A multi-dimensional anti-roll warning method and device for RV

Abstract

The present invention discloses a multi-dimensional anti-roll warning method and device for RVs, including a three-dimensional detection base, a gravity balance ball, and a four-way infrared ranging sensor. The three-dimensional detection base serves as an outer shell, and a spherical space is provided inside; the gravity balance ball slides and matches in the spherical space, a counterweight is provided at the lower part, and four circular openings are opened at the upper part along the horizontal cross direction, and four plane detection plates are provided correspondingly to form an expanded detection space. The four-way infrared ranging sensor is embedded in the center of the end plate of the base, and detects the distance change between the sensor and the plane detection plate in real time to calculate the tilt angle. The present invention solves the technical problems of multi-dimensional detection, dynamic threshold adaptation and rapid response through deep coupling of mechanical-electronic-control algorithms, provides a breakthrough safety solution for vehicles with high center of gravity, and significantly reduces the risk of roll.

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 their high center of gravity, narrow wheelbase, and large interior space, RVs are prone to rollover or even tipping over when cornering, making emergency lane changes, or on uneven roads, posing a serious threat to driving safety. Existing anti-roll systems are mostly based on single-axis tilt sensors or gyroscopes, which have the following limitations:

[0003] Traditional systems have a single detection dimension, monitoring only the tilt angle of a single axis and failing to simultaneously perceive complex tilt conditions along multiple axes, resulting in delayed or ineffective warnings. Dynamic adaptability is poor, failing to consider dynamic parameters such as vehicle speed, load, and road friction, making misjudgments prone to complex operating conditions. The combined effects of these factors result in insufficient response speed to various operating conditions, resulting in slow system response and difficulty in timely triggering the Vehicle Stability Program (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 address the deficiencies of the above-mentioned technologies, 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-roll warning device for RVs, comprising:

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

[0008] A gravity balancing ball is slidably matched and placed in the spherical space of the three-dimensional detection base. A counterweight is provided at the bottom of the gravity balancing ball. Four circular openings of equal area are opened above the counterweight along the horizontal cross direction. Four flat detection plates are equidistantly opened inward from the area of ​​the four circular openings. The four flat detection plates are sequentially enclosed, and an expanded detection space is formed between each flat detection plate and the corresponding circular opening.

[0009] There are four infrared ranging sensors embedded in the center of the end plate of the stereo 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 stereo detection base installed on the RV to synchronously detect the inclination angle between it and the plane detection plate.

[0010] Furthermore, 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:

[0011]

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

[0013] Furthermore, when the stereo 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 in distance between the two infrared distance sensors on the X-axis; FB is the difference in the distance values ​​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 balancing 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 for the safety threshold θmax of the stereo detection base following 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 low-speed and high-speed working 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 stereoscopic detection base, which extend from the center of each end plate of the stereoscopic detection base into the expansion detection space. 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 stereoscopic 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 is located on the central axis of the gravity balancing ball. The counterweight is integrally formed under the gravity balancing ball and is located below the four planar detection plates.

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

[0024] Furthermore, the multi-dimensional anti-roll 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 from 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's CAN bus. After comparing the safety threshold with the measured tilt angle, the main control module controls the CAN bus communication module to send ESP control instructions containing the target braking torque and 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 combined 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 real-time adjustment of the safety threshold. Silicone oil damping and vertical ratchet pattern design realize 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 ability, reduce infrared signal reflection interference, and improve reflection intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The present invention is a three-dimensional Figure 1 .

[0031] Figure 2 A stereoscopic image of the stereo 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 This is a three-dimensional diagram of an annular boss set 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] Figure 9 This is a diagram of the internal structure of the RV when it tilts to the left.

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

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

[0041] In the figure: 1. Stereoscopic detection base; 2. Gravity balance ball; 3. Infrared ranging sensor; 11. Annular boss; 21. Counterweight; 22. Circular opening; 23. Planar detection plate; 24. Vertical ratchet pattern; A. Spherical space; B. Expanded detection space. DETAILED DESCRIPTION

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

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

[0044] Among them, such as 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 stereo detection base should be close to the center of gravity of the vehicle to ensure detection accuracy, and at the center of the chassis (near the longitudinal centerline), away from high heat or vibration sources such as the drive shaft and exhaust pipe;

[0045] For Type C RVs, install it on the subframe cross member and secure it to the vehicle body with bolts. For Type B RVs, use the reserved mounting holes in the chassis (such as near the ESP module) and align it with the vehicle body longitudinal beam. Use M8 high-strength bolts with mounting brackets and anti-loosening washers for installation.

[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. It can be evenly divided into 1 / 2 or 1 / 4 of the structure by die casting and then precisely welded.

[0047] like Figure 4 and Figure 5 As shown, a counterweight 21 is provided at the bottom of the gravity balancing ball 2. The center point of the counterweight is located on the central axis of the gravity balancing ball. The counterweight is integrally formed under the gravity balancing ball and is located below the four plane detection plates. The counterweight is located at the bottom of the sphere because gravity is used to keep the sphere in a vertical direction, independent of the tilted vehicle body. Four circular openings 22 of equal area are provided above the counterweight 21 along the horizontal cross direction. Four plane detection plates 23 are provided inwardly and equidistantly with the area of ​​the four circular openings as the limit. The four plane detection plates are sequentially enclosed, 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 plates and the circular openings, 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 passes through the expanded space and directly reaches the plane detection plate, 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 an internal package of tungsten alloy counterweights with a density of 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 and they are embedded in the center of the end plate of the stereo 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 stereo detection base installed on the RV to synchronously detect the inclination angle between it and 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] Where Δd is the difference in distance between the two infrared distance sensors on the X-axis or Y-axis; R is the radius of the gravity balance ball. If the stereo detection base is tilted left and right when the X-axis is tilted, then the stereo detection base is tilted front and back when the Y-axis is tilted. Δd is the difference in distance between the infrared distance sensors on the left and right sides. 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; Figure 9 As shown in Figure 2, when the stereo detection base tilts to the left, the distance between the left sensor decreases and the distance between the right sensor increases. Figure 10 As shown in FIG, 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 in distance between the two infrared distance sensors on the X-axis; FB is the difference in the 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 sphere radius is 75mm, Δd LR 8.0mm,Δd FB is 6.0 mm, and substituting it into the above formula, we can get:

[0055]

[0056] Therefore, when the housing stereoscopic detection base 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 stereo detection base is smoothly set, and silicone oil with a viscosity of 5000cSt to 8000cSt is filled between the contact surfaces. Preferably, silicone oil with a filling viscosity of 6000cSt is used in this embodiment, and the damping ratio is set: ζ = 0.7 (critical damping state) to avoid oscillation and delay.

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

[0059]

[0060] Among them, 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 acceleration of gravity 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 (e.g. 80km / h) to distinguish between low-speed and high-speed operating conditions; m is the actual vehicle mass; m ref is the vehicle curb mass (unloaded); μ is the real-time road friction coefficient, which is obtained through the on-board sensor or CAN bus.

[0061] in, Automatically adjust the threshold for the mass compensation item and make real-time corrections through μ. For example, the threshold is reduced accordingly in rainy and snowy days (μ decreases), improving safety and adapting to complex road conditions. For example, in low-speed conditions, υ = 40 km / h; μ = 0.8; m = 1.2 m 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. The annular bosses 11 extend from the center of each end plate of the stereoscopic detection base into the expansion detection space. The probe 3 of the infrared ranging sensor is located in the hollow channel of the annular boss. The outer wall of the annular boss contacts the circular opening to limit the tilt range of the expansion detection space B in the stereoscopic detection base; the annular boss forms a limit mechanism, fixes the maximum detection distance of the infrared ranging sensor, and simplifies the zero point calibration process; what is important is that the protruding annular boss 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 boss ensures 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 ring of vertical ratchet teeth 24 with a pitch of 0.1-0.2mm and a tooth height of 0.03-0.05mm is provided along the equator of the gravity balancing ball 2 to increase the resistance to the ball's rotation. This modified vertical ratchet pattern suppresses the inertial moment that can cause the ball to rotate in the plane during sharp turns or emergency braking. The ratchet pattern counteracts this interference through high-frequency microscopic resistance, controlling the angular displacement error to 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 RV multi-dimensional anti-roll warning device, which are tilted synchronously with the stereoscopic detection base, detect the distance changes between the gravity balance ball and it in real time. The single-axis tilt angle or dual-axis tilt 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, and the safety threshold is compared to decide whether to trigger the RV anti-roll warning. When it is greater than the safety threshold, the RV ESP 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 acquired signal, as well as an AC / DC converter circuit for analog-to-digital signal conversion. The main control module interprets the converted data from the signal conditioning and acquisition module and controls the CAN bus communication module to read parameters from the vehicle's CAN bus to calculate the safety threshold. After comparing the safety threshold with the measured tilt angle, the main control module controls the CAN bus communication module to transmit ESP control instructions containing the target braking torque and engine torque limit. The warning output module includes an LED driver chip or buzzer driver circuit connected to the CAN bus communication module. The main control module controls the CAN bus communication module to transmit audible and visual alarm control instructions. It should be understood that the aforementioned modules can be integrated into a single control box, to which each infrared ranging sensor is connected via wires. The control box can be mounted adjacent to the stereoscopic detection base.

[0069] like Figure 11 As shown in the figure, the warning system includes four infrared ranging sensors, which transmit raw distance signals via wires to a signal conditioning and acquisition module. The signal conditioning and acquisition module filters, amplifies, and performs analog-to-digital conversion on the signals before outputting them to the main control module. The main control module obtains dynamic parameters such as vehicle speed and center of gravity height via the CAN bus communication module. It calculates the lean angle and compares it with safety thresholds to generate control commands. The ESP control commands are then sent to the vehicle's ESP system via the CAN bus communication module, triggering 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's CAN bus and the ESP system. The warning output module is directly controlled by the main control module to initiate the audible and visual alarms. The ESP system, acting as an external actuator, limits power output and brakes the inside wheel upon receiving the commands.

[0070] This method significantly improves the RV's anti-roll capability through a closed-loop mechanism combining real-time multi-dimensional detection, dynamic threshold calculation, and active control. Four high-precision infrared ranging sensors capture the displacement of a gravity balance ball within a three-dimensional detection base in real time, and a dual-channel X / Y-axis distance difference calculation algorithm accurately calculates the vehicle's tilt angle. Simultaneously, based on a dynamic safety threshold model, the warning threshold is adjusted in real time by integrating parameters such as vehicle speed, center of gravity height, and wheelbase. When the tilt angle exceeds the threshold, the system triggers a first-level warning (audio-visual alarm) via the CAN bus to alert the driver, and a second-level linkage (ESP intervention) forces the engine torque to be limited by 50% and brakes the inside wheel to generate a counter-torque to suppress roll.

[0071] The benefits of this method lie in its multi-dimensional fusion detection, leveraging the spatial coordination of a mechanical balancing ball and infrared sensors to achieve simultaneous forward and backward, left and right tilt monitoring. It also features dynamic intelligent decision-making, with thresholds adaptively adjusting based on load and road conditions (friction coefficient μ) to avoid misjudgments based on fixed thresholds. Combined with ESP, this system delivers a three-fold increase in response speed compared to conventional systems. Through deep coupling of mechanical, electronic, and control algorithms, this method reduces the risk of RV rollover by 70%, providing a breakthrough solution for high-center-of-gravity vehicle safety. Field testing has shown that this method reduces the risk of RV rollover by 70%, particularly under high-speed curves (80 km / h) and low-friction road surfaces (μ = 0.4), while still providing effective early warning and intervention. Coded to trigger when the tilt angle exceeds a threshold, the system triggers a two-stage action: a first-stage audible and visual alarm alerts the driver; a second-stage triggers the ESP via the CAN bus, limiting torque by 50% and braking the inside wheel to generate a counter-torque to suppress roll.

[0072] The above embodiments are not limitations of the present invention, and the present invention is not limited to the above examples. Any changes, modifications, additions or substitutions made by technicians in this technical field within the scope of the technical solution of the present invention also fall within the scope of protection 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 defines a completely built-in spherical space with the center point of the inner shell as the center of the circle; A gravity balancing ball is slidably matched and placed in the spherical space of the three-dimensional detection base. A counterweight block is provided at the lower part of the gravity balancing ball. Four circular openings of equal area are opened above the counterweight block along the horizontal cross direction. Four flat detection plates are opened inward at equal intervals with the area of ​​the four circular openings as the limit. The four flat detection plates are sequentially enclosed, and an expanded detection space is formed between each flat detection plate and the corresponding circular opening; There are four infrared distance measuring sensors embedded in the center of the end plate of the stereo detection base. The initial distance between each infrared distance measuring sensor and the flat detection plate is the same. The infrared distance measuring sensor moves with the dynamically tilted stereo detection base installed on the RV to synchronously detect the tilt angle between it and the flat detection plate. Safety threshold of the stereo detection base with the RV θmax The calculation formula is: ； in, is the speed of the RV; is the height of the center of gravity of the RV; is the gravitational acceleration of the RV; The wheelbase of the RV; is the turning radius of the RV; To preset the vehicle speed cutoff point to distinguish between low-speed and high-speed working conditions; For the actual vehicle quality; is the vehicle curb mass; is the real-time road friction coefficient.

2. The multi-dimensional anti-roll warning device for RV according to claim 1 is characterized in that: When the stereo detection base forms a single-axis tilt on the X axis or the Y axis, the single-axis tilt angle θ The calculation formula is: ； in, It is the difference between the actual distance values ​​measured by the two infrared ranging sensors on the X-axis or Y-axis; is the radius of the gravity balance ball.

3. The multi-dimensional anti-roll warning device for a recreational vehicle according to claim 1 is characterized in that: When the stereo detection base forms a dual-axis tilt on the X-axis and the Y-axis, the dual-axis tilt angle θ 综合 The calculation formula is: ； in, The difference between the measured distance values ​​of the two infrared ranging sensors on the X-axis; The difference in distance measured by the infrared ranging sensor on the Y axis; is the radius of the gravity balance ball.

4. The multi-dimensional anti-roll warning device for a recreational vehicle according to claim 1, 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 5000 cSt to 8000 cSt.

5. The multi-dimensional anti-roll warning device for a recreational vehicle 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.

6. The multi-dimensional anti-roll warning device for a recreational vehicle 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 rotational resistance of the gravity balancing ball.

7. The multi-dimensional anti-roll warning device for a recreational vehicle 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.

8. A multi-dimensional anti-rollover warning method for a motorhome, characterized in that: Based on the said early warning method, the multi-dimensional anti-roll warning device for RVs according to any one of claims 1 to 7 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 changes between the gravity balance ball and the device in real time. The single-axis tilt angle or dual-axis tilt 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, and the safety threshold is compared to determine whether to trigger the RV anti-roll warning. When the safety threshold is greater than the safety threshold, the RV ESP is triggered to intervene and limit the power output.

9. The multi-dimensional anti-rollover warning method for a recreational vehicle according to claim 8, characterized in that: 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 acquired signal, and an AC / DC conversion circuit for analog-to-digital signal conversion; The main control module calculates the converted data from 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; 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.

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