematic diagram of a method for determining the mass of liquid in a liquid tank provided by an embodiment of the present invention; Figure 4 is a schematic diagram of a method for determining a vehicle turning radius provided by an embodiment of the present invention; Figure 5 This is the rollover risk level assessment process of the fuzzy intelligent early warning algorithm provided by the embodiment of the present invention; Figure 6 is a vehicle weight membership function diagram provided by an embodiment of the present invention; Figure 7 is a vehicle speed membership function diagram provided by an embodiment of the present invention; Figure 8 is a roll angle membership function diagram provided by an embodiment of the present invention; Figure 9 is a turning radius membership function diagram provided by an embodiment of the present invention; Figure 10 It is a rollover risk membership function diagram provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0026] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0027] As mentioned in the background technology, the mainstream anti-rollover technology for liquid tank vehicles currently relies on the lateral stabilizer bar installed on the chassis. This is a passive protection method. Only when the vehicle rolls over, the internal torque generated by the deformation of the lateral stabilizer bar is used to reduce the degree of vehicle rollover. This technology cannot warn the driver before the vehicle rolls over, reminding the driver to take active measures to reduce the risk of vehicle rollover and ensure driving safety.

[0028] The present invention proposes a new intelligent early warning algorithm for the rollover risk of liquid tank vehicles. The algorithm uses sensors and navigation systems to monitor the vehicle weight, speed, roll angle and turning radius in real time. Based on these data, the intelligent early warning algorithm is used to evaluate the rollover risk level of the liquid tank truck. Under different risk levels, the controller controls the alarm device to emit sound and light warning signals of corresponding levels, allowing the driver to intuitively perceive the current rollover risk level and remind the driver to take measures as soon as possible to avoid rollover accidents.

[0029] Embodiment 1 like Figure 1 As shown, this embodiment provides a liquid tank vehicle rollover risk warning method, comprising the following steps: Step 1: Obtain the tilt angle, vehicle speed, vehicle position information and liquid level height in the liquid tank of the liquid tank vehicle; like Figure 2 As shown, relevant parameters of the liquid tank vehicle are obtained through sensors.

[0030] In this embodiment, the sensors used include a liquid level sensor, a vehicle speed sensor, and an IMU (Inertial Measurement Unit) tilt sensor. The liquid level sensor is used to measure the liquid level in the liquid tank and is installed on the top of the liquid tank. The output signal is connected to the controller to calculate the mass of the liquid in the current tank and add it to the curb weight of the tank truck to get the total mass of the vehicle.

[0031] The vehicle speed sensor is used to measure the current vehicle speed signal and input it into the controller.

[0032] The IMU inclination sensor is used to collect vehicle posture information and is installed at the bottom of the tanker truck's cockpit. The sensor transmits the vehicle posture data to the controller via CAN communication signals. The controller obtains the vehicle's real-time posture angle through analysis, including the vehicle's roll angle.

[0033] The vehicle navigation system is installed in the cab and is used to obtain the real-time location information of the vehicle. The system transmits this location information to the controller via Ethernet communication signals. The controller determines the approximate running track of the vehicle based on the location information received at the current moment and the previous two moments, and then estimates the current turning radius of the vehicle.

[0034] The controller is installed in the cab and is used to receive and process the information collected by the sensor and the vehicle navigation system to obtain the vehicle weight, speed, roll angle and current turning radius. The above parameters are used as the input of the intelligent warning algorithm to calculate the current rollover risk level of the vehicle. Then, according to the current risk level, the sound and light alarm device in the cab is controlled to send out corresponding sound and light warning signals to remind the driver to take safety measures as soon as possible. Its main components include single-chip microcomputer, CAN communication circuit, Ethernet communication circuit, sound alarm drive circuit, warning light drive circuit and other modules.

[0035] Among them, the amount of liquid in the tank determines the height of the center of gravity of the vehicle. As the amount of liquid increases, the center of gravity of the vehicle increases accordingly, and the vehicle's anti-roll ability decreases accordingly. Centrifugal force is the key factor that causes vehicle rollover. The speed and turning radius will directly affect the magnitude of the centrifugal force on the vehicle. In addition, when the vehicle is driving smoothly, the vehicle's roll angle represents the slope of the current road. The increase in slope will also increase the risk of vehicle rollover. By real-time monitoring of the above parameters, the current rollover risk level of the vehicle is comprehensively evaluated, and warning signals are used to remind the driver to take safety measures in time to avoid vehicle rollover.

[0036] Step 2: determining the total weight of the liquid tank vehicle based on the tilt angle of the liquid tank vehicle and the liquid level height in the liquid tank; In this embodiment, the vehicle weight of the liquid tank vehicle consists of two parts: the vehicle curb weight and the mass of the liquid loaded in the liquid tank. The vehicle curb weight can be obtained directly from the vehicle manufacturer, while the mass of the liquid in the liquid tank needs to be calculated based on the operating parameters of the liquid tank vehicle when driving on a flat road.

[0037] When the roll angle of the liquid tank vehicle is close to zero, it means that the vehicle is currently driving on a flat road. At this time, the liquid level in the tank is measured by the liquid level sensor. Then, the volume of the liquid in the tank is calculated based on the geometric shape and size parameters of the tank, and the mass of the liquid is further calculated based on the density of the liquid.

[0038] like Figure 3 As shown in the figure, taking the common cylindrical liquid tank as an example, the calculation process of the total weight of the liquid tank vehicle is explained in detail. First, according to the output value of the IMU tilt sensor, it is judged whether the vehicle is driving on a flat road. If it is confirmed that the vehicle is driving on a flat road, the controller uses the liquid level sensor to obtain the liquid level height in the liquid tank, and at the same time obtains the liquid tank diameter and length according to the vehicle model; then, the liquid cross-sectional area is calculated and multiplied by the liquid tank length to obtain the liquid volume. Finally, the density of the liquid carried in the liquid tank is obtained from the vehicle file, and multiplied by the volume to obtain the liquid mass.

[0039] The specific analysis is as follows: The liquid level in the tank is measured by the liquid level sensorh , and then obtain the tank diameter according to the vehicle model d Through mathematical derivation, the area of ​​the liquid cross section in the liquid tank can be obtained A The formula is as follows: (1), Then, the tank length is obtained based on the vehicle parameters l , and obtain the density of the liquid in the tank through the vehicle file query r , and the volume of liquid in the tank is calculated V and liquid quality m 1: (2), (3), Finally, the mass of the liquid in the tank is m 1 plus the vehicle's curb weight m 2, the total mass of the liquid tank vehicle can be obtained m : (4).

[0040] Step 3: Based on the position information of the liquid tank vehicle, determine the current turning radius of the vehicle; During the driving of the liquid tank vehicle, the on-board navigation system periodically sends the real-time position of the vehicle to the controller; the controller estimates the current turning radius of the vehicle based on the received vehicle position information; like Figure 4 As shown, the vehicle turning radius calculation method includes: The vehicle navigation system sends the real-time vehicle location information to the controller at regular intervals. After receiving this information, the controller marks the vehicle location information received at the current time and the previous two times as P 1. P 2. P 3. Next, the controller calculates P 1 and P 3 the distance between the two locations, and P 2 o'clock to P 1 and P 3. Finally, the radius of the circle formed by these three position points is calculated, and the size of the radius is the estimated value of the current turning radius of the vehicle.

[0041] The specific analysis is as follows: First, the vehicle position information received at the current time and the previous two times is defined as P 1( x 1, y 1), P 2( x 2,y 2), P 3( x 3, y 3), where x i , i = 1, 2, 3 are the horizontal coordinates of each position point. y i , i = 1,2,3 are the ordinates of each position point. Then, P 1 and P 3 Distance between location points L for: (5), Then, calculate P 2 to P 1 and P 3 Distance between two points H : (6), Then, the current turning radius of the vehicle is obtained R for: (7).

[0042] Step 4: Based on the vehicle weight, speed, roll angle and current turning radius, the fuzzy warning intelligent algorithm is used to predict the current rollover risk of the vehicle. According to the degree of the vehicle rollover risk, it is determined whether to issue a warning message to the driver to remind him to take measures to avoid the rollover risk.

[0043] like Figure 5 As shown in the figure, first, the current vehicle weight, speed, roll angle and turning radius are selected as the input of the fuzzy intelligent warning algorithm, and the rollover risk is selected as the output of the fuzzy intelligent warning algorithm, and these input and output variables are fuzzified through trapezoidal functions. Secondly, the degree of vehicle rollover risk under different combinations of vehicle weight, speed, roll angle and turning radius input is analyzed, and fuzzy rules are formulated in the common If-Then form to describe the fuzzy relationship between input variables and output variables. Thirdly, the Mamdani fuzzy reasoning method is used to obtain the fuzzy set of vehicle rollover risk. Finally, the center of gravity method is used to clarify the fuzzy reasoning results, output the rollover risk assessment results, and finally determine the current rollover risk level of the vehicle.

[0044] The specific analysis is as follows: Step 401: Determine input variables and output variables; In this embodiment, the vehicle weight is selected m、 Speed v、 Roll Angle i And the current turning radius RAs input variable, select Current Rollover Risk P as output variable.

[0045] Step 402: fuzzify the input variables and output variables to obtain fuzzy subsets of each variable; The input and output variables are fuzzified, and the exact value of the variable is converted into the membership of the fuzzy subset through the membership function, so that the exact value of the variable is replaced by a language description.

[0046] The membership degree indicates the degree to which the variable value belongs to the fuzzy subset, and its value range is usually set to [0, 1].

[0047] This embodiment selects the commonly used trapezoidal function as the membership function of the input and output variables, and the formula is as follows: (8), In the formula, a , b , c , d They are respectively the horizontal coordinates of the left foot, rising edge, falling edge, and right foot positions of the trapezoidal function.

[0048] According to the general value range of input and output variables, the fuzzy subsets of each variable are defined.

[0049] In particular, the vehicle weight range is determined based on medium-sized liquid tank vehicles, and vehicles of other weight levels need to be corrected based on their own vehicle weight.

[0050] The fuzzy subsets of each variable are as follows: Current vehicle weight m : m = {L, H}∈[10, 30], where L represents low vehicle weight, H represents high vehicle weight, [10, 30] is the set vehicle weight range, unit: t; Speed v : v = {L, M, H}∈[0, 100], where L represents low speed, M represents medium speed, H represents high speed, [0, 100] is the set speed range, unit: km / h; Roll Angle i : i = {L, M, H}∈[0, 30], where L indicates low roll angle, M indicates medium roll angle, H indicates high roll angle, [0, 30] is the set roll angle range, unit: °; Current turning radius R : R ={L, H}∈[9, 12], where L represents a low turning radius, H represents a high turning radius, [9, 12] is the set turning radius range, unit: m; Rollover risk P : P ={VL, L, M, H, VH}∈[0, 100], where VL means the current vehicle rollover risk is very low, L means the current vehicle rollover risk is low, M means the current vehicle rollover risk is medium, H means the current vehicle rollover risk is high, VH means the current vehicle rollover risk is very high, and [0, 100] is the set rollover risk range, corresponding to the possibility of the vehicle rolling over.

[0051] After determining the trapezoidal function parameters corresponding to the fuzzy subsets of the input and output variables, the membership function graph of each variable can be obtained, such as Figure 6-Figure 10 As shown, Figure 6 Vehicle weight m Membership function graph, Figure 7 For vehicle speed v Membership function graph, Figure 8 The tilt angle i Membership function graph, Figure 9 is the turning radius R Membership function graph, Figure 10 For current rollover risk P Membership function graph. First, based on the general value range of input and output variables, define the fuzzy subsets of each variable. Then select the trapezoidal function as the membership function of each variable. There are 4 parameters in the trapezoidal function that need to be determined, including the horizontal coordinate of the left foot. a , rising edge horizontal coordinate b , falling edge horizontal coordinate c , right foot horizontal coordinate d ; After determining the trapezoidal function parameters corresponding to each variable fuzzy subset, the membership function graph of the input and output variables can be obtained. This graph describes the membership distribution of each variable fuzzy subset.

[0052] Step 403, analyzing the current rollover risk of the vehicle under different input variable combinations, and formulating fuzzy rules; Fuzzy rules define the relationship between input variables and output variables in the fuzzy intelligent early warning algorithm. Its accuracy directly affects the performance of the algorithm. Its form is generally If-Then.

[0053] In the fuzzy intelligent warning algorithm involved in this embodiment, the premise part of the rule (i.e., the If condition) covers the four input parameters of vehicle weight, vehicle speed, roll angle and current turning radius, while the conclusion part of the rule (i.e., the Then result) is the evaluation result of the current roll risk of the vehicle.

[0054] In this embodiment, fuzzy rules are formulated for the current rollover risk of the vehicle under different combinations of input variables, specifically: If the vehicle is heavym Small (L) and vehicle speed v Small (L) and tilt angle i Small (L) and turning radius R Large (H), then the risk of rollover P Very low (VL); If the vehicle is heavy m Large (H) and speed v Small (L) and tilt angle i Small (L) and turning radius R Large (H), then the risk of rollover P Low (L); If the vehicle is heavy m Small (L) and vehicle speed v Medium (M) and tilt angle i Small (L) and turning radius R Large (H), then the risk of rollover P Low (L); If the vehicle is heavy m Large (H) and speed v Medium (M) and tilt angle i Small (L) and turning radius R Large (H), then the risk of rollover P Low (L); If the vehicle is heavy m Small (L) and vehicle speed v Large (H) and tilt angle i Small (L) and turning radius R Large (H), then the risk of rollover P Medium (M); If the vehicle is heavy m Large (H) and speed v Large (H) and tilt angle i Small (L) and turning radius R Large (H), then the risk of rollover P High (H); If the vehicle is heavy m Small (L) and vehicle speed v Small (L) and tilt angle i Medium (M) and turning radius R Large (H), then the risk of rollover P Medium (M); If the vehicle is heavy m Large (H) and speed v Small (L) and tilt angle i Medium (M) and turning radius R Large (H), then the risk of rollover P Medium (M); If the vehicle is heavy m Small (L) and vehicle speed vMedium (M) and tilt angle i Medium (M) and turning radius R Large (H), then the risk of rollover P Medium (M); If the vehicle is heavy m Large (H) and speed v Medium (M) and tilt angle i Medium (M) and turning radius R Large (H), then the risk of rollover P Medium (M); If the vehicle is heavy m Small (L) and vehicle speed v Large (H) and tilt angle i Medium (M) and turning radius R Large (H), then the risk of rollover P High (H); If the vehicle is heavy m Large (H) and speed v Large (H) and tilt angle i Medium (M) and turning radius R Large (H), then the risk of rollover P Very high (VH); If the vehicle is heavy m Small (L) and vehicle speed v Small (L) and tilt angle i Height (H) and turning radius R Large (H), then the risk of rollover P Medium (M); If the vehicle is heavy m Large (H) and speed v Small (L) and tilt angle i Height (H) and turning radius R Large (H), then the risk of rollover P High (H); If the vehicle is heavy m Small (L) and vehicle speed v Medium (M) and tilt angle i Height (H) and turning radius R Large (H), then the risk of rollover P High (H); If the vehicle is heavy m Large (H) and speed v Medium (M) and tilt angle i Height (H) and turning radius R Large (H), then the risk of rollover P High (H); If the vehicle is heavy m Small (L) and vehicle speed v Large (H) and tilt angle iHeight (H) and turning radius R Large (H), then the risk of rollover P High (H); If the vehicle is heavy m Large (H) and speed v Large (H) and tilt angle i Height (H) and turning radius R Large (H), then the risk of rollover P Very high (VH); If the vehicle is heavy m Small (L) and vehicle speed v Small (L) and tilt angle i Small (L) and turning radius R Small (L), then the risk of rollover P Low (L); If the vehicle is heavy m Large (H) and speed v Small (L) and tilt angle i Small (L) and turning radius R Small (L), then the risk of rollover P Medium (M); If the vehicle is heavy m Small (L) and vehicle speed v Medium (M) and tilt angle i Small (L) and turning radius R Small (L), then the risk of rollover P Medium (M); If the vehicle is heavy m Large (H) and speed v Medium (M) and tilt angle i Small (L) and turning radius R Small (L), then the risk of rollover P High (H); If the vehicle is heavy m Small (L) and vehicle speed v Large (H) and tilt angle i Small (L) and turning radius R Small (L), then the risk of rollover P High (H); If the vehicle is heavy m Large (H) and speed v Large (H) and tilt angle i Small (L) and turning radius R Small (L), then the risk of rollover P Very high (VH); If the vehicle is heavy m Small (L) and vehicle speed v Small (L) and tilt angle i Medium (M) and turning radius RSmall (L), then the risk of rollover P Medium (M); If the vehicle is heavy m Large (H) and speed v Small (L) and tilt angle i Medium (M) and turning radius R Small (L), then the risk of rollover P Medium (M); If the vehicle is heavy m Small (L) and vehicle speed v Medium (M) and tilt angle i Medium (M) and turning radius R Small (L), then the risk of rollover P High (H); If the vehicle is heavy m Large (H) and speed v Medium (M) and tilt angle i Medium (M) and turning radius R Small (L), then the risk of rollover P High (H); If the vehicle is heavy m Small (L) and vehicle speed v Large (H) and tilt angle i Medium (M) and turning radius R Small (L), then the risk of rollover P Very high (VH); If the vehicle is heavy m Large (H) and speed v Large (H) and tilt angle i Medium (M) and turning radius R Small (L), then the risk of rollover P Very high (VH); If the vehicle is heavy m Small (L) and vehicle speed v Small (L) and tilt angle i Large (H) and turning radius R Small (L), then the risk of rollover P Medium (M); If the vehicle is heavy m Large (H) and speed v Small (L) and tilt angle i Large (H) and turning radius R Small (L), then the risk of rollover P High (H); If the vehicle is heavy m Small (L) and vehicle speed v Medium (M) and tilt angle i Large (H) and turning radius R Small (L), then the risk of rollover PHigh (H); If the vehicle is heavy m Large (H) and speed v Medium (M) and tilt angle i Large (H) and turning radius R small (L), then the rollover risk P is very high (VH); If the vehicle is heavy m Small (L) and vehicle speed v Large (H) and tilt angle i Large (H) and turning radius R Small (L), then the risk of rollover P Very high (VH); If the vehicle is heavy m Large (H) and speed v Large (H) and tilt angle i Large (H) and turning radius R Small (L), then the risk of rollover P Very high (VH).

[0055] Step 404: perform fuzzy reasoning according to the established fuzzy rules and the membership degree of the fuzzy subset of the current input variable to obtain a fuzzy set of the current rollover risk of the vehicle; In this embodiment, the fuzzy reasoning is performed using the Mamdani method; In this embodiment, the fuzzy set of the current rollover risk of the vehicle includes all possible values ​​of the current rollover risk and the degree of membership corresponding to each value.

[0056] Step 405, defuzzifying the fuzzy set of the current rollover risk of the vehicle to obtain a rollover risk value; In order to obtain an accurate vehicle rollover risk value from the fuzzy set obtained by fuzzy reasoning, it is necessary to clarify it and convert the fuzzy quantity into an exact value.

[0057] In this embodiment, the defuzzification method used is the centroid method, and the formula is as follows: (9), in, P represents the exact value of rollover risk obtained by defuzzification, p is the possible value of the current rollover risk obtained by the previous fuzzy reasoning, m N ( p ) is the membership degree corresponding to the possible value of the current rollover risk.

[0058] Step 406: Determine the current rollover risk level of the vehicle according to the rollover risk value; In this embodiment, if the vehicle rollover risk value output by the fuzzy intelligent warning algorithm is in the range of 0% to 30%, the current rollover risk level is level 1; if the vehicle rollover risk value output by the fuzzy intelligent warning algorithm is in the range of 30% to 60%, the current rollover risk level is level 2; if the vehicle rollover risk value output by the fuzzy intelligent warning algorithm reaches more than 60%, the current rollover risk level is level 3.

[0059] Step 5: Formulate a corresponding rollover warning plan based on the rollover risk level of the vehicle and conduct graded warning; Specifically include: If the current rollover risk level is level 1, the system will execute the level 1 rollover warning plan. At this time, the sound alarm in the cab will emit a slight warning sound, and the warning light will turn on and display yellow, reminding the driver to pay attention to the potential rollover risk of the current vehicle, but the risk value is relatively low. It is recommended that the driver pay attention to driving safety and adjust driving behavior appropriately; If the current rollover risk level is level 2, the system will execute the level 2 rollover warning plan. At this time, the sound alarm in the cab will emit a more obvious warning sound, and the yellow warning light will start flashing, informing the driver through stronger auditory and visual signals that the rollover risk has increased significantly and that immediate measures need to be taken, such as slowing down and adjusting the vehicle's posture; If the current rollover risk level is level 3, the system will execute the level 3 rollover warning plan. In this emergency situation, the sound alarm in the cab will emit a rapid and strong alarm, and the warning light will turn red and flash continuously, warning the driver that the liquid tank vehicle is at a very high risk of rollover. The driver needs to immediately apply emergency brakes or take other necessary measures to avoid rollover accidents to the greatest extent possible and ensure driving safety.

[0060] During graded warning, the alarm device is installed in the cab, including warning lights and sound alarms. When the controller detects that the tanker has a rollover risk, it controls the corresponding equipment to send out sound and light warning signals. In addition, according to the severity of the rollover, the controller can change the color and state of the warning light (steady or flashing) and the volume and frequency of the warning sound, so that the driver can intuitively perceive the current rollover risk of the vehicle and perform corresponding anti-rollover operations.

[0061] Embodiment 2 This embodiment provides a liquid tank vehicle rollover risk warning device, including: A data acquisition module is used to acquire the tilt angle, vehicle speed, vehicle position information and liquid level height in the liquid tank of the liquid tank vehicle; A parameter determination module, used to determine the total weight of the liquid tank vehicle based on the tilt angle of the liquid tank vehicle and the liquid level height in the liquid tank; and to determine the current turning radius of the vehicle based on the position information of the liquid tank vehicle; The rollover risk level assessment module is used to take the vehicle's gross weight, speed, roll angle and current turning radius as input variables and the current rollover risk as output variable, fuzzify the input variables and output variables, and predict the vehicle's current rollover risk after fuzzy reasoning; determine the vehicle's current rollover risk level based on the vehicle's current rollover risk value; The graded warning module is used to formulate corresponding rollover warning plans based on the vehicle's rollover risk level and perform graded warnings.

[0062] Embodiment 3 This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the above-mentioned liquid tank vehicle rollover risk warning method are implemented.

[0063] Embodiment 4 This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the above-mentioned method for early warning of the rollover risk of a liquid tank vehicle are implemented.

[0064] Embodiment 5 This embodiment provides a program product, which is a computer program product, including a computer program. When the computer program is executed by a processor, the steps in the liquid tank vehicle rollover risk warning method as described above are implemented.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A liquid tank vehicle rollover risk warning method, characterized in that: The steps include: Obtaining the tilt angle, vehicle speed, vehicle position information and liquid level height in the liquid tank of the liquid tank vehicle; Determine the total weight of the liquid tank vehicle based on the tilt angle of the liquid tank vehicle and the liquid level height in the liquid tank; determine the current turning radius of the vehicle based on the position information of the liquid tank vehicle; The vehicle's gross weight, speed, roll angle and current turning radius are used as input variables, and the current rollover risk is used as the output variable. The input and output variables are fuzzified, and the current rollover risk of the vehicle is predicted after fuzzy reasoning. Determine the current rollover risk level of the vehicle according to the current rollover risk value of the vehicle; Based on the vehicle's rollover risk level, a corresponding rollover warning plan is formulated to provide graded warnings.

2. A liquid tank vehicle rollover risk warning method as claimed in claim 1, characterized in that: The method of determining the total weight of the liquid tank vehicle based on the tilt angle of the liquid tank vehicle and the liquid level height in the liquid tank comprises: Determine the shape of the liquid tank, and calculate the mass of the liquid by combining the liquid level height in the liquid tank and the parameters of the liquid tank; Determine the vehicle's curb weight; The total weight of the liquid tank vehicle is obtained by summing the mass of the liquid and the curb mass of the vehicle.

3. A liquid tank vehicle rollover risk warning method as claimed in claim 1, characterized in that: Based on the position information of the liquid tank vehicle, the current turning radius of the vehicle is determined, including: The vehicle position information received at the current time and the previous two times is defined as P 1( x 1, y 1), P 2( x 2, y 2), P 3( x 3, y 3), where x i , i = 1, 2, 3 are the horizontal coordinates of each position point. y i , i = 1, 2, 3 are the ordinates of each position point; then, P 1 and P 3 Distance between location points L for: ， calculate P 2 to P 1 and P 3 Distance between two points H : ， The vehicle's current turning radius R for: 。 4. A liquid tank vehicle rollover risk warning method as claimed in claim 1, characterized in that: The input variables and output variables are fuzzified, and the current rollover risk of the vehicle is predicted after fuzzy reasoning, including: According to the value range of input variables and output variables, define the fuzzy subsets of each variable; Perform fuzzification on input variables and output variables, and convert the exact value of the variable into the membership degree of the fuzzy subset; Analyze the current rollover risk of the vehicle under different combinations of input variables and formulate fuzzy rules; According to the fuzzy rules and the membership degree of the fuzzy subsets of the input variables, fuzzy reasoning is performed to obtain the fuzzy set of the current rollover risk of the vehicle; The fuzzy set of the current rollover risk of the vehicle is defuzzified to obtain the rollover risk value of the vehicle.

5. A liquid tank vehicle rollover risk warning method as claimed in claim 4, characterized in that: When the input variables and output variables are fuzzified and the exact values ​​of the variables are converted into the membership of the fuzzy subset, the exact values ​​of the variables are converted into the membership of the fuzzy subset through the membership function, and the trapezoidal function is selected as the membership function of the input variables and output variables.

6. A liquid tank vehicle rollover risk warning method as claimed in claim 1, characterized in that: The current rollover risk level of the vehicle under different combinations of input variables is analyzed, and the If-Then form is adopted when formulating fuzzy rules.

7. A liquid tank vehicle rollover risk warning method as claimed in claim 1, characterized in that: According to the current rollover risk value of the vehicle, the current rollover risk level of the vehicle is determined, including: If the current rollover risk value is in the range of 0% to 30%, the current rollover risk level is level 1; If the current rollover risk value is between 30% and 60%, the current rollover risk level is level 2; If the current rollover risk value reaches 60% or above, the current rollover risk level is level 3.

8. A liquid tank vehicle rollover risk warning device, characterized in that: include: A data acquisition module, used to acquire the tilt angle, vehicle speed, vehicle position information and liquid level height in the liquid tank of the liquid tank vehicle; A parameter determination module, used to determine the total weight of the liquid tank vehicle based on the tilt angle of the liquid tank vehicle and the liquid level height in the liquid tank; and to determine the current turning radius of the vehicle based on the position information of the liquid tank vehicle; The rollover risk level assessment module is used to take the vehicle's gross weight, speed, roll angle and current turning radius as input variables and the current rollover risk as output variable, fuzzify the input variables and output variables, and predict the vehicle's current rollover risk after fuzzy reasoning; Determine the current rollover risk level of the vehicle according to the current rollover risk value of the vehicle; The graded warning module is used to formulate corresponding rollover warning plans based on the vehicle's rollover risk level and perform graded warnings.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in a liquid tank vehicle rollover risk warning method as described in any one of claims 1 to 7 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the liquid tank vehicle rollover risk warning method as described in any one of claims 1-7 are implemented.

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