Vehicle rollover early warning method and system for intelligent vehicle

Abstract

The invention is suitable for the technical field of vehicle control, and particularly relates to a vehicle rollover early warning method and system for an intelligent vehicle. When the vehicle is in a static state, setting barycentric coordinates (x, y, z) of the vehicle, and determining x and y in the barycentric coordinates of the vehicle; in the vehicle driving process, a moment balance equation based on a front axle and a rear axle of the vehicle is constructed, z in the barycentric coordinates of the vehicle is determined, and the barycentric coordinates of the vehicle are obtained; and constructing a vehicle rollover simulation model, and generating a rollover early warning result. The driving data of the vehicle are collected, the real-time gravity center position of the vehicle is calculated according to the driving data of the vehicle, and the vehicle model is adjusted based on the real-time gravity center position, so that a simulation test is performed by using the preset simulation software to judge whether the vehicle is rollover or not, the simulation result can be more accurate by adjusting the vehicle model, and the simulation efficiency is improved. And the accuracy of rollover early warning is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and in particular relates to a vehicle rollover warning method and system for an intelligent vehicle. Background Art

[0002] The vehicle rollover warning system is an advanced active safety technology designed to prevent the vehicle from rolling over during sharp turns or emergency avoidance situations. The system evaluates the risk of rollover in real time by monitoring the vehicle's dynamic parameters, such as speed, lateral acceleration, steering angle, and body tilt angle. Once a possible rollover is detected, the system will immediately alert the driver to take measures to avoid potential danger. Some advanced systems can also work in conjunction with the vehicle's stability control system to automatically adjust the vehicle's status and further reduce the risk of rollover, thereby effectively improving driving safety and protecting the lives of drivers and passengers.

[0003] In the current rollover warning process, the rollover warning mainly relies on monitoring the dynamic parameters of the vehicle. The above parameters are determined based on the factory parameters of the vehicle. During the actual use of the vehicle, the personnel and objects inside the vehicle will change the center of gravity position and the overall mass of the vehicle. If the warning is still carried out based on the factory parameters, it is easy to miss or report a false alarm. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle rollover warning method for an intelligent vehicle, aiming to solve the problem that warnings based on factory parameters are prone to missed reports or false reports.

[0005] The present invention is implemented as follows: a vehicle rollover warning method for an intelligent vehicle, the method comprising: Acquiring vehicle driving parameters, the vehicle driving parameters at least including vehicle speed, lateral acceleration and vehicle body tilt angle; When the vehicle is stationary, the vehicle center of gravity coordinates (x, y, z) are set, and the moment balance equation based on the horizontal axis is constructed according to the preset vehicle attribute parameters to determine x and y in the vehicle center of gravity coordinates; During the driving process of the vehicle, the acceleration of the vehicle is obtained at least twice to construct a moment balance equation based on the front axle and the rear axle of the vehicle, and the z in the center of gravity coordinate of the vehicle is determined to obtain the center of gravity coordinate of the vehicle; A vehicle rollover simulation model is constructed based on the vehicle center of gravity coordinates and a preset vehicle model. The vehicle rollover simulation model is processed through preset simulation software to generate a rollover warning result.

[0006] Preferably, when the vehicle is in a stationary state, the steps of setting the vehicle center of gravity coordinates (x, y, z), constructing a moment balance equation based on a horizontal axis according to preset vehicle attribute parameters, and determining x and y in the vehicle center of gravity coordinates specifically include: When the vehicle is started but still in a stationary state, the supporting force corresponding to each wheel is synchronously obtained, and the total weight of the vehicle is calculated based on the supporting force of the vehicle; According to the supporting force on the wheel and the length data in the vehicle attribute parameters, a moment balance equation based on the x-axis is constructed, and the value of the y-coordinate of the vehicle's center of gravity is obtained by solving the equation; The moment balance equation based on the y-axis is constructed according to the supporting force on the wheel and the width data in the vehicle attribute parameters, and the value of the x-coordinate of the vehicle's center of gravity is obtained by solving it.

[0007] Preferably, the step of obtaining the acceleration of the vehicle at least twice during the driving process of the vehicle to construct a moment balance equation based on the front axle and the rear axle of the vehicle, determine z in the center of gravity coordinates of the vehicle, and obtain the center of gravity coordinates of the vehicle specifically includes: When the vehicle is accelerating, the real-time acceleration is determined, and when the real-time acceleration reaches a first preset value, the support force on each wheel is obtained, and a torque balance equation based on the front axle is constructed; When the vehicle is decelerating, the real-time acceleration is determined, and when the real-time acceleration reaches a second preset value, the support force on each wheel is obtained, and a torque balance equation based on the rear axle is constructed; The moment balance equation based on the front axle and the moment balance equation based on the rear axle are solved simultaneously to obtain the value of the z coordinate in the vehicle's center of gravity coordinates, thereby obtaining the vehicle's center of gravity coordinates.

[0008] Preferably, the step of constructing a vehicle rollover simulation model based on the vehicle center of gravity coordinates and a preset vehicle model, processing the vehicle rollover simulation model by a preset simulation software, and generating a rollover warning result specifically includes: Retrieving a preset vehicle model, and adjusting the vehicle model based on the vehicle center of gravity coordinates so that the center of gravity of the vehicle model coincides with the vehicle center of gravity coordinates; Retrieve the preset simulation software, import the adjusted vehicle model into the simulation software, obtain the real-time vehicle driving parameters, import them into the simulation software for simulation processing, and obtain the simulation results; Based on the simulation results, it is determined whether the vehicle has rolled over. If it is determined that a rollover has occurred, active intervention is performed.

[0009] Preferably, the active intervention method includes controlling the electronic stability control system, the anti-lock braking system, the active suspension control and the rollover mitigation system to assist in maneuvering the vehicle.

[0010] Another object of the present invention is to provide a vehicle rollover warning system for an intelligent vehicle, the system comprising: A parameter acquisition module, used to acquire vehicle driving parameters, the vehicle driving parameters at least including vehicle speed, lateral acceleration and vehicle body tilt angle; The first equation solving module is used to set the center of gravity coordinates (x, y, z) of the vehicle when the vehicle is in a stationary state, construct a moment balance equation based on the horizontal axis according to preset vehicle attribute parameters, and determine x and y in the center of gravity coordinates of the vehicle; The second equation solving module is used to obtain the acceleration of the vehicle at least twice during the driving process of the vehicle to construct a moment balance equation based on the front axle and the rear axle of the vehicle, determine the z in the center of gravity coordinates of the vehicle, and obtain the center of gravity coordinates of the vehicle; The simulation test module is used to build a vehicle rollover simulation model based on the vehicle center of gravity coordinates and a preset vehicle model, process the vehicle rollover simulation model through a preset simulation software, and generate a rollover warning result.

[0011] Preferably, the first equation solving module includes: A vehicle weight calculation unit, used to synchronously obtain the supporting force corresponding to each wheel when the vehicle is started but still in a stationary state, and calculate the total weight of the vehicle based on the supporting force of the vehicle; The x-coordinate solving unit is used to construct a moment balance equation based on the x-axis according to the supporting force on the wheel and the length data in the vehicle attribute parameters, and solve to obtain the value of the y-coordinate of the vehicle's center of gravity coordinate; The y-coordinate solving unit is used to construct a moment balance equation based on the y-axis according to the supporting force on the wheel and the width data in the vehicle attribute parameters, and solve to obtain the value of the x-coordinate of the vehicle's center of gravity coordinate.

[0012] Preferably, the second equation solving module comprises: The first equation building unit is used to determine the real-time acceleration when the vehicle is accelerating, and when the real-time acceleration reaches a first preset value, obtain the support force on each wheel and build a torque balance equation based on the front axle; The second equation building unit is used to determine the real-time acceleration when the vehicle is decelerating, and when the real-time acceleration reaches a second preset value, obtain the support force on each wheel and build a torque balance equation based on the rear axle; The z coordinate solving unit is used to solve the moment balance equation based on the front axle and the moment balance equation based on the rear axle simultaneously, obtain the value of the z coordinate in the vehicle center of gravity coordinate, and obtain the vehicle center of gravity coordinate.

[0013] Preferably, the simulation test module includes: A vehicle model adjustment unit, used to call a preset vehicle model and adjust the vehicle model based on the vehicle center of gravity coordinates so that the center of gravity of the vehicle model coincides with the vehicle center of gravity coordinates; The simulation processing unit is used to call the preset simulation software, import the adjusted vehicle model into the simulation software, obtain the real-time vehicle driving parameters, import them into the simulation software for simulation processing, and obtain the simulation results; The rollover warning unit is used to determine whether the vehicle has rolled over based on the simulation results, and to take active intervention if it is determined that a rollover has occurred.

[0014] Preferably, the active intervention method includes controlling the electronic stability control system, the anti-lock braking system, the active suspension control and the rollover mitigation system to assist in maneuvering the vehicle.

[0015] The present invention provides a vehicle rollover warning method for an intelligent vehicle. During the driving process of the vehicle, the driving data of the vehicle is collected, the real-time center of gravity position of the vehicle is calculated according to the driving data of the vehicle, and the vehicle model is adjusted based on the real-time center of gravity position, so as to perform a simulation test using preset simulation software to determine whether the vehicle will roll over. By adjusting the vehicle model, the simulation result can be made more accurate, thereby greatly improving the accuracy of the rollover warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart of a vehicle rollover warning method for a smart car provided by an embodiment of the present invention; Figure 2 A first flow chart for calculating the center of gravity coordinates of a vehicle provided by an embodiment of the present invention; Figure 3 A second flow chart for calculating the coordinates of the center of gravity of a vehicle provided by an embodiment of the present invention; Figure 4 A flowchart of the steps of constructing a vehicle rollover simulation model based on the vehicle center of gravity coordinates and a preset vehicle model provided in an embodiment of the present invention, processing the vehicle rollover simulation model through preset simulation software, and generating a rollover warning result; Figure 5 An architecture diagram of a vehicle rollover warning system for a smart car provided by an embodiment of the present invention; Figure 6 An architecture diagram of a first equation solving module provided in an embodiment of the present invention; Figure 7 An architecture diagram of a second equation solving module provided in an embodiment of the present invention; Figure 8 An architectural diagram of a simulation test module provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] like Figure 1 FIG. 1 is a flow chart of a vehicle rollover warning method for a smart car provided by an embodiment of the present invention, and the method includes: S100, obtaining vehicle driving parameters, where the vehicle driving parameters at least include vehicle speed, lateral acceleration, and vehicle body tilt angle.

[0019] In this step, the vehicle driving parameters are obtained, and a displacement sensor is installed on the shock absorber of the vehicle. The compression of the shock absorber can be detected by the displacement sensor, or the pressure value of the corresponding suspension can be retrieved from the suspension system. The support force corresponding to the wheel can be converted according to the compression of the shock absorber. Similarly, the support force of the corresponding wheel can also be determined according to the pressure value of the suspension. When determining the rollover of the vehicle, it is necessary to simultaneously obtain the vehicle speed, lateral acceleration and body inclination angle data, and perform simulation processing based on the above data to obtain more accurate simulation results.

[0020] S200, when the vehicle is in a stationary state, the center of gravity coordinates (x, y, z) of the vehicle are set, a moment balance equation based on the horizontal axis is constructed according to preset vehicle attribute parameters, and x and y in the center of gravity coordinates of the vehicle are determined.

[0021] In this step, when the vehicle is stationary, the center of gravity coordinates (x, y, z) of the vehicle are set. The center of gravity coordinates of the vehicle are relative coordinates, and the reference system is the vehicle model. Specifically, a three-dimensional space is constructed, in which a three-dimensional model of the vehicle, i.e., the vehicle model, is loaded. The outer shell of the vehicle is used as a boundary, and a center of gravity coordinate of the vehicle is set. The coordinates corresponding to the three axes are x, y and z, respectively. The center of gravity coordinates of the vehicle are located inside the outer shell of the vehicle. Based on this, the value ranges of x, y and z can be determined. When the vehicle is stationary and located in a horizontal plane, the vehicle as a whole is in a stable state. Due to the different positions of the passengers and the different positions of the loaded items in the vehicle, the weight and center of gravity of the vehicle as a whole will change. The change of the center of gravity will inevitably lead to a change in the stability of the vehicle as a whole. For example, in the process of turning right, if the center of gravity is close to the right side of the vehicle, the stability of the vehicle will be higher and the probability of rollover will be smaller. On the contrary, if the center of gravity is close to the left side of the vehicle, the probability of rollover will increase. According to the pressure distribution on the four wheels of the vehicle, a moment balance equation based on the horizontal axis is constructed. The horizontal axis includes the x-axis and the y-axis. The values ​​of x and y are obtained by solving and calculating.

[0022] S300, during the driving process of the vehicle, the acceleration of the vehicle is obtained at least twice to construct a torque balance equation based on the front axle and the rear axle of the vehicle, and the z in the center of gravity coordinates of the vehicle is determined to obtain the center of gravity coordinates of the vehicle.

[0023] In this step, the acceleration of the vehicle is obtained at least twice during the driving process. During the driving process, when the vehicle accelerates and decelerates, the center of gravity of the vehicle is higher than the wheels, resulting in different pressures on the front and rear axles of the vehicle. A torque balance equation is constructed based on the front and rear axles, and the value of z in the vehicle's center of gravity coordinates is obtained by solving them jointly. At this time, the values ​​of x, y and z in the vehicle's center of gravity coordinates have been solved, and the center of gravity position of the vehicle is determined.

[0024] S400, constructing a vehicle rollover simulation model based on the vehicle center of gravity coordinates and a preset vehicle model, processing the vehicle rollover simulation model through preset simulation software, and generating a rollover warning result.

[0025] In this step, a vehicle rollover simulation model is constructed based on the vehicle center of gravity coordinates and a preset vehicle model. A dynamic adjustment module is added to the vehicle model according to the weight of the vehicle. Model weights are added to the trunk area and seat area of ​​the vehicle model to change the total weight of the vehicle model and the center of gravity of the vehicle, so that the center of gravity of the adjusted vehicle rollover simulation model coincides with the vehicle center of gravity coordinates. At this time, the preset simulation software is used for simulation processing, and it is determined whether the vehicle will roll over based on the simulation results to generate a rollover warning result, intervene in the vehicle based on the rollover warning result, and prompt the driver.

[0026] like Figure 2 As shown, as a preferred embodiment of the present invention, when the vehicle is in a stationary state, the vehicle center of gravity coordinates (x, y, z) are set, a moment balance equation based on a horizontal axis is constructed according to preset vehicle attribute parameters, and the steps of determining x and y in the vehicle center of gravity coordinates specifically include: S201, when the vehicle is started but still in a stationary state, synchronously obtain the supporting force corresponding to each wheel, and calculate the total weight of the vehicle based on the supporting force of the vehicle.

[0027] In this step, when the vehicle is started but still in a stationary state, the support force corresponding to each wheel is obtained synchronously. After the vehicle is started, the overall weight of the vehicle will be shared by each wheel. The different positions of the center of gravity of the vehicle will result in different loads on each wheel of the vehicle. The support forces of the four wheels are respectively expressed as the left front wheel support force , right front wheel support , left rear wheel support and right rear wheel support , when the vehicle is stationary, ,in, is the overall mass of the vehicle, is the gravitational acceleration, based on which the gravity of the vehicle can be calculated; in the three-dimensional coordinate system, a virtual box is constructed using the length and width of the vehicle as data, and the box is located in the plane where the x-axis and the y-axis are located.

[0028] S202, constructing a torque balance equation based on the x-axis according to the supporting force on the wheel and the length data in the vehicle attribute parameters, and solving to obtain the y-coordinate of the vehicle's center of gravity coordinate.

[0029] In this step, the torque balance equation based on the x-axis is constructed according to the support force on the wheel and the length data in the vehicle attribute parameters, that is, the torque balance equation is constructed around the x-axis, and the x-axis is the axis in the length direction of the vehicle, and the center of gravity position y along the width direction of the vehicle is calculated:

[0030] in, is the length of the vehicle, is the y-coordinate value of the vehicle's center of gravity.

[0031] S203, constructing a moment balance equation based on the y-axis according to the supporting force on the wheel and the width data in the vehicle attribute parameters, and solving to obtain the value of the x-coordinate of the vehicle's center of gravity coordinate.

[0032] In this step, the moment balance equation based on the y-axis is constructed according to the support force on the wheel and the width data in the vehicle attribute parameters. Based on the same principle, the moment balance equation is constructed around the y-axis. The y-axis is the axis in the vehicle width direction. The center of gravity position x along the vehicle width direction is calculated:

[0033] in, is the width of the vehicle, is the x-coordinate value of the vehicle's center of gravity.

[0034] like Figure 3 As shown, as a preferred embodiment of the present invention, the step of obtaining the acceleration of the vehicle at least twice during the vehicle driving process, constructing a moment balance equation based on the front axle and the rear axle of the vehicle, determining z in the center of gravity coordinates of the vehicle, and obtaining the center of gravity coordinates of the vehicle specifically includes: S301, when the vehicle is accelerating, the real-time acceleration is determined, and when the real-time acceleration reaches a first preset value, the support force on each wheel is obtained, and a torque balance equation based on the front axle is constructed.

[0035] In this step, when the vehicle is accelerating, the real-time acceleration is determined. When the acceleration exceeds the preset first preset value, generally during the vehicle starting process, the front axle of the vehicle (defined as point A) is used as a reference point for analysis to construct the torque balance equation:

[0036] in, is the height of the center of gravity, It is the vertical distance between the rear axle of the car and the vertical point of the center of gravity on the plane where the front and rear axles are located. is the support force on the rear wheels of the vehicle, that is The support force on the rear wheels of the vehicle is expressed as , is the first preset value.

[0037] S302, when the vehicle is decelerating, the real-time acceleration is determined, and when the real-time acceleration reaches a second preset value, the support force on each wheel is obtained, and a torque balance equation based on the rear axle is constructed.

[0038] In this step, when the vehicle is decelerating, the real-time acceleration is determined. When the real-time acceleration reaches the second preset value, during the braking process of the vehicle, the torque balance equation is constructed with the rear axle of the vehicle as the reference point:

[0039] in, .

[0040] S303, the moment balance equation based on the front axle and the moment balance equation based on the rear axle are solved simultaneously to obtain the value of the z coordinate in the vehicle center of gravity coordinates, thereby obtaining the vehicle center of gravity coordinates.

[0041] In this step, the moment balance equation based on the front axle and the moment balance equation based on the rear axle are solved simultaneously. Since the vehicle is under force balance in the vertical direction, there exists:

[0042] By performing simultaneous solutions, we obtain:

[0043] That is the value of the y coordinate, so the coordinates of the vehicle's center of gravity can be determined.

[0044] like Figure 4 As shown, as a preferred embodiment of the present invention, the steps of constructing a vehicle rollover simulation model based on the vehicle center of gravity coordinates and a preset vehicle model, processing the vehicle rollover simulation model by a preset simulation software, and generating a rollover warning result specifically include: S401, calling a preset vehicle model, and adjusting the vehicle model based on the vehicle center of gravity coordinates so that the center of gravity of the vehicle model coincides with the vehicle center of gravity coordinates.

[0045] In this step, a preset vehicle model is retrieved. The preset vehicle model is based on the factory parameter settings of the vehicle, and has the same size and weight as the actual vehicle. In order to reduce the amount of data, small components are merged in the vehicle model, such as modeling the entire dashboard as a whole, but the final weight and center of gravity are the same as those of the factory vehicle. During driving, the mass m of the vehicle is calculated, and based on its mass, virtual object models or character models are set in the trunk area and seat area of ​​the vehicle. The above-mentioned object models and character models are fixed on the vehicle model. By setting the object model or character model, the center of gravity of the adjusted vehicle model coincides with the coordinates of the vehicle's center of gravity.

[0046] S402, calling the preset simulation software, importing the adjusted vehicle model into the simulation software, and obtaining the real-time vehicle driving parameters, and importing them into the simulation software for simulation processing to obtain the simulation results.

[0047] In this step, the preset simulation software is called up. The simulation software may be ADAMS / Car or CarSim. Based on the computing power of the vehicle, the simulation software may be run in the vehicle computer or cloud server, and the adjusted vehicle model may be imported into the simulation software. Based on the vehicle parameters obtained in real time, such as vehicle speed, lateral acceleration, body inclination and other data, simulation processing is performed based on the simulation software to determine whether the current vehicle has a rollover risk.

[0048] S403, determining whether the vehicle has rolled over based on the simulation results, and performing active intervention if it is determined that the vehicle has rolled over.

[0049] In this step, it is determined whether the vehicle rolls over based on the simulation results. If it is determined that a rollover has occurred, a rollover warning is issued and active intervention is performed. In order to ensure the pre-emptive nature of the prediction results, the test data is appropriately amplified, such as amplifying all parameters by 1.1 times. The actual vehicle speed is V. When performing a rollover simulation, the vehicle speed is set to 1.1V. The other parameters are processed similarly. This way, an early warning can be achieved before a rollover occurs. Active intervention methods include controlling the electronic stability control system, anti-lock braking system, active suspension control and rollover mitigation system to assist in controlling the vehicle.

[0050] like Figure 5 As shown, a vehicle rollover warning system for a smart car provided by an embodiment of the present invention includes: The parameter acquisition module 100 is used to acquire vehicle driving parameters, which at least include vehicle speed, lateral acceleration and vehicle body tilt angle.

[0051] In this system, the parameter acquisition module 100 acquires the vehicle driving parameters, and a displacement sensor is installed on the shock absorber of the vehicle. The compression of the shock absorber can be detected by the displacement sensor, or the pressure value of the corresponding suspension can be retrieved from the suspension system. The support force corresponding to the wheel can be converted according to the compression of the shock absorber. Similarly, the support force of the corresponding wheel can also be determined according to the pressure value of the suspension. When determining the rollover of the vehicle, it is necessary to simultaneously acquire the vehicle speed, lateral acceleration and body inclination angle data, and perform simulation processing based on the above data to obtain more accurate simulation results.

[0052] The first equation solving module 200 is used to set the vehicle center of gravity coordinates (x, y, z) when the vehicle is in a stationary state, construct a moment balance equation based on the horizontal axis according to preset vehicle attribute parameters, and determine x and y in the vehicle center of gravity coordinates.

[0053] In this system, the first equation solving module 200 sets the vehicle's center of gravity coordinates (x, y, z) when the vehicle is in a stationary state. The vehicle's center of gravity coordinates are relative coordinates, and the reference system is the vehicle model. Specifically, a three-dimensional space is constructed, and a three-dimensional model of the vehicle, that is, the vehicle model, is loaded in the three-dimensional space. A vehicle center of gravity coordinate is set with the vehicle shell as the boundary. The coordinates corresponding to the three axes are x, y and z, respectively. The vehicle center of gravity coordinate is located inside the vehicle shell, and the value range of x, y and z can be determined based on this. When the vehicle is in a stationary state and is located in a horizontal plane, the vehicle as a whole is in In a stable state, the different positions of the passengers and the loading items in the vehicle will cause changes in the overall weight and center of gravity of the vehicle. The change in the center of gravity will inevitably lead to changes in the overall stability of the vehicle. For example, when turning right, the center of gravity is close to the right side of the vehicle, the stability of the vehicle is higher and the probability of rollover is smaller. Conversely, the center of gravity is close to the left side of the vehicle, the probability of rollover increases. According to the pressure distribution on the four wheels of the vehicle, a torque balance equation based on the horizontal axis is constructed. The horizontal axis includes the x-axis and the y-axis. The values ​​of x and y are obtained by solving and calculating.

[0054] The second equation solving module 300 is used to obtain the acceleration of the vehicle at least twice during the vehicle driving process to construct a torque balance equation based on the front axle and the rear axle of the vehicle, determine the z in the vehicle center of gravity coordinates, and obtain the vehicle center of gravity coordinates.

[0055] In this system, the second equation solving module 300 obtains the acceleration of the vehicle at least twice during the driving process of the vehicle. During the driving process of the vehicle, when the vehicle is accelerating and decelerating, since the center of gravity of the vehicle is higher than the wheels, the pressures on the front axle and the rear axle of the vehicle are different. A torque balance equation is constructed based on the front axle and the rear axle, and the value of z in the center of gravity coordinates of the vehicle is obtained by solving the equations together. At this time, the values ​​of x, y and z in the center of gravity coordinates of the vehicle have been solved, and the center of gravity position of the vehicle is determined.

[0056] The simulation test module 400 is used to construct a vehicle rollover simulation model based on the vehicle center of gravity coordinates and a preset vehicle model, and to process the vehicle rollover simulation model through preset simulation software to generate a rollover warning result.

[0057] In this system, the simulation test module 400 constructs a vehicle rollover simulation model based on the vehicle center of gravity coordinates and a preset vehicle model, and adds a dynamic adjustment module to the vehicle model according to the weight of the vehicle. By adding model weights in the trunk area and seat area of ​​the vehicle model, the total weight of the vehicle model and the center of gravity of the vehicle are changed, so that the center of gravity of the adjusted vehicle rollover simulation model coincides with the vehicle center of gravity coordinates. At this time, the preset simulation software is used for simulation processing, and it is determined whether the vehicle will roll over according to the simulation results to generate a rollover warning result, intervene in the vehicle based on the rollover warning result, and prompt the driver.

[0058] like Figure 6 As shown, as a preferred embodiment of the present invention, the first equation solving module 200 includes: The vehicle weight calculation unit 201 is used to synchronously obtain the supporting force corresponding to each wheel when the vehicle is started but still in a stationary state, and calculate the total weight of the vehicle based on the supporting force of the vehicle.

[0059] In this module, the vehicle weight calculation unit 201 synchronously obtains the support force corresponding to each wheel when the vehicle is still in a stationary state after starting. After the vehicle starts, the overall weight of the vehicle will be shared by each wheel. The different positions of the center of gravity of the vehicle will result in different loads on each wheel of the vehicle. The support forces of the four wheels are respectively expressed as the left front wheel support force , right front wheel support , left rear wheel support and right rear wheel support , when the vehicle is stationary, ,in, is the overall mass of the vehicle, is the gravitational acceleration, based on which the gravity of the vehicle can be calculated; in the three-dimensional coordinate system, a virtual box is constructed using the length and width of the vehicle as data, and the box is located in the plane where the x-axis and the y-axis are located.

[0060] The x-coordinate solving unit 202 is used to construct a moment balance equation based on the x-axis according to the supporting force on the wheel and the length data in the vehicle attribute parameters, and solve to obtain the y-coordinate of the vehicle's center of gravity coordinate.

[0061] In this module, the x-coordinate solving unit 202 constructs a moment balance equation based on the x-axis according to the supporting force on the wheel and the length data in the vehicle attribute parameters, that is, constructs a moment balance equation around the x-axis, where the x-axis is the axis in the length direction of the vehicle, and calculates the center of gravity position y along the width direction of the vehicle:

[0062] in, is the length of the vehicle, is the y-coordinate value of the vehicle's center of gravity.

[0063] The y-coordinate solving unit 203 is used to construct a moment balance equation based on the y-axis according to the supporting force on the wheel and the width data in the vehicle attribute parameters, and solve to obtain the value of the x-coordinate of the vehicle's center of gravity coordinate.

[0064] In this module, the y coordinate solving unit 203 constructs a moment balance equation based on the y-axis according to the supporting force on the wheel and the width data in the vehicle attribute parameters. Based on the same principle, a moment balance equation is constructed around the y-axis, which is the axis in the vehicle width direction, and the center of gravity position x along the vehicle width direction is calculated:

[0065] in, is the width of the vehicle, is the x-coordinate value of the vehicle's center of gravity.

[0066] like Figure 7 As shown, as a preferred embodiment of the present invention, the second equation solving module 300 includes: The first equation building unit 301 is used to determine the real-time acceleration when the vehicle is accelerating, and when the real-time acceleration reaches a first preset value, obtain the support force on each wheel and build a torque balance equation based on the front axle.

[0067] In this module, the first equation construction unit 301 determines the real-time acceleration when the vehicle is accelerating. When the acceleration exceeds a preset first preset value, generally during the vehicle starting process, the front axle of the vehicle (defined as point A) is used as a reference point for analysis to construct a torque balance equation:

[0068] in, is the height of the center of gravity, It is the vertical distance between the rear axle of the car and the vertical point of the center of gravity on the plane where the front and rear axles are located. is the support force on the rear wheels of the vehicle, that is The support force on the rear wheels of the vehicle is expressed as , is the first preset value.

[0069] The second equation construction unit 302 is used to determine the real-time acceleration when the vehicle is decelerating, and when the real-time acceleration reaches a second preset value, obtain the support force on each wheel and construct a torque balance equation based on the rear axle.

[0070] In this module, the second equation construction unit 302 determines the real-time acceleration when the vehicle is decelerating. When the real-time acceleration reaches the second preset value, during the braking process of the vehicle, the torque balance equation is constructed with the rear axle of the vehicle as a reference point:

[0071] in, .

[0072] The z coordinate solving unit 303 is used to solve the moment balance equation based on the front axle and the moment balance equation based on the rear axle simultaneously to obtain the value of the z coordinate in the vehicle center of gravity coordinates, thereby obtaining the vehicle center of gravity coordinates.

[0073] In this module, the z-coordinate solving unit 303 solves the moment balance equation based on the front axle and the moment balance equation based on the rear axle simultaneously. Since the vehicle is under force balance in the vertical direction, there exists:

[0074] By performing simultaneous solutions, we obtain:

[0075] That is the value of the y coordinate, so the coordinates of the vehicle's center of gravity can be determined.

[0076] like Figure 8 As shown, as a preferred embodiment of the present invention, the simulation test module 400 includes: The vehicle model adjustment unit 401 is used to call a preset vehicle model and adjust the vehicle model based on the vehicle center of gravity coordinates so that the center of gravity of the vehicle model coincides with the vehicle center of gravity coordinates.

[0077] In this module, the vehicle model adjustment unit 401 calls up a preset vehicle model, which is based on the factory parameter settings of the vehicle and has the same size and weight as the actual vehicle. In order to reduce the amount of data, small components are merged in the vehicle model, such as modeling the entire dashboard as a whole, but the final weight and center of gravity are the same as those of the factory vehicle. During driving, the mass m of the vehicle is calculated, and based on its mass, virtual object models or character models are set in the trunk area and seat area of ​​the vehicle. The above-mentioned object models and character models are fixed on the vehicle model. By setting the object model or character model, the center of gravity of the adjusted vehicle model coincides with the center of gravity coordinates of the vehicle.

[0078] The simulation processing unit 402 is used to call the preset simulation software, import the adjusted vehicle model into the simulation software, and obtain the real-time vehicle driving parameters, and import them into the simulation software for simulation processing to obtain simulation results.

[0079] In this module, the simulation processing unit 402 calls up the preset simulation software, which may be ADAMS / Car or CarSim. Based on the computing power of the vehicle, the simulation software can be run in the vehicle computer or cloud server, and the adjusted vehicle model is imported into the simulation software. Based on the vehicle parameters obtained in real time, such as vehicle speed, lateral acceleration, body inclination and other data, simulation processing is performed based on the simulation software to determine whether the current vehicle has a rollover risk.

[0080] The rollover warning unit 403 is used to determine whether the vehicle rolls over based on the simulation results, and to take active intervention if rollover is determined to have occurred.

[0081] In this module, the rollover warning unit 403 determines whether the vehicle rolls over based on the simulation results. If it is determined that a rollover occurs, a rollover warning is issued and active intervention is performed. In order to ensure the pre-emptive nature of the prediction results, the test data is appropriately amplified, such as amplifying all parameters by 1.1 times. The actual vehicle speed is V. When performing a rollover simulation, the vehicle speed is set to 1.1V. The other parameters are processed similarly. This way, a warning can be provided before a rollover occurs. Active intervention methods include controlling the electronic stability control system, anti-lock braking system, active suspension control and rollover mitigation system to assist in controlling the vehicle.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle rollover warning method for an intelligent vehicle, characterized in that: The method comprises: Acquiring vehicle driving parameters, the vehicle driving parameters at least including vehicle speed, lateral acceleration and vehicle body tilt angle; When the vehicle is stationary, the vehicle center of gravity coordinates (x, y, z) are set, and the moment balance equation based on the horizontal axis is constructed according to the preset vehicle attribute parameters to determine x and y in the vehicle center of gravity coordinates; During the driving process of the vehicle, the acceleration of the vehicle is obtained at least twice to construct a moment balance equation based on the front axle and the rear axle of the vehicle, and the z in the center of gravity coordinate of the vehicle is determined to obtain the center of gravity coordinate of the vehicle; A vehicle rollover simulation model is constructed based on the vehicle center of gravity coordinates and a preset vehicle model. The vehicle rollover simulation model is processed through preset simulation software to generate a rollover warning result.

2. The vehicle rollover warning method of an intelligent vehicle according to claim 1, characterized in that: The step of setting the vehicle center of gravity coordinates (x, y, z) when the vehicle is in a stationary state, constructing a moment balance equation based on a horizontal axis according to preset vehicle attribute parameters, and determining x and y in the vehicle center of gravity coordinates specifically includes: When the vehicle is started but still in a stationary state, the supporting force corresponding to each wheel is synchronously obtained, and the total weight of the vehicle is calculated based on the supporting force of the vehicle; According to the supporting force on the wheel and the length data in the vehicle attribute parameters, a moment balance equation based on the x-axis is constructed, and the value of the y-coordinate of the vehicle's center of gravity is obtained by solving the equation; The moment balance equation based on the y-axis is constructed according to the supporting force on the wheel and the width data in the vehicle attribute parameters, and the value of the x-coordinate of the vehicle's center of gravity is obtained by solving it.

3. The vehicle rollover warning method of an intelligent vehicle according to claim 1, characterized in that: The step of obtaining the acceleration of the vehicle at least twice during the driving process of the vehicle, constructing a moment balance equation based on the front axle and the rear axle of the vehicle, determining z in the center of gravity coordinates of the vehicle, and obtaining the center of gravity coordinates of the vehicle specifically includes: When the vehicle is accelerating, the real-time acceleration is determined, and when the real-time acceleration reaches a first preset value, the support force on each wheel is obtained, and a torque balance equation based on the front axle is constructed; When the vehicle is decelerating, the real-time acceleration is determined, and when the real-time acceleration reaches a second preset value, the support force on each wheel is obtained, and a torque balance equation based on the rear axle is constructed; The moment balance equation based on the front axle and the moment balance equation based on the rear axle are solved simultaneously to obtain the value of the z coordinate in the vehicle's center of gravity coordinates, thereby obtaining the vehicle's center of gravity coordinates.

4. The vehicle rollover warning method of an intelligent vehicle according to claim 1, characterized in that: The step of constructing a vehicle rollover simulation model based on the vehicle center of gravity coordinates and a preset vehicle model, processing the vehicle rollover simulation model by a preset simulation software, and generating a rollover warning result specifically includes: Retrieving a preset vehicle model, and adjusting the vehicle model based on the vehicle center of gravity coordinates so that the center of gravity of the vehicle model coincides with the vehicle center of gravity coordinates; Retrieve the preset simulation software, import the adjusted vehicle model into the simulation software, obtain the real-time vehicle driving parameters, import them into the simulation software for simulation processing, and obtain the simulation results; Based on the simulation results, it is determined whether the vehicle has rolled over. If it is determined that a rollover has occurred, active intervention is performed.

5. The vehicle rollover warning method for an intelligent vehicle according to claim 4, characterized in that: Active intervention methods include controlling the electronic stability control system, anti-lock braking system, active suspension control and rollover mitigation system to assist in vehicle handling.

6. A vehicle rollover warning system for an intelligent vehicle, characterized in that: The system comprises: A parameter acquisition module, used to acquire vehicle driving parameters, the vehicle driving parameters at least including vehicle speed, lateral acceleration and vehicle body tilt angle; The first equation solving module is used to set the center of gravity coordinates (x, y, z) of the vehicle when the vehicle is in a stationary state, construct a moment balance equation based on the horizontal axis according to preset vehicle attribute parameters, and determine x and y in the center of gravity coordinates of the vehicle; The second equation solving module is used to obtain the acceleration of the vehicle at least twice during the driving process of the vehicle to construct a moment balance equation based on the front axle and the rear axle of the vehicle, determine the z in the center of gravity coordinates of the vehicle, and obtain the center of gravity coordinates of the vehicle; The simulation test module is used to build a vehicle rollover simulation model based on the vehicle center of gravity coordinates and a preset vehicle model, process the vehicle rollover simulation model through a preset simulation software, and generate a rollover warning result.

7. The vehicle rollover warning system for an intelligent vehicle according to claim 6, characterized in that: The first equation solving module comprises: A vehicle weight calculation unit, used to synchronously obtain the supporting force corresponding to each wheel when the vehicle is started but still in a stationary state, and calculate the total weight of the vehicle based on the supporting force of the vehicle; The x-coordinate solving unit is used to construct a moment balance equation based on the x-axis according to the supporting force on the wheel and the length data in the vehicle attribute parameters, and solve to obtain the value of the y-coordinate of the vehicle's center of gravity coordinate; The y-coordinate solving unit is used to construct a moment balance equation based on the y-axis according to the supporting force on the wheel and the width data in the vehicle attribute parameters, and solve to obtain the value of the x-coordinate of the vehicle's center of gravity coordinate.

8. The vehicle rollover warning system for an intelligent vehicle according to claim 6, characterized in that: The second equation solving module comprises: The first equation building unit is used to determine the real-time acceleration when the vehicle is accelerating, and when the real-time acceleration reaches a first preset value, obtain the support force on each wheel and build a torque balance equation based on the front axle; The second equation building unit is used to determine the real-time acceleration when the vehicle is decelerating, and when the real-time acceleration reaches a second preset value, obtain the support force on each wheel and build a torque balance equation based on the rear axle; The z coordinate solving unit is used to solve the moment balance equation based on the front axle and the moment balance equation based on the rear axle simultaneously, obtain the value of the z coordinate in the vehicle center of gravity coordinate, and obtain the vehicle center of gravity coordinate.

9. The vehicle rollover warning system for an intelligent vehicle according to claim 6, characterized in that: The simulation test module comprises: A vehicle model adjustment unit, used to call a preset vehicle model and adjust the vehicle model based on the vehicle center of gravity coordinates so that the center of gravity of the vehicle model coincides with the vehicle center of gravity coordinates; The simulation processing unit is used to call the preset simulation software, import the adjusted vehicle model into the simulation software, obtain the real-time vehicle driving parameters, import them into the simulation software for simulation processing, and obtain the simulation results; The rollover warning unit is used to determine whether the vehicle has rolled over based on the simulation results, and to take active intervention if it is determined that a rollover has occurred.

10. The vehicle rollover warning system for an intelligent vehicle according to claim 7, characterized in that: Active intervention methods include controlling the electronic stability control system, anti-lock braking system, active suspension control and rollover mitigation system to assist in vehicle handling.

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