CN101983881A - Cargo vehicle security state previous warning method based on braking distance - Google Patents
Cargo vehicle security state previous warning method based on braking distance Download PDFInfo
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- CN101983881A CN101983881A CN 201010510387 CN201010510387A CN101983881A CN 101983881 A CN101983881 A CN 101983881A CN 201010510387 CN201010510387 CN 201010510387 CN 201010510387 A CN201010510387 A CN 201010510387A CN 101983881 A CN101983881 A CN 101983881A
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Abstract
The invention relates to a cargo vehicle security state early warning method based on braking distance, in particular to a determination method of the early warning threshold of the on-road vehicle. Aiming at the condition that the on-road vehicle is easy to have some potential dangers, the method of the invention uses the braking distance as the starting point to reflect the secure state of the vehicle. The real-time monitoring method of the on-road state of the vehicle comprises the following specific steps: extracting various factors of the vehicle such as the brake parameters, the current state factor and the outer road environment factor to perform information integration, using a braking distance model to calculate the required braking distance d1 of the current vehicle, comparing with a safe braking distance d0, calculating the degree of risk to determine the current danger condition of the vehicle, and using the range of the degree of risk as the early warning threshold of the vehicle to perform graded early warning. The invention has high instantaneity, precision and accuracy, does not require complicated calculation and design and provides a scientific and effective method for the determination of the danger condition threshold of the vehicle.
Description
Technical field:
The present invention relates to a kind of vehicle operational safety state comprehensively monitoring method for early warning field, especially relate to vehicle early warning threshold value determination method in transit.Vehicle state early warning in transit realizes aspect hardware technology easily, but about how determine the precarious position grade and how effectively early warning be emphasis and the difficult point of studying always.The present invention is from the stopping distance angle, take all factors into consideration the variation of the stopping distance generation of vehicle under various factor affecting in transit, utilize the rate of change of itself and safe stopping distance to determine the degree of risk of vehicle this moment, determine early warning more constantly according to the grade of degree of risk then, and take different early warning measures.
Background technology:
Often there are phenomenons such as overload, hypervelocity in China's commerial vehicle at present, and (for example long descending causes brake overheating and the generation of situations such as inefficacy) very easily caused traffic accident when blocking the way travel permit spare was comparatively abominable.Vehicle in the process of moving, a lot of potential unsafe conditions are difficult to be found, it is reported that a lot of navigating mates were not well understood to travel condition of vehicle at that time when having an accident,, may cause the generation of contingency if this moment, chaufeur was taked wrongful driving means.Therefore, the transportation of goods carrying vehicle is carried out the essentiality of monitoring and warning and extensively approved, but less at definite method research of threshold value of warning.
The mode of vehicle early warning is of all kinds, the early-warning conditions that the researcher considered is all different, but the safe condition of vehicle is mainly showed by deceleration and stopping performance, and the size of stopping distance can directly be evaluated vehicle braked usefulness, and brake efficiency can be estimated the vehicle braked ability again.So the present invention is a kind of rational judgement vehicle safety or the method for precarious position from the angle of stopping distance.
The description to the vehicle safety state at present mostly is degree of safety, and definite method of degree of safety mainly is that spacing and theoretical safe distance between vehicles were than relevant at that time with the vehicle of surveying, and its expression scope is 0～100%, carries out early warning according to different degree of safety numerical value.The method does not embody the influence to car brakeing of self real-time status of vehicle and external environment, so threshold value of warning and determining constantly are too theoretical, the early warning precision is not high.
In the research at stopping distance, great majority all are to utilize classical formulas, only consider single factors such as the speed of a motor vehicle and braking onset time, and the parameter that relates to is less, so the stopping distance that calculates is inaccurate, can not embody truth.The factor that influences stopping distance under the road environment of reality has a lot, and the stopping distance model generalization among the present invention has been considered the key factor of influence braking, can calculate active braking distance at that time comparatively accurately, for early warning provides the failure-free foundation.
Summary of the invention:
The invention provides a kind of method of the goods carrying vehicle safe condition early warning based on stopping distance, there are some potential unsafe conditions easily at vehicle in transit, as not taking proper measure, characteristics such as very easily accidents caused, as departure point, reflect the safe condition of vehicle with stopping distance by it.Mainly be to handle, obtain vehicle and braked required stopping distance d under the state at that time by the information that vehicle in transit is gathered
1, and calculate safe stopping distance d under the speed of a motor vehicle at that time
0, utilize the formula of degree of risk to determine the numerical value of degree of risk, and determine advanced warning grade according to the scope of degree of risk, the invention provides the method that a kind of actv. threshold value of warning is determined, solved the coarse problem of existing method early warning.
Above-mentioned purpose of the present invention is achieved through the following technical solutions, and accompanying drawings is as follows:
The present invention discloses a kind of method of the dynamic early warning of goods carrying vehicle safe condition based on stopping distance, takes all factors into consideration factors such as current state of vehicle self drg parameter, vehicle and extraneous road environment.Wherein the drg parameter mainly comprises brake system pressure, brake strap wearing and tearing and three important brake performance parameters of drg temperature rise; What the vehicle-state factor was mainly considered is the speed of a motor vehicle, overload, unbalance loading etc.; The road environment factor comprises that mainly long descending and road friction coefficient etc. cause the factor of traffic accident easily.By the stopping distance model of setting up calculate current car brakeing required apart from d
1, and definition vehicle safe braking distance d
0(the required stopping distance of car brakeing when other influence factors are all in normal range under a certain speed of a motor vehicle).Utilize given vehicle degree of risk method of calculating,, draw the current degree of risk R numerical value of vehicle by the comparison of current stopping distance and safe stopping distance.Take the early warning of different stage according to different degree of risk scopes, chaufeur is carried out early warning.The present invention is real-time, precision is high, need not complicated calculating and design, and the accuracy height has very strong actual directive significance, determines to provide a kind of scientific and effective method for automobile precarious position threshold value.
The method of a kind of goods carrying vehicle safe condition early warning based on stopping distance of the present invention, concrete steps are as follows:
Wherein: τ
1: time of driver's reaction, τ
2': eliminate brake strap gap required time, τ
2": brake braking force increases required time, τ=τ
2'+τ
2" be the drg onset time, u
A0: the initial braking speed of a motor vehicle, m
0: vehicle is fully loaded with quality, m
1Overload of vehicle part quality, P
w: brake-pipe pressure; A
w: the wheelcylinder piston area; μ: coefficient of friction of brake linings; R
m: the effective friction radius of brake disc; I: road grade; G: vehicle gravity.
Wherein: τ
1: time of driver's reaction, τ
2': eliminate brake strap gap required time, τ
2": brake braking force increases required time, τ=τ
2'+τ
2" be the drg onset time, u
A0: the initial braking speed of a motor vehicle,
Surface friction coefficient.
Step 4, the required stopping distance d of current vehicle that step 2 is calculated
1With step 3 safe stopping distance d
0Compare, determine the current precarious position of vehicle, and, carry out grading forewarning system with the scope of degree of risk threshold value as vehicle early warning by calculating degree of risk R.
Calculate the degree of risk numerical value of vehicle at that time, its computing formula is:
It is three ranks that the scope of described judgement degree of risk is divided into:
d
1＞150m or R＞200% carries out the one-level early warning,
50%＜R≤200% carries out the secondary early warning,
R≤50% carries out three grades of early warning, if degree of risk numerical value represents then that near zero vehicle is in normal safe condition, does not carry out early warning, returns step 1.
Described stopping distance model generalization considers to influence the factor of car brakeing distance: the drg parameter that comprises brake system pressure, brake strap wearing and tearing and drg temperature rise, the vehicle-state factor that comprises the speed of a motor vehicle and overload capacity, comprise long down-hill road environment factor, above-mentioned all factors are derived through demonstration and are defined as influencing the key factor of stopping distance, and stopping distance changes with the variation of each factor.
The various status informations that the present invention can actv. utilizes vehicle monitoring to arrive, utilize stopping distance to reflect the safe condition of vehicle in transit, method innovation, and stopping distance model accuracy height can calculate stopping distance more accurately, and the method for calculating of degree of risk is simple and practical, the Status Level that can reflect vehicle danger, and carry out advanced warning grade according to different degree of risk scopes and divide, this division condition is through checking, and is comparatively scientific and reasonable.
Description of drawings:
Fig. 1 is an early warning workflow diagram of the present invention.
Fig. 2 is the method and the desired parameters figure of current stopping distance model.
Wherein: τ
1: time of driver's reaction, τ
2': eliminate brake strap gap required time, τ
2": brake braking force increases required time, τ=τ
2'+τ
2" be the drg onset time, u
A0: the initial braking speed of a motor vehicle, m
0: vehicle is fully loaded with quality, m
1: overload of vehicle part quality, P
w: brake-pipe pressure, A
w: the wheelcylinder piston area; μ: coefficient of friction of brake linings; R
mThe effective friction radius of brake disc; I: road grade; G a: gravity.
The specific embodiment:
Below in conjunction with accompanying drawing the present invention is described in further detail:
Realization is to the real-time monitoring of vehicle state in transit, multiple factor information such as self the drg parameter by extracting vehicle, current state factor and extraneous road environment factor, carry out information integratedly, utilize the stopping distance model to calculate the required stopping distance d of current vehicle
1, and with safe stopping distance d
0Compare, determine the current precarious position of vehicle, and, carry out grading forewarning system with the scope of degree of risk threshold value as vehicle early warning by calculating degree of risk R.
The method of this goods carrying vehicle safe condition early warning based on stopping distance, the determination step of specifically implementing the vehicle safety state is:
(1) periodically obtains vehicle state information in transit;
(2), calculate vehicle and under current state, brake required apart from d with in each parameter input brake distance model
1, its computing formula is:
(3) calculate safe stopping distance d according to current vehicle speed
0, its computing formula is:
(4) with in the numerical value substitution degree of risk calculation expression that calculates in (2) and (3) step, calculate the degree of risk numerical value of vehicle at that time, its computing formula is:
(5) scope of judgement degree of risk with this condition as different warning levels, is worked as d
1≤ d
0The time, do not calculate degree of risk; Work as d
1＞d
0The time, the scope of judgement degree of risk, being divided into is three ranks, d
1＞150m or R＞200% carries out the one-level early warning; 50%＜R≤200% carries out the secondary early warning, and R≤50% carries out three grades of early warning, if degree of risk numerical value represents then that near zero vehicle is in normal safe condition, does not carry out early warning, returns step (1).
Consult shown in Figure 1:
Bring out various accidents at vehicle 1 in transit easily owing to endo mutual action, in real time the various security information of vehicle are monitored, the required information of vehicles that provides 2 of this method mainly contains state factor and the extraneous road environment factor that vehicle self drg parameter comprises that vehicle is current, utilize existing stopping distance model to calculate current stopping distance 3, calculate degree of risk 4 by comparing with safe stopping distance, judge the scope of degree of risk 4, carry out grading forewarning system 5 according to affiliated different harmful grades, when not belonging to, then do not return 2.The computation model of wherein current stopping distance 3 has considered to influence six key factor (P that stopping distance changes
W, δ, T, m, u
A0, i), when input during six parameters, this model can calculate current braking required separation distance, and accuracy rate is higher.
The calculating of safe stopping distance is to travel under normal operation according to vehicle, and this reasonable conditions comprises that the working of brakes condition is normal, and road is good straight road surface, and vehicle just changes the variation of caused stopping distance when the speed of a motor vehicle under rated load.Computing formula is:
For convenience of calculation can calculate the speed of a motor vehicle in 0～180km/h scope, with the safe stopping distance table of 10km/h, can carry out interpolation during practice as step-length, computation speed is very fast.
Consult shown in Figure 2, current stopping distance d
1Calculating mainly be parameter value according to each module, wherein modules A is the current state factor of vehicle, principal parameter has current vehicle speed u
A0With overload capacity m
1Module B is vehicle self a drg parameter, mainly comprises brake line pressure P w, brake strap abrasion loss δ and brake temperature T; Module C is extraneous road environment factor, mainly contains parameters such as long descending i.Each parameter is input among the core calculations model D, calculates the stopping distance value under the current state.
Table 1 is a warning level division table.
Consult shown in the table 1, different degree of risk values is divided into 3 scopes, take the type of alarm of different brackets.The rank that relates to is for working as d
1＞150m or R＞200% carries out the one-level early warning; When 50%＜R≤200% carries out the secondary early warning; R≤50% carries out three grades of early warning; Work as d
1≤ d
0The time, do not calculate degree of risk.
The present invention is based on stopping distance, utilize the grade of degree of risk that the precarious position of vehicle in transit is judged, realized distinguishing the method for vehicle precarious position, determine method for automobile monitoring, alarming technology provides a kind of actv. threshold value, method is practical, can wide popularization and application.
Claims (3)
1. method based on the goods carrying vehicle safe condition early warning of stopping distance is characterized in that concrete steps are as follows:
Step 1 is periodically obtained vehicle state information in transit, mainly extracts self drg parameter of vehicle, current state factor and extraneous road environment factor information, and carries out information integrated;
Step 2 utilizes the stopping distance model to calculate the required stopping distance d of current vehicle
1, in each parameter input brake distance model in the step 1, calculate vehicle and under current state, brake required apart from d
1, its computing formula is:
Wherein: τ
1: time of driver's reaction, τ
2': eliminate brake strap gap required time, τ
2": brake braking force increases required time, τ=τ
2'+τ
2" be the drg onset time, u
A0: the initial braking speed of a motor vehicle, m
0: vehicle is fully loaded with quality, m
1Overload of vehicle part quality, Pw: brake-pipe pressure; A
w: the wheelcylinder piston area; μ: coefficient of friction of brake linings; R
mThe effective friction radius of brake disc; I: road grade; G: vehicle gravity.
Step 3 calculates safe stopping distance d according to current vehicle speed
0, its computing formula is:
Wherein: τ
1: time of driver's reaction, τ
2': eliminate brake strap gap required time, τ
2": brake braking force increases required time, τ=τ
2'+τ
2" be the drg onset time, u
A0: the initial braking speed of a motor vehicle,
Surface friction coefficient.
Step 4, the required stopping distance d of current vehicle that step 2 is calculated
1With step 3 safe stopping distance d
0Compare, determine the current precarious position of vehicle, and, carry out grading forewarning system with the scope of degree of risk threshold value as vehicle early warning by calculating degree of risk R.
Calculate the degree of risk numerical value of vehicle at that time, its computing formula is:
Step 5, the scope of judgement degree of risk with this threshold value as vehicle early warning, is carried out grading forewarning system, works as d
1≤ d
0The time, do not calculate degree of risk; Work as d
1＞d
0The time, the scope of judgement degree of risk.
2. the method for a kind of goods carrying vehicle safe condition early warning based on stopping distance according to claim 1 is characterized in that it is three ranks that the scope of described judgement degree of risk is divided into:
d
1＞150m or R＞200% carries out the one-level early warning,
50%＜R≤200% carries out the secondary early warning,
R≤50% carries out three grades of early warning, if degree of risk numerical value represents then that near zero vehicle is in normal safe condition, does not carry out early warning, returns step 1.
3. the method for a kind of goods carrying vehicle safe condition early warning based on stopping distance according to claim 1, it is characterized in that, described stopping distance model generalization considers to influence the factor of car brakeing distance: the drg parameter that comprises brake system pressure, brake strap wearing and tearing and drg temperature rise, the vehicle-state factor that comprises the speed of a motor vehicle and overload capacity, comprise long down-hill road environment factor, above-mentioned all factors are defined as influencing the key factor of stopping distance, and stopping distance changes with the variation of each factor.
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|---|---|---|---|
| CN2010105103877A CN101983881B (en) | 2010-10-18 | 2010-10-18 | Cargo vehicle security state previous warning method based on braking distance |
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|---|---|---|---|
| CN2010105103877A CN101983881B (en) | 2010-10-18 | 2010-10-18 | Cargo vehicle security state previous warning method based on braking distance |
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|---|---|
| CN101983881A true CN101983881A (en) | 2011-03-09 |
| CN101983881B CN101983881B (en) | 2012-03-28 |
Family
ID=43641049
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| CN115158274A (en) * | 2022-08-31 | 2022-10-11 | 四川省公路规划勘察设计研究院有限公司 | Long and large longitudinal slope dangerous road section identification method based on truck braking and heavy braking characteristics |
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