CN101045449A - Inertia measuring and control method for preventing vehicle rollover - Google Patents
Inertia measuring and control method for preventing vehicle rollover Download PDFInfo
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- CN101045449A CN101045449A CNA2007100643203A CN200710064320A CN101045449A CN 101045449 A CN101045449 A CN 101045449A CN A2007100643203 A CNA2007100643203 A CN A2007100643203A CN 200710064320 A CN200710064320 A CN 200710064320A CN 101045449 A CN101045449 A CN 101045449A
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Abstract
An inertia measuring and controlling method for preventing the lateral turn-over of car includes such steps as scaling the Z-axis gyroscope to be zero deflection in stationary state, using the rotation speed measured by Z-axis gyroscope and the linear speed measured by traditional speed meter to calculate centrifugal acceleration, using the output of X-axis acceleration meter to calculate the components of gravitational acceleration on X-axis and Z-axis, the inclination, total inertial acceleration and the deflection, dividing the maximal critical inclination by said deflection to obtain the safety coefficient, and judging its value to calculate the control instruction.
Description
Technical field
The present invention relates to a kind of preventing vehicle rollover inertia measurement and control method, can independently measure the kinematic parameter of land vehicle when tempo turn, and calculating preventing vehicle rollover safety factor, automatically carry out safety instruction and trailing wheel brake operating, the support vehicles safety traffic can be applicable to the vehicle that all highways and railway move.
Background technology
Over more than 100 year, automobile is considered to the combination of component of machine always, two, 30 years up to date, thinks that just automobile is to have some electronically controlled mechanicals device.Along with the development that Eltec, observation and control technology and computer technology are maked rapid progress, automobile electronics content is more and more higher, has proposed the notion of " ASV (advanced safety vehicle, advanced safety vehicle) ".
The driving of ASV is to realize by means of the various sensors on the car, computer and some other electronics package.Avoided the generation of accident to greatest extent and reduced the degree that injures by the ASV Study on Technology.The ASV technology comprises that mainly safety precautions technology, accident avoidance technology, damage reduce technology, the injury of collision back occupant alleviates and guard technology at present.The technological means of being taked will be referred to automatic navigation system, speed control system, antiskid control system, collision automated monitoring system, driver's operation register system, occupant restraint system, collision recognition system etc.In these systems, will use inertia device in a large number, what have then is being used in combination of micro-inertial measuring system and GPS etc., above-described ASV technology has improved the performance and the operability of vehicle.But when vehicle when the road surface at high speed is turned because the effect of force of inertias such as gravity and centnifugal force will cause vehicle rollover, greatly threatened the safety of vehicle and chaufeur.In order to prevent vehicle rollover, mainly contain methods such as brakig force distribution (EBD) and anti-rollover assembly at present, wherein power distribution method be in order to solve because different because of tire during automobile brake with ground-surface friction force, generation is skidded, is tilted and problem such as rollover and a kind of measure of taking.Its function is exactly the moment at automobile brake, calculates four tire friction values respectively, by adjusting brake equipment, reaches the coupling of braking force and friction force (tractive force) then, to guarantee the steady and safety of vehicle.This method mainly solves the rollover that causes in the Motor Vehicle Braking Procedure, does not carry out omnidistance anti-rollover motion monitoring, only improves from brake control method, reduces the probability of vehicle rollover.The anti-rollover assembly method is that the restriction ear is installed in vehicle body side near tip position, and the restriction ear is connected with steel sheet spring by hinge.This method has overcome and runs into sharply turning or when dodging, because the effect of high centrifugal force causes the technical matters of vehicle side turning, effectively prevented vehicle side turning in automobile is being run at high speed process.But this method only adopts a kind of mechanical force equalizing gear, complex structure, cost height.The measurement of vehicle movement parameter can not be carried out, control command can not be sent.In sum, the anti-rollover method exists the kinematic parameter and the safety factor of measuring vehicle in real time, the defective that can't initiatively evade rollover at present.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiency of technology, provide a kind of kinematic parameter and rollover safety factor of measuring vehicle in real time, preventing vehicle rollover inertia measurement and the control method that can initiatively evade rollover.
Technical solution of the present invention is: a kind of preventing vehicle rollover inertia measurement and control method, the device of employing comprise MIMU and conventional speed instrument, and MIMU is responsible for providing car body turning rate and X, Y direction acceleration information; The conventional speed instrument is responsible for providing the body movement linear velocity, and the characteristics of this method are to realize through the following steps:
(1) quiescence is demarcated among the MIMU Z axle MEMS gyroscope zero partially fast, eliminates gyroscope zero and lays particular stress on the renaturation error;
(2) utilize the speed v of Z axle MEMS gyroscope output angle speed ω and vehicle-mounted conventional speed instrument measurement to calculate the centrifugal acceleration a of car body
a, a
a=ω * v;
(3) utilize X-axis accelerometer output a
xCalculate gravity acceleration g at X-axis component g
x, according to g
xCalculate the car body inclination alpha, α=a sin (g
x/ g);
(4) utilize α to calculate gravity acceleration g at Z axle component g
z, g
z=g cos (α) asks g again
zInverse circular function obtain closing inertial acceleration a
SWith the interaxle angle of inclination β of Z, β=a tan (a
x/ g
z);
(5) ratio of permitting between maximum critical inclination γ by β and vehicle is determined the rollover preventing safety coefficient S, and S=β/γ judges S size decision control command c, and c=kS, k represent the proportionality coefficient between control command and the safety factor;
(6) according to the braking of control command control trailing wheel, adopt the Y-axis accelerometer to carry out the braking force monitoring in the braking procedure, and real-time automatically regulating rate of braking.
Principle of the present invention is: utilize Z-direction MEMS gyroscope survey car body turning rate ω among the MIMU, utilize the line of motion speed v of conventional speed instrument measurement car body, calculate centrifugal acceleration a by cireular frequency and line of motion velocity resultant
a, a
a=ω * v; According to X-axis acceleration measuring value a
xAnd centrifugal acceleration a
aCalculate acceleration due to gravity at X-axis component g
x, g
x=a
x-a
a, calculate car body inclination alpha, α=arcsin (g by inverse circular function
x/ g); Utilize α to determine the suffered inertial acceleration a that closes of vehicle
SAnd the angle of inclination β between the Z axle, β=a tan (a
x/ g cos (α)); Determine the rollover preventing safety coefficient S by the ratio that β and vehicle are permitted between maximum critical inclination γ, S=β/γ; Judge S size decision control command c, c=kS; Adopt the trailing wheel braking mode, utilize Y-axis accelerometer measures, control brake intensity simultaneously, avoid vehicle rollover.
The invention has the advantages that:
(1) this invention can be sent information and carry out the control of braking instruction automatically from host computer preventing vehicle rollover coefficient, and therefore the function that has real-time measurement and can initiatively evade rollover has improved efficient and automatization level simultaneously;
(2) the present invention demarcates among the MIMU Z axle MEMS gyroscope zero partially fast in quiescence, eliminates gyroscope zero and lays particular stress on the renaturation error;
(3) Inertial Measurement Unit of Cai Yonging is made up of the MEMS inertia device, has reduced cost, volume, the power consumption of system, has reduced the system start-up time, has improved impact resistance;
(4) device that adopts of this invention can be multiplexing with vehicle-mounted inertial system, reduced system cost;
(5) Y direction accelerometer monitor vehicle braking force of the present invention, but auto-control rate of braking;
(6) the present invention avoids the generation of accident to greatest extent, is applicable to all road surface moving vehicles.
Description of drawings
Fig. 1 is micro inertial measurement unit of the present invention (MIMU) composition frame chart;
Fig. 2 is that the responsive combination of little inertia (MISA) constitutes scheme drawing;
Fig. 3 is a diagram of circuit of the present invention;
Fig. 4 is the principle schematic of resolving of the present invention.
The specific embodiment
Device of the present invention comprises micro inertial measurement unit (MIMU) and conventional speed instrument.Wherein MIMU as shown in Figure 1, mainly comprise the responsive combination of inertia (MISA), data acquisition and computing micro controller system, power supply, wherein MISA constitutes scheme drawing as shown in Figure 2, form by the quadrature setting by 1 Z-direction MEMS gyroscope, 1 X-direction mems accelerometer and 1 Y direction mems accelerometer, the turning rate of car body and X, Y direction acceleration information are provided; Data acquisition and computing micro controller system adopt dsp processor, are used for data acquisition, kinematic parameter resolves and generate control command; The conventional speed instrument is responsible for providing the body movement linear velocity.Concrete implementation step of the present invention is as shown in Figure 3:
(1) at first adopts vehicle-mounted conventional speed instrument (calculating the body movement linear velocity) testing vehicle speed v by vehicle wheel rotational speed, judge whether v is less than small quantity ε (ε gets conventional speed instrument measurement noise figure), when v＜ε, demarcate Z axle gyroscope zero partially, to the zero clearing of gyro output data, otherwise withdraw from calibrating procedure.
(2) the responsive car body turning rate of Z-direction MEMS gyroscope output voltage signal among the MISA adopts dsp processor to gather the output of inertia device among the MISA, calculates car body turning rate ω by the data smoothing and the program of resolving.When v＞ε, can calculate the centrifugal acceleration of car body by car body turning rate ω and line of motion speed v:
a
a＝ω×v (1)
(3) by known to Fig. 4, X-direction acceleration measuring value a
xComprise that the car body gravity acceleration g is at X-direction component g
xWith centrifugal acceleration a
a:
a
x＝g
x+a
a＝g?sin(α)+a
a (2)
In the formula, α is the inclination angle of car body.Can calculate acceleration due to gravity at X-direction component g by formula (2)
x:
g
x＝g?sin(α)＝a
x-a
a (3)
Can be in the hope of the inclination alpha of car body according to inverse circular function:
(4) inclination alpha of the car body of trying to achieve according to step (3) can be calculated acceleration due to gravity at Z axle component g
z:
g
z＝g?cos(α) (5)
Pass through a
aWith g
zBe divided by, the tan of negating then calculates that car body is subjected to closes inertial acceleration a
SThe interaxle angle of inclination β of direction and Z:
(5) permit the safety factor that relatively calculates car body rollover between maximum critical inclination γ by β and vehicle:
In the formula, the maximum critical inclination γ of the allowance of any one vehicle can be according to the concrete structure calculation of parameter of car body:
In the formula, L is the wheelspan of vehicle; H is that the vehicle barycenter is apart from ground-surface height.
(6) S 〉=0.8 is the danger warning coefficient, and system begins to send information, and alerting driver does not quicken or increases rate of turn; When S 〉=0.9 is dangerous critical coefficient, and a
y＞ε
aThe time (ε
aBe small quantity, get Y direction MEMS speed gauge output noise as ε
a), the expression vehicle is in the dangerous critical conditions of rollover, and the trend that continues acceleration is arranged, and instruct according to the safety factor calculation control this moment:
c＝kS (9)
In the formula, k represents the proportionality coefficient between control command and the safety factor, and control command starts brake equipment automatically, adopts two trailing wheels brakings mode of operation, keeps front-wheel to be in free state, reduces the moment of turning on one's side, thus the safety of support vehicles more reliably.In the braking procedure, utilize Y direction acceleration measuring value a
yThe deceleration situation of monitoring car body, calculate the braking force size:
F
f＝ma
y (10)
In the formula, m represents the quality of vehicle, passes through F
fWith target braking force F
oCompare, and then regulate rate of braking.When S＜0.8, represent vehicle to be in the rollover preventing safety scope, the cancellation brake command, prompting enters safe range.So far, the inertia measurement and the Control work of preventing vehicle rollover have been realized.
The content that is not described in detail in the specification sheets of the present invention belongs to this area professional and technical personnel's known prior art.
Claims (3)
1, a kind of preventing vehicle rollover inertia measurement and control method is characterized in that may further comprise the steps:
(1) quiescence is demarcated among the MIMU Z axle MEMS gyroscope zero partially fast, eliminates gyroscope zero and lays particular stress on the renaturation error;
(2) utilize the speed v of Z axle MEMS gyroscope output angle speed ω and vehicle-mounted conventional speed instrument measurement to calculate the centrifugal acceleration a of car body
a, a
a=ω * v;
(3) utilize X-axis accelerometer output a
xCalculate gravity acceleration g at X-axis component g
x, according to g
xCalculate the car body inclination alpha, α=asin (g
x/ g);
(4) utilize α to calculate gravity acceleration g at Z axle component g
z, g
z=g cos (α) asks g again
zInverse circular function obtain closing inertial acceleration a
SWith the interaxle angle of inclination β of Z, β=a tan (a
x/ g
z);
(5) ratio of permitting between maximum critical inclination γ by β and vehicle is determined the rollover preventing safety coefficient S, and S=β/γ judges S size decision control command c, and c=kS, k represent the proportionality coefficient between control command and the safety factor;
(6) according to the braking of control command control trailing wheel, adopt the Y-axis accelerometer to carry out the braking force monitoring in the braking procedure, and real-time automatically regulating rate of braking.
2, a kind of preventing vehicle rollover inertia measurement according to claim 1 and control method is characterized in that: described rollover preventing safety coefficient S 〉=0.8 is the danger warning coefficient, and S 〉=0.9 is dangerous critical coefficient.
3, a kind of preventing vehicle rollover inertia measurement according to claim 1 and 2 and control method, it is characterized in that: adopt the Y-axis accelerometer to carry out the braking force monitoring in the described step (6) in the braking procedure, and the method for automatically regulating rate of braking is in real time: in the braking procedure, utilize Y direction acceleration measuring value a
yThe deceleration situation of monitoring car body, calculate the braking force size:
F
f＝ma
y (9)
In the formula, m represents the quality of vehicle, passes through F
fWith target braking force F
oCompare, and then regulate rate of braking, when S＜0.8, represent vehicle to be in the rollover preventing safety scope, the cancellation brake command points out to enter safe range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100643203A CN100450840C (en) | 2007-03-12 | 2007-03-12 | Inertia measuring and control method for preventing vehicle rollover |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100643203A CN100450840C (en) | 2007-03-12 | 2007-03-12 | Inertia measuring and control method for preventing vehicle rollover |
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| CN100450840C CN100450840C (en) | 2009-01-14 |
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| CN102602261A (en) * | 2012-03-27 | 2012-07-25 | 上海电力学院 | Control method based on hydraulic adjustable suspension balance acceleration |
| CN102767208A (en) * | 2012-08-09 | 2012-11-07 | 厦门大学 | Side rollover predicting method for wheel loaders |
| CN103247185A (en) * | 2012-02-14 | 2013-08-14 | 厦门金龙联合汽车工业有限公司 | Anti-rollover reminding system and method for vehicle entering turn |
| CN103675320A (en) * | 2013-12-13 | 2014-03-26 | 中联重科股份有限公司 | Method for detecting maximum steering speed of road roller and method and equipment for controlling rollover prevention |
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| CN104401281A (en) * | 2014-10-31 | 2015-03-11 | 成都众易通科技有限公司 | Lateral-turnover-prevention system for concrete mixer truck |
| CN106740830A (en) * | 2016-12-22 | 2017-05-31 | 江苏萝卜交通科技有限公司 | The anti-rollover control method of four-wheel electric motor car |
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| JP3608050B2 (en) * | 2001-07-24 | 2005-01-05 | トヨタ自動車株式会社 | Rollover discrimination device |
| US6741922B2 (en) * | 2002-05-30 | 2004-05-25 | Bendix Commercial Vehicle Systems Llc | Antilock braking system based roll over prevention |
| JP2005271818A (en) * | 2004-03-25 | 2005-10-06 | Mitsubishi Fuso Truck & Bus Corp | Vehicular roll-over suppression control device |
| DE102004029064B3 (en) * | 2004-06-16 | 2006-03-30 | Siemens Ag | Method and device for detecting a rollover situation in a motor vehicle |
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2007
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| CN103781680B (en) * | 2011-09-09 | 2016-06-15 | 克诺尔-布里姆斯轨道车辆***有限公司 | For the method monitoring rail vehicle wheel |
| CN103247185A (en) * | 2012-02-14 | 2013-08-14 | 厦门金龙联合汽车工业有限公司 | Anti-rollover reminding system and method for vehicle entering turn |
| CN103247185B (en) * | 2012-02-14 | 2016-01-20 | 厦门金龙联合汽车工业有限公司 | A kind of vehicle enters curved anti-rollover system for prompting and method |
| CN102602261A (en) * | 2012-03-27 | 2012-07-25 | 上海电力学院 | Control method based on hydraulic adjustable suspension balance acceleration |
| CN102767208A (en) * | 2012-08-09 | 2012-11-07 | 厦门大学 | Side rollover predicting method for wheel loaders |
| CN102767208B (en) * | 2012-08-09 | 2014-08-27 | 厦门大学 | Side rollover predicting method for wheel loaders |
| CN103675320A (en) * | 2013-12-13 | 2014-03-26 | 中联重科股份有限公司 | Method for detecting maximum steering speed of road roller and method and equipment for controlling rollover prevention |
| CN103675320B (en) * | 2013-12-13 | 2015-08-12 | 中联重科股份有限公司 | Method for detecting maximum steering speed of road roller and method and equipment for controlling rollover prevention |
| CN104401281A (en) * | 2014-10-31 | 2015-03-11 | 成都众易通科技有限公司 | Lateral-turnover-prevention system for concrete mixer truck |
| CN106740830A (en) * | 2016-12-22 | 2017-05-31 | 江苏萝卜交通科技有限公司 | The anti-rollover control method of four-wheel electric motor car |
| CN107728138A (en) * | 2017-09-15 | 2018-02-23 | 电子科技大学 | A kind of maneuvering target tracking method based on current statistical model |
| CN107728138B (en) * | 2017-09-15 | 2020-11-17 | 电子科技大学 | Maneuvering target tracking method based on current statistical model |
| CN107764260A (en) * | 2017-09-30 | 2018-03-06 | 湖南城市学院 | A kind of satellite track positioning system |
| CN108622105A (en) * | 2018-04-16 | 2018-10-09 | 吉林大学 | Vehicle bend safe speed prediction based on multiple regression analysis and early warning system |
| CN110031019A (en) * | 2019-04-18 | 2019-07-19 | 北京智行者科技有限公司 | A kind of skidding detection processing method for automatic driving vehicle |
| CN110296683A (en) * | 2019-06-03 | 2019-10-01 | 新纳传感***有限公司 | A kind of dynamic inclination meter with centrifugal acceleration compensation |
| CN110296683B (en) * | 2019-06-03 | 2023-08-22 | 新纳传感***有限公司 | Dynamic inclinometer with centrifugal acceleration compensation |
| CN112977370A (en) * | 2021-04-25 | 2021-06-18 | 天津所托瑞安汽车科技有限公司 | Automatic emergency braking system and method |
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