Multi-dimensional anti-roll early warning method and device for motor home

Abstract

The invention discloses a touring car multi-dimensional anti-roll early warning method and device. The touring car multi-dimensional anti-roll early warning device comprises a three-dimensional detection base, a gravity balance ball and four paths of infrared distance measuring sensors. The three-dimensional detection base serves as a shell and is internally provided with a spherical space; the gravity balance ball is slidably matched in the sphere space, a balancing weight is arranged on the lower portion of the gravity balance ball, four circular openings are formed in the upper portion of the gravity balance ball in the horizontal cross direction, and four plane detection plates are correspondingly arranged to form a flaring detection space. The four infrared distance measuring sensors are embedded in the center of the end plate of the base to detect the change of the distance between the infrared distance measuring sensors and the plane detection plate in real time and calculate the inclination angle. Through deep coupling of mechanical-electronic-control algorithms, the technical problems of multi-dimensional detection, dynamic threshold adaptation and quick response are solved, a breakthrough safety solution is provided for the high-gravity-center vehicle, and the rolling risk is remarkably reduced.

Description

Technical Field

[0001] The present invention relates to a motorhome anti-rollover warning method and device, and in particular to a motorhome multi-dimensional anti-rollover warning method and device. Background Art

[0002] Due to the high center of gravity, narrow wheelbase, and large internal space, RVs are prone to rollover or even overturn when driving on curves, emergency lane changes, or uneven roads, which seriously threatens driving safety. Existing anti-roll systems are mostly based on single-axis tilt sensors or gyroscopes, which have the following limitations:

[0003] The detection dimension is single. The traditional system can only monitor the tilt angle of a single axis and cannot simultaneously perceive the multi-axis compound tilt state, resulting in delayed or invalid warning. The dynamic adaptation is poor. Dynamic parameters such as vehicle speed, load, and road friction coefficient are not considered, which is easy to misjudge under complex working conditions. Under the combined effect, the response speed to various working conditions is insufficient, resulting in slow system response and difficulty in timely triggering the vehicle stability system (ESP) intervention.

[0004] Therefore, there is an urgent need for a multi-dimensional, dynamically adaptive, and high-precision anti-roll warning solution to improve the active safety of RVs. Summary of the invention

[0005] In order to solve the deficiencies of the above-mentioned technology, the present invention provides a multi-dimensional anti-roll warning method and device for a motorhome.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a multi-dimensional anti-rollover warning device for a motorhome, comprising:

[0007] The three-dimensional detection base serves as the outer shell of the device and has a completely built-in spherical space with the center point inside the outer shell as the center of the circle;

[0008] A gravity balance ball is slidably matched and placed in the spherical space of the three-dimensional detection base. A counterweight block is arranged at the lower part of the gravity balance ball. Four circular openings with the same area are opened above the counterweight block along the horizontal cross direction. Four plane detection plates are opened inward at equal distances with the area of ​​the four circular openings as the limit. The four plane detection plates are enclosed in sequence, and an expanded detection space is formed between each plane detection plate and the corresponding circular opening;

[0009] There are four infrared ranging sensors embedded in the center of the end plate of the stereoscopic detection base. The initial distance between each infrared ranging sensor and the plane detection plate is the same. The infrared ranging sensor moves with the dynamically tilted stereoscopic detection base installed on the RV to synchronously detect the inclination angle between it and the plane detection plate.

[0010] Furthermore, when the stereoscopic detection base forms a single-axis tilt on the X-axis or Y-axis, the calculation formula of the single-axis tilt angle θ is:

[0011]

[0012] Wherein, Δd is the difference in the actual distance values ​​of the two infrared ranging sensors on the X-axis or Y-axis; R is the spherical radius of the gravity balance ball.

[0013] Furthermore, when the stereoscopic detection base forms a biaxial tilt on the X-axis and the Y-axis, the biaxial tilt angle θ 综合 The calculation formula is:

[0014]

[0015] Where, Δd LR Δd is the difference between the measured distance values ​​of the two infrared ranging sensors on the X-axis; FB is the difference of the actual distance value measured by the infrared ranging sensor on the Y axis; R is the radius of the gravity balance ball.

[0016] Furthermore, the contact surface between the gravity balance ball and the spherical space of the three-dimensional detection base is smoothly arranged, and silicone oil with a viscosity of 5000 cSt to 8000 cSt is filled between the contact surfaces.

[0017] Furthermore, the calculation formula of the safety threshold θmax of the stereoscopic detection base with the RV is:

[0018]

[0019] Where, v is the speed of the RV; h is the height of the center of gravity of the RV; g is the acceleration of gravity of the RV; t is the wheelbase of the RV; R w is the turning radius of the RV; 临界 is the preset speed dividing point, distinguishing between low-speed and high-speed conditions; m is the actual vehicle mass; m ref is the vehicle curb mass; μ is the real-time road friction coefficient.

[0020] Furthermore, four annular bosses are provided on the three-dimensional detection base, and the annular bosses extend into the expansion detection space from the center of each end plate of the three-dimensional detection base. The probe of the infrared ranging sensor is located in the hollow channel of the annular boss, and the outer wall of the annular boss contacts the circular opening to limit the tilt range of the expansion detection space in the three-dimensional detection base.

[0021] Furthermore, a circle of vertical ratchet patterns with a pitch of 0.1 to 0.2 mm and a tooth height of 0.03 to 0.05 mm is provided along the equator of the gravity balancing ball to increase the rotational resistance of the gravity balancing ball.

[0022] Furthermore, the center point of the counterweight block is located on the central axis of the gravity balance ball, the counterweight block is integrally formed under the gravity balance ball, and is located below the four planar detection plates.

[0023] A multi-dimensional anti-roll warning method for a motorhome is disclosed. A multi-dimensional anti-roll warning device for a motorhome is used based on the warning method. Four infrared ranging sensors on the multi-dimensional anti-roll warning device for the motorhome that are synchronously tilted with a stereoscopic detection base detect the distance change between the gravity balance ball and the base in real time. The single-axis tilt angle or dual-axis tilt angle of the stereoscopic detection base is calculated through the distance difference between two infrared ranging sensors on the X-axis and the Y-axis. At the same time, a safety threshold is compared to determine whether to trigger the anti-roll warning for the motorhome. When the angle is greater than the safety threshold, the ESP of the motorhome is triggered to intervene and limit the power output.

[0024] Furthermore, the multi-dimensional anti-rollover warning method for RVs is also based on a signal conditioning and acquisition module, a main control module, a CAN bus communication module, and a warning output module;

[0025] The signal conditioning and acquisition module includes a signal conditioning circuit for filtering and amplifying the acquired signal, and an AC / DC conversion circuit for analog-to-digital signal conversion;

[0026] The main control module calculates the converted data of the signal conditioning and acquisition module, and controls the slave CAN bus communication module to read the parameters for calculating the safety threshold from the vehicle CAN bus. After comparing the safety threshold with the measured tilt angle, the main control module controls the CAN bus communication module to send an ESP control instruction containing the target braking torque and the engine torque limit value;

[0027] The early warning output module includes an LED driver chip or a buzzer driver circuit connected to the CAN bus communication module, and the main control module controls the CAN bus communication module to send sound and light alarm control instructions.

[0028] The present invention discloses that the benefits of the present invention include at least the following:

[0029] The collaborative design of four-way infrared ranging sensors and a gravity balance ball realizes multi-dimensional precise detection. Through the X / Y axis dual-channel distance difference solution algorithm, the front and rear, left and right, and compound tilt angles are monitored simultaneously, with a detection accuracy of ±0.2°, covering all-dimensional roll risks. A dynamic threshold model that integrates parameters such as vehicle speed, center of gravity height, wheelbase, load, and road friction coefficient is introduced to realize dynamic safety threshold adaptation and adjust the safety threshold in real time. Silicone oil damping and vertical ratchet pattern design are used to achieve rapid response and active control, suppress the oscillation of the gravity balance ball, and improve the response speed of the traditional system solution. The expanded detection space and annular boss design achieve high reliability and anti-interference capability, reduce infrared signal reflection interference, and improve reflection intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The three-dimensional Figure 1 .

[0031] Figure 2 A stereoscopic image of a stereoscopic detection base.

[0032] Figure 3 This is a schematic diagram of the installation position of the body detection base.

[0033] Figure 4 This is a three-dimensional diagram of a gravity-balancing ball.

[0034] Figure 5 This is the front view of the gravity balance ball.

[0035] Figure 6 It is a three-dimensional diagram of an annular boss arranged in a three-dimensional detection base.

[0036] Figure 7 Schematic diagram of the location of vertical ratchet patterns.

[0037] Figure 8 This is a diagram of the internal structure of the RV when it does not tilt forward, backward, left or right.

[0038] Fig. 9 This is a diagram of the internal structure of the RV when it tilts to the left.

[0039] Fig.10 This is a diagram of the internal structure of the RV when it tilts left and forward at the same time.

[0040] Fig.11 Schematic diagram of the early warning system.

[0041] In the figure: 1. three-dimensional detection base; 2. gravity balance ball; 3. infrared ranging sensor; 11. annular boss; 21. counterweight; 22. circular opening; 23. plane detection plate; 24. vertical ratchet pattern; A. spherical space; B. expansion detection space. DETAILED DESCRIPTION

[0042] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0043] This embodiment discloses a multi-dimensional anti-rollover warning device for a motorhome. Figure 1 As shown, it includes a three-dimensional detection base 1, a gravity balance ball 2 and an infrared ranging sensor 3.

[0044] Among them, Figure 2 As shown, the stereoscopic detection base 1 serves as the outer shell of the device and a completely built-in spherical space A is opened with the center point inside the outer shell as the center of the circle. The spherical space A provides stable mechanical support for the gravity balance ball. The gravity balance ball is slidably matched and placed in the spherical space of the stereoscopic detection base. Figure 3 As shown, the installation position of the stereoscopic detection base should be close to the center of gravity of the vehicle to ensure the detection accuracy, and at the same time in the center of the chassis (near the longitudinal center line), away from high heat or vibration sources such as the drive shaft and exhaust pipe;

[0045] For C-type RVs, install it on the subframe crossbeam and fix it with bolts to the body frame; for B-type RVs, use the reserved installation holes on the chassis (such as near the ESP module), which need to be aligned with the body longitudinal beam, and can be installed with M8 high-strength bolts, mounting brackets, and anti-loosening pads;

[0046] In this embodiment, the outer contour of the three-dimensional detection base 1 is a cube. In order to meet the basic assembly requirements of the gravity balance ball, the three-dimensional detection base 1 is not formed in one piece during processing, but can be evenly divided into 1 / 2 or 1 / 4 of the structure for die casting, and then precisely welded;

[0047] like Figure 4 and Figure 5 As shown, a counterweight 21 is arranged at the lower part of the gravity balance ball 2, and the center point of the counterweight is located on the central axis of the gravity balance ball. The counterweight is integrally formed under the gravity balance ball and is located below the four plane detection plates. The reason why the counterweight is located at the lower part of the sphere is to use the gravity to keep the sphere always in a vertical direction, independent of the tilted body; four circular openings 22 with the same area are opened in the horizontal cross direction above the counterweight 21, and four plane detection plates 23 are opened inward at equal distances with the area of ​​the four circular openings as the limit. The four plane detection plates are enclosed in turn, and an expanded detection space B is formed between each plane detection plate and the corresponding circular opening. The expanded detection space is composed of the specific geometric shapes of the plane detection plate and the circular opening, forming a gradually expanding conical channel. The hollow channel of the expanded space provides an independent detection path for the infrared ranging sensor, reducing reflection interference. The infrared beam emitted by the sensor directly reaches the plane detection plate through the expanded space, and the reflected signal intensity is increased by 20%. In terms of material selection, the gravity balance ball is made of non-magnetic stainless steel (316L) with a tungsten alloy counterweight block encapsulated inside. The density is 19.3g / cm 3 ; The three-dimensional detection base is made of aluminum alloy;

[0048] like Figure 1 As shown, there are four infrared ranging sensors 3 embedded in the center of the end plate of the stereoscopic detection base. The initial distance between each infrared ranging sensor and the plane detection plate is the same. The infrared ranging sensor moves with the dynamically tilted stereoscopic detection base installed on the RV to synchronously detect the tilt angle between the plane detection plate.

[0049] When the stereo detection base forms a single-axis tilt on the X-axis or Y-axis, the calculation formula for the single-axis tilt angle θ is:

[0050]

[0051] Wherein, Δd is the difference between the measured distance values ​​of the two infrared distance measuring sensors on the X-axis or Y-axis; R is the radius of the gravity balance ball. Define the stereo detection base to be tilted left and right when the X-axis is tilted, and the stereo detection base to be tilted front and back when the Y-axis is tilted. The difference between the measured distance values ​​of the left and right infrared distance measuring sensors of Δd is, for example, Figure 8 As shown in the figure, when the property does not tilt forward, backward, left or right, the measured distance values ​​of the left and right infrared ranging sensors are the same; Fig. 9 As shown in FIG. 1 , when the stereo detection base tilts to the left, the distance between the left sensor decreases and the distance between the right sensor increases. At the same time, as shown in FIG. Fig.10 As shown, when the stereo detection base tilts forward, the front sensor distance decreases and the rear sensor distance increases.

[0052] When the stereo detection base forms a dual-axis tilt on the X-axis and Y-axis, the dual-axis tilt angle θ 综合 The calculation formula is:

[0053]

[0054] Where, Δd LR Δd is the difference between the measured distance values ​​of the two infrared ranging sensors on the X-axis; FB is the difference of the actual distance value measured by the infrared ranging sensor on the Y axis; R is the radius of the gravity balance ball. In this embodiment, when the radius of the sphere is 75 mm, Δd LR 8.0mm,Δd FB is 6.0mm, substituting it into the above formula, we can get:

[0055]

[0056] Therefore, when the three-dimensional detection base of the shell body tilts forward and backward and left and right at the same time, the distance changes of the four sensors comprehensively reflect the tilt state.

[0057] The contact surface between the gravity balance ball and the spherical space of the three-dimensional detection base is smoothly set, and the contact surface is filled with silicone oil with a viscosity of 5000cSt to 8000cSt. Preferably, in this embodiment, silicone oil with a filling viscosity of 6000cSt is used, and the damping ratio is set: ζ=0.7 (critical damping state) to avoid oscillation and delay.

[0058] The calculation formula of the safety threshold θmax of the stereo detection base with the RV is:

[0059]

[0060] Where, v is the speed of the RV (m / s); h is the height of the center of gravity of the RV (m); g is the gravitational acceleration of the RV (m / s 2);t is the wheelbase of the RV (m); R w is the turning radius of the RV (m); 临界 is the preset speed cutoff point (such as 80km / h) to distinguish between low-speed and high-speed conditions; m is the actual vehicle mass; m ref is the vehicle's curb weight (unloaded); μ is the real-time road friction coefficient, which is obtained through the vehicle's onboard sensor or CAN bus.

[0061] in, The threshold is automatically adjusted for the mass compensation item, and μ is used for real-time correction. For example, the threshold is reduced accordingly in rainy and snowy days (μ is reduced), which improves safety and adapts to complex road conditions. For example, under low-speed conditions, υ=40km / h; μ=0.8; m=1.2m ref ;

[0062]

[0063] Under high-speed conditions, υ=80km / h; μ=0.7; m=0.9n ref ;

[0064]

[0065] like Figure 6 As shown, four annular bosses 11 are provided on the stereoscopic detection base 1, and the annular bosses 11 extend from the centers of each end plate of the stereoscopic detection base into the expansion detection space, and the probe 3 of the infrared ranging sensor is located in the hollow channel of the annular bosses, and the outer wall of the annular bosses contacts the circular opening to limit the tilt range of the expansion detection space B in the stereoscopic detection base; the annular bosses form a limit mechanism, fix the maximum detection distance of the infrared ranging sensor, and simplify the zero point calibration process; what is important is that the protruding annular bosses can effectively prevent the silicone oil outside the gravity balance ball from contaminating the probe of the infrared ranging sensor; at the same time, the protruding annular bosses ensure that the gravity balance ball moves only within a preset range, avoiding nonlinear errors caused by multi-degree-of-freedom coupling.

[0066] like Figure 7 As shown, a circle of vertical ratchet patterns 24 with a pitch of 0.1-0.2 mm and a tooth height of 0.03-0.05 mm is provided along the equator of the gravity balance ball 2 to increase the rotation resistance of the gravity balance ball. The vertical ratchet patterns with modified specifications are used to suppress the inertia moment that may cause the plane rotation of the ball when the vehicle makes a sharp turn or emergency braking. The ratchet patterns offset such interference through high-frequency microscopic resistance, and control the angular displacement error within ±0.2°.

[0067] At the same time, the present invention forms a multi-dimensional anti-roll warning method for RVs, and adopts a multi-dimensional anti-roll warning device for RVs based on the warning method. The four-way infrared ranging sensors on the multi-dimensional anti-roll warning device for RVs that tilt synchronously with the stereoscopic detection base detect the distance change between the gravity balance ball and the base in real time, and calculate the single-axis inclination angle or dual-axis inclination angle of the stereoscopic detection base through the distance difference between the two infrared ranging sensors on the X-axis and the Y-axis. At the same time, the safety threshold is compared to decide whether to trigger the anti-roll warning of the RV. When the safety threshold is greater than the safety threshold, the ESP of the RV is triggered to intervene and limit the power output.

[0068] The multi-dimensional anti-rollover warning method for RVs is also based on a signal conditioning and acquisition module, a main control module, a CAN bus communication module, and a warning output module; the signal conditioning and acquisition module includes a signal conditioning circuit for filtering and amplifying the collected signal, and an AC / DC conversion circuit for analog-to-digital signal conversion; the main control module calculates the converted data of the signal conditioning and acquisition module, and controls the CAN bus communication module to read the parameters for calculating the safety threshold from the vehicle CAN bus. After the main control module compares the safety threshold with the measured tilt angle, it controls the CAN bus communication module to send an ESP control instruction containing the target braking torque and the engine torque limit value; the warning output module includes an LED driver chip or a buzzer driver circuit connected to the CAN bus communication module, and the main control module controls the CAN bus communication module to send an audible and visual alarm control instruction. It should be understood that the above modules can be integrated in a control box, and each infrared ranging sensor is connected to the control box through a wire, and the control box can be installed on the side of the stereo detection base.

[0069] like Fig.11 As shown in the figure, the warning system includes four infrared distance measuring sensors, which transmit the original distance signal to the signal conditioning and acquisition module through wires; the signal conditioning and acquisition module filters, amplifies and converts the signal into analog and digital form, and then outputs it to the main control module; the main control module obtains dynamic parameters such as vehicle speed and center of gravity height through the CAN bus communication module; calculates the tilt angle and compares it with the safety threshold to generate control instructions; sends the ESP control instructions to the vehicle ESP system through the CAN bus communication module; and triggers the warning output module to issue an audible and visual alarm. The CAN bus communication module serves as a data bridge, connecting the main control module with the vehicle CAN bus and the ESP system. The warning output module is directly controlled by the main control module to execute the audible and visual alarm. The ESP system, as an external execution unit, limits the power output and brakes the inner wheel after receiving the instruction.

[0070] This method significantly improves the anti-rollover capability of RVs through a closed-loop mechanism of real-time multi-dimensional detection-dynamic threshold calculation-active control. Four high-precision infrared ranging sensors capture the displacement changes of the gravity balance ball in the three-dimensional detection base in real time, and accurately calculate the tilt angle of the vehicle body through the X / Y axis dual-channel distance difference solution algorithm; at the same time, based on the dynamic safety threshold model, the vehicle speed, center of gravity height, wheelbase and other parameters are integrated to adjust the warning threshold in real time. When the tilt angle exceeds the threshold, the system is triggered through the CAN bus, and the first-level warning (sound and light alarm) prompts the driver, and the second-level linkage (ESP intervention) forces the engine torque to be limited by 50% and brakes the inner wheel to generate a reverse torque to suppress the roll.

[0071] The benefits of this method are reflected in multi-dimensional fusion detection, using the spatial coordination of mechanical balance balls and infrared sensors to achieve synchronous monitoring of front and rear, left and right tilt, and also in dynamic intelligent decision-making. The threshold is adaptively adjusted with load and road conditions (friction coefficient μ) to avoid fixed threshold misjudgment; the response of ESP is 3 times faster than that of traditional systems; this method reduces the risk of RV rollover by 70% through deep coupling of mechanical-electronic-control algorithms, providing a breakthrough solution for the safety of high-center-of-gravity vehicles. After actual vehicle testing, the present invention reduces the risk of RV rollover by 70%, especially under high-speed curves (80km / h) and low-friction road surfaces (μ=0.4), the system can still effectively warn and intervene. Through code settings, when the tilt angle exceeds the threshold, the system is triggered in two levels, the first level is an audible and visual alarm to prompt the driver, and the second level is linked to ESP through the CAN bus, limiting the torque by 50% and braking the inner wheel to generate a reverse torque to suppress rollover.

[0072] The above implementation modes are not limitations of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the scope of the technical solution of the present invention also belong to the protection scope of the present invention.

Claims

1. A multi-dimensional anti-roll warning device for a motorhome, characterized in that: include: The three-dimensional detection base serves as the outer shell of the device and has a completely built-in spherical space with the center point inside the outer shell as the center of the circle; A gravity balance ball is slidably matched and placed in the spherical space of the three-dimensional detection base. A counterweight block is arranged at the lower part of the gravity balance ball. Four circular openings with the same area are opened above the counterweight block along the horizontal cross direction. Four plane detection plates are opened inward at equal distances with the area of ​​the four circular openings as the limit. The four plane detection plates are enclosed in sequence, and an expanded detection space is formed between each plane detection plate and the corresponding circular opening; There are four infrared ranging sensors embedded in the center of the end plate of the stereoscopic detection base. The initial distance between each infrared ranging sensor and the plane detection plate is the same. The infrared ranging sensor moves with the dynamically tilted stereoscopic detection base installed on the RV to synchronously detect the inclination angle between it and the plane detection plate.

2. The multi-dimensional anti-rollover warning device for a motorhome according to claim 1 is characterized in that: When the stereoscopic detection base forms a single-axis tilt on the X-axis or Y-axis, the calculation formula of the single-axis tilt angle θ is: Wherein, Δd is the difference in the actual distance values ​​of the two infrared ranging sensors on the X-axis or Y-axis; R is the spherical radius of the gravity balance ball.

3. The multi-dimensional anti-rollover warning device for a motorhome according to claim 1 is characterized in that: When the stereoscopic detection base forms a biaxial tilt on the X-axis and the Y-axis, the biaxial tilt angle θ 综合 The calculation formula is: Where, Δd LR Δd is the difference between the measured distance values ​​of the two infrared ranging sensors on the X-axis; FB is the difference of the actual distance value measured by the infrared ranging sensor on the Y axis; R is the radius of the gravity balance ball.

4. The multi-dimensional anti-rollover warning device for a motorhome according to claim 1 is characterized in that: The contact surface between the gravity balance ball and the spherical space of the three-dimensional detection base is smoothly arranged, and the contact surface is filled with silicone oil with a viscosity of 5000cSt to 8000cSt.

5. The multi-dimensional anti-rollover warning device for a motorhome according to claim 2 or 3, characterized in that: The three-dimensional detection base follows the safety threshold θ of the RV max The calculation formula is: Where, v is the speed of the RV; h is the height of the center of gravity of the RV; g is the acceleration of gravity of the RV; t is the wheelbase of the RV; R w is the turning radius of the RV; v 临界 is the preset vehicle speed dividing point, distinguishing between low-speed and high-speed conditions; m is the actual vehicle mass; m ref is the vehicle curb mass; μ is the real-time road friction coefficient.

6. The multi-dimensional anti-rollover warning device for a motorhome according to claim 4 is characterized in that: Four annular bosses are provided on the three-dimensional detection base, and the annular bosses extend into the expansion detection space from the center of each end plate of the three-dimensional detection base. The probe of the infrared ranging sensor is located in the hollow channel of the annular boss, and the outer wall of the annular boss contacts the circular opening to limit the tilt range of the expansion detection space in the three-dimensional detection base.

7. The multi-dimensional anti-rollover warning device for a motorhome according to claim 1 or 4, characterized in that: A circle of vertical ratchet patterns with a pitch of 0.1 to 0.2 mm and a tooth height of 0.03 to 0.05 mm is provided along the equator of the gravity balancing ball to increase the rotation resistance of the gravity balancing ball.

8. The multi-dimensional anti-rollover warning device for a motorhome according to claim 1 or 4, characterized in that: The center point of the counterweight block is located on the central axis of the gravity balance ball. The counterweight block is integrally formed under the gravity balance ball and is located below the four plane detection plates.

9. A multi-dimensional anti-rollover warning method for a motorhome, characterized in that: Based on the warning method, the multi-dimensional anti-roll warning device for RVs according to any one of claims 1 to 8 is adopted. The four-way infrared ranging sensors on the multi-dimensional anti-roll warning device for RVs, which are tilted synchronously with the stereoscopic detection base, detect the distance change between the gravity balance ball and the three-dimensional detection base in real time. The single-axis inclination angle or dual-axis inclination angle of the stereoscopic detection base is calculated by the distance difference between the two infrared ranging sensors on the X-axis and the Y-axis respectively. At the same time, the safety threshold is compared to decide whether to trigger the anti-roll warning of the RV. When the safety threshold is greater than the safety threshold, the RV ESP is triggered to intervene and limit the power output.

10. The multi-dimensional anti-rollover warning method for a motorhome according to claim 9, characterized in that: The multi-dimensional anti-rollover warning method for RV is also based on a signal conditioning and acquisition module, a main control module, a CAN bus communication module and a warning output module; The signal conditioning and acquisition module includes a signal conditioning circuit for filtering and amplifying the acquired signal, and an AC / DC conversion circuit for analog-to-digital signal conversion; The main control module calculates the converted data of the signal conditioning and acquisition module, and controls the slave CAN bus communication module to read the parameters for calculating the safety threshold from the vehicle CAN bus. After comparing the safety threshold with the measured tilt angle, the main control module controls the CAN bus communication module to send an ESP control instruction including the target braking torque and the engine torque limit value; The early warning output module includes an LED driving chip or a buzzer driving circuit connected to the CAN bus communication module, and the main control module controls the CAN bus communication module to send an audible and visual alarm control instruction.

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