Rollover prevention system, driving control method for a tractor and tractor

Abstract

This invention discloses an anti-rollover system, a driving control method for a tractor, and a tractor. The anti-rollover system includes: a status detection component for acquiring the driving status information of the tractor; an anti-rollover component disposed on the tractor for performing anti-rollover actions; a cloud server communicatively connected to the status detection component for generating anti-rollover control commands based on the driving status information; and a controller communicatively connected to the anti-rollover component and the cloud server for controlling the tractor to perform anti-rollover actions and / or the anti-rollover component to perform anti-rollover actions according to the anti-rollover control commands. This anti-rollover system can prevent rollovers in environments with insufficient traction or excessive speed, thus reducing the risk of traffic accidents involving the tractor.

Description

Technical Field

[0001] This invention relates to the field of tractor technology, and in particular to an anti-rollover system, a driving control method for a tractor, and a tractor. Background Technology

[0002] Currently, with the popularization of autonomous vehicles, the autonomous driving function of tractor trucks is being used more and more. Traditional commercial vehicles are relatively stable when driving on straight roads, but when driving on curves, especially when driving on curves, the tractor truck's cargo box is relatively high, which makes it prone to rollover problems when the tractor truck has insufficient traction or the speed is too high, thus making the tractor truck prone to traffic accidents. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide an anti-rollover system that can prevent rollovers in environments such as insufficient traction of the tractor unit or excessive speed, thereby preventing the tractor unit from being prone to traffic accidents.

[0004] The second objective of this invention is to provide a driving control method for a tractor.

[0005] The third objective of this invention is to provide a tractor.

[0006] To address the aforementioned problems, a first aspect of the present invention provides an anti-rollover system, characterized in that it is used for a tractor and includes: a status detection component for acquiring driving status information of the tractor; an anti-rollover component disposed on the tractor and used to perform anti-rollover actions; a cloud server communicatively connected to the status detection component and used to generate anti-rollover control commands based on the driving status information; and a controller communicatively connected to the anti-rollover component and the cloud server, used to control the tractor to perform anti-rollover actions and / or the anti-rollover component to perform anti-rollover actions based on the anti-rollover control commands.

[0007] According to the anti-rollover system of the present invention, the driving status information of the tractor is collected based on vehicle networking technology. The system determines that the tractor is driving on a curve and that the risk of the tractor rolling over on the curve is high. The system then controls the tractor to perform anti-rollover actions and / or the anti-rollover components to perform anti-rollover actions. This prevents the tractor from rolling over in environments such as insufficient traction or excessive speed, thus avoiding the risk of traffic accidents involving the tractor.

[0008] In some embodiments, the tractor includes a carriage, the carriage including an upper carriage and a lower carriage, and the anti-rollover assembly includes: a slide rail arranged in the carriage along a first direction; and a first drive motor connected to the slide rail for driving the upper carriage to slide on the slide rail.

[0009] In some embodiments, the anti-rollover assembly includes: a telescopic shaft connected to the wheel of the tractor vehicle for extending and retracting the wheel in a second direction; and a second drive motor connected to the telescopic shaft for driving the telescopic shaft to extend and retract in the second direction.

[0010] In some embodiments, the state detection component includes: a roadside monitoring device located on the roadside for acquiring lane curvature radius information of the road where the tractor is located; and a load sensor located on the tractor for determining the load state of the tractor.

[0011] A second aspect of the present invention provides a driving control method for a tractor, characterized in that the method includes: acquiring driving status information of the tractor; sending an anti-rollover control command based on the driving status information; and controlling the tractor to perform an anti-rollover action and / or the anti-rollover component to perform an anti-rollover action based on the anti-rollover control command.

[0012] According to the driving control method of the tractor according to the embodiment of the present invention, the driving status information of the tractor is collected based on vehicle networking technology. The driving status information is used to determine that the tractor is driving on a curve and that the risk of the tractor overturning on the curve is high. Then, the tractor is controlled to perform anti-rollover actions and / or the anti-rollover components perform anti-rollover actions, thereby avoiding the problem of overturning when the tractor has insufficient traction or excessive speed, which would otherwise make the tractor prone to traffic accidents.

[0013] In some embodiments, the driving status information includes at least one of the lane curvature radius of the road where the tractor is located and the load status of the tractor.

[0014] In some embodiments, the driving status information includes the lane line curvature radius and the load status. Controlling the tractor to perform anti-rollover actions and / or the anti-rollover assembly to perform anti-rollover actions according to the anti-rollover control command includes: determining that the load status is unloaded; if the lane line curvature radius is greater than or equal to a first preset radius and less than a second preset radius, or if the lane line curvature radius is greater than or equal to a second preset radius and less than or equal to a third preset radius, controlling the upper compartment to lower to a preset height value along a first direction according to the first anti-rollover command; determining that the load status is fully loaded; if the lane line curvature radius is greater than or equal to a first preset radius and less than a second preset radius, or if the lane line curvature radius is greater than or equal to a second preset radius and less than or equal to a third preset radius, controlling the telescopic axis to extend a preset distance along a second direction according to the second anti-rollover command; wherein, the first preset radius ≤ the second preset radius ≤ the third preset radius.

[0015] In some embodiments, the driving status information includes the lane line curvature radius, and controlling the anti-rollover component and / or the tractor to perform anti-rollover actions according to the driving status information includes: when it is determined that the lane line curvature radius is greater than or equal to a first preset radius and less than a second preset radius, controlling the tractor's speed value to decrease by a preset speed value according to a third anti-rollover command.

[0016] In some embodiments, if it is determined that the radius of curvature of the lane line is greater than a third preset radius, the tractor is controlled not to perform anti-rollover actions.

[0017] A third aspect of the present invention provides a tractor unit, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the at least one processor executes the computer program to implement the driving control method of the tractor unit described in the above embodiments.

[0018] According to the embodiments of the present invention, by executing the driving control method of the tractor in the above embodiments, the tractor can avoid the problem of rollover when the tractor has insufficient traction or excessive speed, thereby preventing the tractor from being prone to traffic accidents.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a structural block diagram of an anti-rollover system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of an anti-rollover system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of an anti-rollover system according to another embodiment of the present invention; Figure 4 This is a schematic diagram of an anti-rollover system according to another embodiment of the present invention; Figure 5 This is a schematic diagram of an anti-rollover system according to another embodiment of the present invention; Figure 6 This is a schematic diagram of an anti-rollover system according to another embodiment of the present invention; Figure 7 This is a schematic diagram of data transmission in an anti-rollover system according to an embodiment of the present invention.

[0021] Figure 8 This is a flowchart of a driving control method for a tractor according to an embodiment of the present invention; Figure 9 This is a structural block diagram of a tractor according to an embodiment of the present invention.

[0022] Figure label: 1000 tractor; 900 rollover prevention system; Processor 1; Memory 2; Status detection component 3; Anti-rollover component 4; Cloud server 5; Controller 6; Upper compartment 7; Lower compartment 8; Wheels 9; Roadside monitoring equipment 31; Roadside camera 311; Roadside lidar 312; Load sensor 32; Slide rail 41; Second drive motor 42; Telescopic shaft 43; Edge computing unit 51; Vehicle-mounted unit 52; Roadside unit 53; Power equipment 9. Detailed Implementation

[0023] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0024] To address the aforementioned problems, a first aspect of the present invention provides an anti-rollover system for a tractor. This anti-rollover system can prevent the tractor from rolling over in environments such as insufficient traction or excessive speed, thereby preventing the tractor from being prone to traffic accidents.

[0025] The following is for reference. Figure 1 The anti-rollover system of the present invention is described in embodiments such as Figure 1 The anti-rollover system 900 includes: a status detection component 3, an anti-rollover component 4, a cloud server 5, and a controller 6.

[0026] The system includes a status detection component 3 for acquiring the driving status information of the tractor; an anti-rollover component 4 located on the tractor for performing anti-rollover actions; a cloud server 5 connected to the status detection component 3 for generating anti-rollover control commands based on the driving status information; and a controller 6 connected to the anti-rollover component 4 and the cloud server 5, located at the bottom of the tractor for controlling the tractor to perform anti-rollover actions and / or the anti-rollover component 4 to perform anti-rollover actions based on the anti-rollover control commands.

[0027] Specifically, the status detection component 3 acquires the driving status information of the tractor and sends it to the cloud server 5. The cloud server 5 determines whether the tractor is driving on a curve and the degree of risk of the tractor overturning on the curve based on the driving status information. Based on this, the cloud server 5 issues anti-rollover control commands to the controller 6. If the tractor is driving on a curve and the risk of overturning on the curve is high, the corresponding anti-rollover control command is issued to control the tractor to perform anti-rollover actions and the anti-rollover component 4 to perform anti-rollover actions. Alternatively, if the tractor is driving on a curve and the risk of overturning on the curve is high, the corresponding anti-rollover control command is issued to control the tractor to perform anti-rollover actions or the anti-rollover component 4 to perform anti-rollover actions. This prevents overturning problems when the tractor has insufficient traction or excessive speed, thus avoiding the tractor being prone to traffic accidents.

[0028] According to the anti-rollover system 900 of the present invention, the system collects the driving status information of the tractor based on vehicle networking technology. Based on the driving status information, it determines that the tractor is driving on a curve and that the risk of the tractor rolling over on the curve is high. Then, it controls the tractor to perform anti-rollover actions and / or the anti-rollover component 4 to perform anti-rollover actions, thereby avoiding the problem of rollover when the tractor has insufficient traction or excessive speed, which would otherwise make the tractor prone to traffic accidents.

[0029] In some embodiments, the tractor unit includes a carriage, which includes an upper carriage 7 and a lower carriage 8, such as... Figure 2 As shown, the anti-rollover component 4 includes: a slide rail 41 and a first drive motor (not shown in the figure).

[0030] The slide rail 41 is arranged along the first direction in the carriage; the first drive motor is connected to the slide rail 41 and is used to drive the upper carriage 7 to slide on the slide rail 41, so that the upper carriage 7 slides down along the first direction, so that the upper carriage 7 and the lower carriage 8 coincide. Figure 3 As shown, lowering the vehicle's center of gravity helps prevent the vehicle from overturning when cornering.

[0031] In some embodiments, such as Figure 4 As shown, the anti-rollover component 4 includes: a telescopic shaft 43 and a second drive motor 42.

[0032] The telescopic shaft 43 is connected to the wheels of the tractor vehicle and is used to drive the wheels 9 to extend and retract in the second direction; the second drive motor 42 is connected to the telescopic shaft 43 and is used to drive the telescopic shaft 43 to extend and retract in the second direction. A schematic diagram of the extended / retracted state is shown below. Figure 5 As shown, increasing the vehicle's lateral area stabilizes the vehicle's body and prevents it from overturning when cornering.

[0033] In some embodiments, such as Figure 6 As shown, the condition detection component 3 includes: a roadside monitoring device 31 and a load sensor 32.

[0034] The roadside monitoring device 31 is located on the roadside, specifically above roadside poles, and is used to acquire the lane curvature radius of the road where the tractor is located. The roadside monitoring device 31 may include a roadside camera 311, which uses a megapixel high-definition sensor and is suitable for acquiring lane curvature radius data in daytime scenarios, providing 2D image data. The roadside monitoring device 31 may also include a roadside lidar 312, located above roadside poles, using a 256-line solid-state lidar, which is suitable for acquiring lane curvature radius data in nighttime scenarios, providing 3D point cloud data. The load sensor 32 is located on the tractor, positioned at the bottom of the tractor's cargo compartment, and is used to determine the load status of the tractor.

[0035] In this embodiment, the roadside camera 311 and the roadside lidar 312 simultaneously transmit the collected lane line curvature radius to the edge computing unit 51. The edge computing unit 51 fuses the 2D image data of the roadside camera 311 and the 3D point cloud data of the roadside lidar 312 to construct a lane line curvature model of the road where the autonomous vehicle is located.

[0036] In an embodiment, such as Figure 7 The diagram shows the data transmission of the anti-rollover system. The roadside monitoring device 31 receives the anti-rollover control command sent by the cloud server 5 through the roadside unit 53 (RSU), and then sends the anti-rollover control command to the vehicle-side unit via communication to the controller 6. The controller 6 can also send the load status to the cloud server 5.

[0037] A second aspect of the present invention provides a driving control method for a tractor, such as... Figure 8 As shown, the method includes steps S1-S3.

[0038] Step S1: Obtain the driving status information of the tractor.

[0039] Step S2: Send anti-rollover control command based on driving status information.

[0040] Specifically, the cloud server 5 determines whether the tractor is driving on a curve based on the driving status information, and assesses the risk of the tractor overturning on the curve. Based on this, it sends anti-rollover control commands to the controller 6.

[0041] Step S3: Control the tractor to perform anti-rollover actions and / or the anti-rollover component 4 to perform anti-rollover actions according to the anti-rollover control command.

[0042] Specifically, if the tractor is traveling on a curve and the risk of it overturning is high, a corresponding anti-rollover control command is issued to control the tractor to perform anti-rollover actions and the anti-rollover component 4 to perform anti-rollover actions. Alternatively, if the tractor is traveling on a curve and the risk of it overturning is high, a corresponding anti-rollover control command is issued to control the tractor to perform anti-rollover actions or the anti-rollover component 4 to perform anti-rollover actions. This prevents the tractor from overturning in situations such as insufficient traction or excessive speed, thus avoiding the risk of the tractor being involved in a traffic accident.

[0043] According to the driving control method of the tractor according to the embodiment of the present invention, the driving status information of the tractor is collected based on the Internet of Vehicles technology. The driving status information is used to determine that the tractor is driving on a curve and that the risk of the tractor overturning on the curve is high. Then, the tractor is controlled to perform anti-rollover action and / or the anti-rollover component 4 performs anti-rollover action, thereby avoiding the problem of overturning when the tractor has insufficient grip or excessive speed, which would otherwise make the tractor prone to traffic accidents.

[0044] In some embodiments, the driving status information includes at least one of the lane curvature radius of the road where the tractor is located and the load status of the tractor. That is, the cloud server 5 can control the execution of the anti-rollover action based on at least one of the lane curvature radius of the road where the tractor is located and the load status of the tractor.

[0045] In some embodiments, the driving status information includes the lane line curvature radius and load status. Controlling the tractor to perform anti-rollover actions and / or the anti-rollover component 4 to perform anti-rollover actions according to the anti-rollover control command includes: determining that the load status is unloaded; if the lane line curvature radius is greater than or equal to a first preset radius and less than a second preset radius, or if the lane line curvature radius is greater than or equal to a second preset radius and less than or equal to a third preset radius, controlling the upper cargo box 7 to lower to a preset height value along a first direction according to the first anti-rollover command; the preset height value can be half the height of the cargo box and is not specifically limited; determining that the load status is fully loaded; if the lane line curvature radius is greater than or equal to a first preset radius and less than a second preset radius, or if the lane line curvature radius is greater than or equal to a second preset radius and less than or equal to a third preset radius, controlling the telescopic shaft 43 to extend a preset distance along a second direction according to the second anti-rollover command; wherein the first preset radius ≤ the second preset radius ≤ the third preset radius.

[0046] The second preset radius can be understood as a curvature radius threshold set according to the experiment, indicating a high probability of rollover on the curve the tractor is traveling on. The third preset radius can be understood as a curvature radius threshold set according to the experiment, indicating a high probability of rollover on the curve the tractor is traveling on. The first preset radius can be 0 cm, the second preset radius can be 250 cm, and the third preset radius can be 500 cm.

[0047] Specifically, when cloud server 5 determines that the tractor's load status is empty, it means the tractor's cargo box can be lowered. If the lane curvature radius is greater than or equal to the first preset radius and less than the second preset radius, it indicates a high probability of the tractor overturning. Therefore, it sends a first anti-rollover command to controller 6 to control the upper cargo box 7 to lower along the first direction to a preset height value, for example, to half the cargo box height, to lower the tractor's center of gravity. Alternatively, when cloud server 5 determines that the tractor's load status is empty, it means the tractor's cargo box can be lowered. If the lane curvature radius is greater than or equal to the second preset radius and less than or equal to the third preset radius, it indicates a high probability of the tractor overturning. Therefore, it sends a first anti-rollover command to controller 6 to control the upper cargo box 7 to lower along the first direction to a preset height value, to lower the tractor's center of gravity. If the tractor is fully loaded, it means the tractor's cargo box cannot be lowered. If the lane curvature radius is greater than or equal to the first preset radius and less than the second preset radius, the tractor is highly likely to overturn. In this case, a second anti-overturn command is sent to controller 6. The telescopic shaft 43 extends a preset distance (e.g., 20cm) in the second direction according to this command to increase the tractor's lateral area and prevent overturning when cornering. Alternatively, if cloud server 5 determines the tractor is fully loaded, it means the tractor's cargo box cannot be lowered. If the lane curvature radius is greater than or equal to the second preset radius and less than or equal to the third preset radius, the tractor is highly likely to overturn. In this case, a second anti-overturn command is sent to controller 6 to control the telescopic shaft 43 to extend a preset distance in the second direction according to this command to increase the tractor's lateral area and prevent overturning when cornering. Thus, by executing different anti-overturn actions based on the lane curvature radius, the tractor can stably traverse roads with varying curvatures.

[0048] In addition, it should be noted that the tractor is considered to be unloaded when its weight is less than 0.5 tons, and fully loaded when its weight is greater than or equal to 0.5 tons.

[0049] In some embodiments, the driving status information includes the lane line curvature radius. Controlling the anti-rollover component 4 and / or the tractor to perform anti-rollover actions based on the driving status information includes: when it is determined that the lane line curvature radius is greater than or equal to a first preset radius and less than a second preset radius, controlling the tractor's speed to decrease to a preset speed value according to a third anti-rollover command.

[0050] The preset speed value can be understood as a pre-set deceleration amount that can prevent the tractor from overturning. The preset speed value can be 30 kph.

[0051] Specifically, when the cloud server 5 determines that the radius of curvature of the lane line is greater than or equal to the first preset radius and less than the second preset radius, it sends a third anti-rollover command to the controller 6. The controller 6 controls the power equipment 10 in the tractor according to the third anti-rollover command to reduce the speed of the tractor to a preset speed value, so that the tractor can take the curve at a low speed, thereby avoiding the tractor from rolling over when taking the curve, ensuring the safety of the tractor when taking the curve, and reducing the risk of the tractor being involved in a traffic accident.

[0052] In some embodiments, if it is determined that the radius of curvature of the lane line is greater than a third preset radius, the tractor is controlled not to perform anti-rollover actions.

[0053] The third preset radius can be understood as the radius of curvature threshold that the tractor will not overturn on the curve it travels on, as set by the experiment.

[0054] Specifically, since lane curvature is less prone to rollover, if cloud server 5 determines that the lane curvature radius is greater than the third preset radius, it means that the curve the tractor is traveling on is gentle enough to prevent the tractor from rolling over. In this case, cloud server 5 will not issue any control commands to perform anti-rollover actions, that is, it will control the tractor not to perform anti-rollover actions.

[0055] A third aspect of the present invention provides a tractor, such as Figure 9 As shown, the tractor 1000 includes: at least one processor 1 and a memory 2 communicatively connected to at least one processor 1.

[0056] The memory 2 stores a computer program that can be executed by at least one processor 1. When the at least one processor 1 executes the computer program, it implements the driving control method of the tractor in the above embodiment.

[0057] According to the embodiments of the present invention, by executing the driving control method of the tractor in the above embodiments, the tractor can avoid the problem of rollover when the tractor has insufficient traction or excessive speed, thereby preventing the tractor from being prone to traffic accidents.

[0058] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0059] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A rollover prevention system, characterized in that, For use in tractors, including: A status detection component is used to acquire the driving status information of the tractor. An anti-rollover assembly is installed on the tractor and is used to perform anti-rollover actions; The cloud server is communicatively connected to the status detection component, and the cloud server is used to generate anti-rollover control commands based on driving status information; The controller is communicatively connected to the anti-rollover component and the cloud server, and is used to control the tractor to perform anti-rollover actions and / or the anti-rollover component to perform anti-rollover actions according to the anti-rollover control command.

2. The anti-rollover system according to claim 1, characterized in that, The tractor unit includes a cargo compartment, which includes an upper compartment and a lower compartment. The anti-rollover assembly includes: A slide rail, which is arranged in the carriage along a first direction; A first drive motor is connected to the slide rail and is used to drive the upper carriage to slide on the slide rail.

3. The anti-rollover system according to claim 1 or 2, characterized in that, The anti-rollover component includes: A telescopic shaft, which is connected to the wheel of the tractor, is used to drive the wheel to extend or retract in a second direction; A second drive motor is connected to the telescopic shaft and is used to drive the telescopic shaft to extend and retract in a second direction.

4. The anti-rollover system according to claim 1, characterized in that, The state detection component includes: Roadside monitoring equipment, which is installed on the roadside, is used to obtain lane curvature radius information of the road where the tractor is located; A load sensor is installed on the tractor unit to determine the load status of the tractor unit.

5. A driving control method for a tractor unit, characterized in that, For the anti-rollover system according to any one of claims 1-4, the method comprises: Obtain the driving status information of the tractor; Send anti-rollover control commands based on the driving status information; The anti-rollover control command controls the tractor to perform anti-rollover actions and / or the anti-rollover assembly to perform anti-rollover actions.

6. The driving control method for a tractor according to claim 5, characterized in that, The driving status information includes at least one of the lane curvature radius of the road where the tractor is located and the load status of the tractor.

7. The driving control method for a tractor according to claim 6, characterized in that, The driving status information includes the lane line curvature radius and the load status. Controlling the tractor to perform anti-rollover actions and / or the anti-rollover assembly to perform anti-rollover actions according to the anti-rollover control command includes: If the load state is determined to be unloaded, and if the radius of curvature of the lane line is determined to be greater than or equal to the first preset radius and less than the second preset radius, or if the radius of curvature of the lane line is determined to be greater than or equal to the second preset radius and less than or equal to the third preset radius, the upper compartment is controlled to descend to a preset height value along the first direction according to the first anti-rollover command. If the load state is determined to be full load, and if the lane line curvature radius is determined to be greater than or equal to the first preset radius and less than the second preset radius, or if the lane line curvature radius is determined to be greater than or equal to the second preset radius and less than or equal to the third preset radius, the telescopic axis is controlled to extend a preset distance along the second direction according to the second anti-rollover command. Wherein, the first preset radius ≤ the second preset radius ≤ the third preset radius.

8. The driving control method for a tractor according to claim 6, characterized in that, The driving status information includes the lane line curvature radius. Controlling the anti-rollover assembly and / or the tractor to perform anti-rollover actions based on the driving status information includes: If the radius of curvature of the lane line is determined to be greater than or equal to the first preset radius and less than the second preset radius, the speed of the tractor is reduced by the preset speed value according to the third anti-rollover command.

9. The driving control method for a tractor according to claim 7 or 8, characterized in that, If it is determined that the radius of curvature of the lane line is greater than the third preset radius, then the tractor is controlled not to perform the anti-rollover action.

10. A tractor unit, characterized in that, include: At least one processor; A memory that is communicatively connected to at least one of the processors; The memory stores a computer program that can be executed by at least one of the processors, and when the at least one processor executes the computer program, it implements the driving control method of the tractor according to any one of claims 5-9.

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