CN103213582B - Anti-rollover pre-warning and control method based on body roll angular estimation - Google Patents
Anti-rollover pre-warning and control method based on body roll angular estimation Download PDFInfo
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Abstract
The present invention relates to a kind of anti-rollover pre-warning and control method based on body roll angular estimation, concretely comprise the following steps: initially set up vehicle rollover model, use Kalman filter algorithm for estimating, utilize vehicle rollover model to predict the state parameter of real vehicles, with the running status of vehicle current time as initial value, think rollover index LTR of step size computation model according to vehicle rollover rule, write down calculating step number when this rollover index LTR meets rollover condition for the first time, i.e. can obtain vehicle rollover pre-warning time is.The present invention estimates the strategy of the size of heavy vehicle vehicle roll angle in the process of moving real-time and accurately by classical Kalman filter State Estimation, provides a kind of new solution for heavy vehicle rollover warning algorithm.
Description
Technical field
The present invention relates to a kind of preventing vehicle rollover pre-warning and control method, especially a kind of employing estimates that heavy vehicle is travelling
During the size of vehicle roll angle carry out anti-rollover pre-warning and control method.
Background technology
Heavy vehicle has centroid position height, complete vehicle quality and volume is big, wheel base is narrow relative to car load height
Feature, therefore rollover stable threshold is less, is susceptible to rollover event.Generally, when there is rollover event, driver
It is difficult to perceive the generation of accident.Add up according to United States highways Transportation Security Administration (NHTSA), in non-collision vehicle accident
In, have 90% to be caused by vehicle side turning, and the mortality rate that it causes also has reached 75%, in these rollover event, heavy
Vehicle has accounted for nearly about 70%.The rollover of heavy vehicle has become as the major issue affecting traffic safety.Therefore, heavy
The driving safety of vehicle, the roll stability problem in especially travelling is the heat of vehicle active safety research all the time
Point.
Vehicle rollover refers to that vehicle rotates the angle of 90 ° or bigger around its longitudinal axis in the process of moving so that vehicle body with
A kind of extremely hazardous lateral movement that ground touches.Have several factors may cause the rollover of vehicle, including vehicle structure,
Driver and road conditions etc..Vehicle rollover can be generally divided into two big classes, and a class is the rollover that curvilinear motion causes, another kind of
It is to trip rollover.The former refers to when vehicle travels on road (including lateral ramp), owing to the lateral acceleration of vehicle is more than one
Threshold value so that the vertical reaction of vehicle interior side wheel is zero rollover caused；The latter refers to produce laterally during running car
Barrier lateral impact in sliding, with road surface and it " is tripped ".Present invention research be non-trip type rollover in the case of
Heavy vehicle rollover warning algorithm.
In recent years, the inclination that the early warning system of turning on one's side application in heavy vehicle stability controls substantially increases vehicle is steady
Qualitative, and then effectively prevent the generation of heavy vehicle rollover event.But these researchs do not consider that some key parameter exists
The problem being difficult in vehicle travel process directly measure, thus cause the dynamic threshold as the dangerous criterion of rollover can not be accurate
Obtain.
Summary of the invention
The present invention proposes a kind of anti-rollover pre-warning and control method based on body roll angular estimation, i.e. uses classical Kalman
Filter state estimation technique the most accurately estimates the size of heavy vehicle vehicle roll angle in the process of moving, and thus calculates
The dynamic threshold that vehicle rollover early warning controls.On this basis, design based on rollover the time (Time-To-Rollover,
TTR) heavy vehicle rollover warning algorithm, is finally reached the purpose of heavy vehicle rollover early warning, this by classical Kalman
Filter state estimation technique estimates the strategy of the size of heavy vehicle vehicle roll angle in the process of moving real-time and accurately,
A kind of new solution is provided for heavy vehicle rollover warning algorithm.
The technical scheme is that a kind of anti-rollover pre-warning and control method based on body roll angular estimation, specifically walk
Suddenly it is: initially set up vehicle rollover model, uses Kalman filter algorithm for estimating, utilize vehicle rollover model to predict true car
State parameter, with the running status of vehicle current time as initial value, according to vehicle rollover rule withFor step size computation
Rollover index LTR of model, writes down calculating step number when this rollover index LTR meets rollover condition for the first time, i.e. can obtain
To vehicle rollover pre-warning time it is。
Vehicle rollover model is according to dAlembert principle, sets up three equilibrium equations:
(1) torque equilibrium equation about the z axis is:
(6)
(2) equilibrium equation along Y-axis is:
(7)
(3) torque equilibrium equation around X-axis is:
(8)
Meanwhile, meet:
(9)
(10)
(11)
Geometrical relationship is met under little slip angle of tire:
(12)
(13)
(14)
In formula,It it is the complete vehicle quality rotary inertia around the longitudinal axis of vehicle body barycenter；It is complete vehicle quality turning around roll axis
Dynamic inertia；、It is respectively total cornering stiffness of forward and backward tire；For suspension equivalence roll stiffness；Roll for suspension equivalence
Damped coefficient.
Vehicle state estimation step is by employing Kalman filter algorithm for estimating:
(1) set the original state variable of vehicle rollover model as:；
；
(2) set Kalman filter estimator coefficients as:
Measure noise covariance R=1；
Procedure activation noise covariance；
(3) Kalman filter estimator time update section is divided into:
；(1)
；(2)
(4) Kalman filter estimator state updating section is:
；(3)
；(4)
；(5)
In formula,For error covariance,For Kalman gain coefficient,For state estimator,、、、For being
Matrix number.
The specific formula for calculation of rollover index LTR calculating auto model is:
(16)
In formula,For vehicle roll center height,For car gage.
The invention has the beneficial effects as follows:
The present invention uses the Kalman filter technology of classics.The method estimation procedure shape of Kalman filter feedback control
State: the state in wave filter estimation procedure a certain moment, then obtains feedback in the way of (Noise) measurand.Therefore
Kalman filter can be divided into two parts: time update equation and measurement updaue equation.Time update equation be responsible in real time to
The value that front reckoning current state variable and error covariance are estimated, in order to for next time state structure prior estimate.I.e. adopt
The size of heavy vehicle vehicle roll angle in the process of moving is the most accurately estimated with classical Kalman filter State Estimation,
And thus calculate the dynamic threshold that vehicle rollover early warning controls.On this basis, design is based on rollover time (Time-To-
Rollover, TTR) heavy vehicle rollover warning algorithm, be finally reached heavy vehicle rollover early warning purpose, this by warp
Allusion quotation Kalman filter State Estimation estimates the big of heavy vehicle vehicle roll angle in the process of moving real-time and accurately
Little strategy, provides a kind of new solution for heavy vehicle rollover warning algorithm.
Accompanying drawing explanation
Fig. 1 is Kalman filter algorithm for estimating schematic diagram；
Fig. 2 is heavy vehicle model schematic；
Fig. 3 is to improve TTR rollover warning algorithm building-block of logic；
Fig. 4 is fish hook steering situation simulation result figure；
Wherein: (a) is the time and steering wheel angle graph of a relation, (b) is time and angle of heel graph of a relation, (c) be the time with
LTR graph of a relation, (d) is time and TTR graph of a relation；
Fig. 5 is sinusoidal steering situation simulation result figure；
Wherein: (a) is the time and steering wheel angle graph of a relation, (b) is time and angle of heel graph of a relation, (c) be the time with
LTR graph of a relation, (d) is time and TTR graph of a relation.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
The anti-rollover pre-warning and control method based on body roll angular estimation of the present invention, concretely comprises the following steps: initially set up car
Trip model, uses Kalman filter algorithm for estimating, utilize vehicle rollover model to predict the state parameter of real vehicles, with
The running status of vehicle current time is initial value, according to vehicle rollover rule withRollover index for step size computation model
LTR, writes down calculating step number when this rollover index LTR meets rollover condition for the first time, i.e. can obtain vehicle rollover early warning
Time is。
Kalman filter algorithm for estimating operation principle is as shown in Figure 1.
Vehicle state Kalman filter estimator design procedure is:
(5) the original state variable of vehicle rollover model is set as:；
；
(6) Kalman filter estimator coefficients is set as:
Measure noise covariance R=1；
Procedure activation noise covariance；
(7) Kalman filter estimator time update section is divided into:
；(1)
；(2)
(8) Kalman filter estimator state updating section is:
；(3)
；(4)
；(5)
In formula,For error covariance,For Kalman gain coefficient,For state estimator,、、、For being
Matrix number.
The present invention uses Three Degree Of Freedom linear vehicle model to design heavy vehicle rollover early warning system.As in figure 2 it is shown, should
The three degree of freedom of linear model is respectively lateral movement, weaving and roll motion.In figureFor complete vehicle quality；For matter
The heart is to the distance of roll center；For front wheel angle；For angle of heel；For yaw velocity；、It is respectively front and rear wheel side
Drift angle；For side slip angle；、It is respectively barycenter to axle distance；、It is respectively longitudinally, laterally speed；、Point
Wei the total side force of front and rear wheel；For lateral acceleration at barycenter.For simplified model, do hypothesis below:
(1) ignoring steering system impact, model inputs with front wheel steering angle.
(2) elevating movement of vehicle is not considered.
(3) effect of air drag is ignored.
(4) assume that vehicle travels at level road, ignore the catenary motion of vehicle.
(5) assume that the longitudinal velocity at vehicle centroid is a constant.
(6) change and the tire of ignoring the tire characteristics that the left and right tire of vehicle causes due to the change of load just return
The effect of moment.
(7) ignore the non-linear effects of tire and suspension, simplify suspension rate and damping for equivalence roll stiffness and equivalence
Roll damping.
(8) nonspring carried mass is less for spring carried mass.
(9) spring carried mass is the least around the product of inertia of X, Z axis, does not considers.
Thus heavy vehicle model, according to dAlembert principle, can list following three equilibrium equation:
(4) torque equilibrium equation about the z axis is:
(6)
(5) equilibrium equation along Y-axis is:
(7)
(6) torque equilibrium equation around X-axis is:
(8)
Meanwhile, meet:
(9)
(10)
(11)
Geometrical relationship is met under little slip angle of tire:
(12)
(13)
(14)
In formula,It it is the complete vehicle quality rotary inertia around the longitudinal axis of vehicle body barycenter；It is complete vehicle quality turning around roll axis
Dynamic inertia；、It is respectively total cornering stiffness of forward and backward tire；For suspension equivalence roll stiffness；Roll for suspension equivalence
Damped coefficient.
TTR based on body roll angular estimation turns on one's side warning algorithm.Concrete algorithm is as follows: first select vehicle dynamic horizontal
To load transfer rate (Lateral-load transfer rate, LTR) as the early warning threshold value of the dangerous criterion of rollover.This
The threshold value of sample selects to make warning algorithm more have universality；Secondly, in order to obtain dynamic early-warning thresholding more accurately
Value, uses parameter estimator based on Kalman Filter Technology in rollover warning algorithm.
In traditional sense, lateral direction of car load transfer rate (LTR) can be defined as the vertical load on the wheel of vehicle both sides
The ratio of difference and vertical load sum, it may be assumed that
(15)
When left and right tyre load is equal, the value of LTR is 0；When occurring rollover dangerous, single wheel leaves ground, this
Time LTR absolute value be 1, i.e. for different vehicles and different driving conditions, rollover early warning threshold value can be identified as necessarily
Value, for ensureing the driving safety of vehicle, is set to 0.9 by dynamic transverse load rate of transform early warning threshold value herein.
Owing to vehicle left and right wheels vertical load in the process of moving is continually changing and is difficult to directly to measure, so being difficult to root
The value of dynamic LTR is directly calculated according to definition.Choose the algorithm of a set of real-time calculating transverse load rate of transform LTR herein, tool
Body computing formula is:
(16)
In formula,For vehicle roll center height,For car gage.So, want to obtain accurate dynamically transverse load
The rate of transform, it is necessary to first obtain vehicle lateral acceleration and actual angle of heel the two quantity of state.Vehicle lateral acceleration is permissible
Directly measured by sensor, and the actual angle of heel of vehicle is difficult to be directly obtained by onboard sensor, need to pass through
Kalman filtering estimation technique carries out real-time estimation to it.
The TTR rollover warning algorithm logical structure estimated based on kalman filtered side inclination angle, as shown in Figure 3.Algorithm is base
Predict the state parameter of real vehicles in reference model, the vehicle rollover model set up before utilization, with vehicle current time
Carve running status be initial value, according to vehicle rollover rule withRollover index LTR for step size computation model.When this index
Calculating step number is write down when meeting rollover condition for the first time, i.e. can obtain vehicle rollover pre-warning time is。
In rollover early warning system, for reducing amount of calculation, generally presetting TTR rollover early warning threshold value is the X second.If X
In second, rollover index LTR is unsatisfactory for rollover condition, and in i.e. following X time second, vehicle will not be turned on one's side, then it is assumed that vehicle is in
Safe condition, stops the calculating in this cycle.Set TTR threshold value X herein as 3 seconds.
Prealarming process is a countdown process, and the value of TTR is the least, then vehicle occurs the risk turned on one's side the biggest, the value of TTR
When being 0, illustrate that vehicle is turned on one's side.
Application example:
Under Matlab/Simuink environment, set up the heavy vehicle rollover warning algorithm estimated based on angle of heel, and utilize
Trucksim software carries out simulating, verifying to rollover algorithm.Fish hook diversion experiments is carried out, just when initial speed is 50km/h
Carrying out sinusoidal input diversion experiments when beginning speed is 70km/h, the simulation result of rollover warning algorithm is as shown in Figure 4, Figure 5.
Claims (3)
1. an anti-rollover pre-warning and control method based on body roll angular estimation, it is characterised in that concretely comprise the following steps: first build
Vertical vehicle rollover model, uses Kalman filter algorithm for estimating, utilizes vehicle rollover model to join to the state predicting real vehicles
Number, with the running status of vehicle current time as initial value, according to vehicle rollover rule withRollover for step size computation model
Index LTR, writes down calculating step number when this rollover index LTR meets rollover condition for the first time, i.e. can obtain vehicle rollover
Pre-warning time is；The specific formula for calculation of rollover index LTR of described calculating auto model is:
In formula,For vehicle roll center height,For car gage,For lateral acceleration at barycenter；For barycenter to side
Incline the distance at center；For angle of heel；G is acceleration of gravity.
Anti-rollover pre-warning and control method based on body roll angular estimation the most according to claim 1, it is characterised in that: institute
Stating vehicle rollover model is according to dAlembert principle, sets up three equilibrium equations:
Torque equilibrium equation about the z axis is:
Equilibrium equation along Y-axis is:
Torque equilibrium equation around X-axis is:
Meanwhile, meet:
Geometrical relationship is met under little slip angle of tire:
In formula,It is the complete vehicle quality rotary inertia around the longitudinal axis of vehicle body barycenter,It is that complete vehicle quality is used to around the rotation of roll axis
Amount,、It is respectively total cornering stiffness of forward and backward tire,For suspension equivalence roll stiffness,Resistance is rolled for suspension equivalence
Buddhist nun's coefficient,For complete vehicle quality,For the distance of barycenter to roll center,For front wheel angle,For angle of heel；For yaw
Angular velocity,For side slip angle,、Be respectively barycenter to axle distance,、It is respectively longitudinally, laterally speed,
G is acceleration of gravity.
Anti-rollover pre-warning and control method based on body roll angular estimation the most according to claim 1, it is characterised in that: institute
Stating employing Kalman filter algorithm for estimating to vehicle state estimation step is:
Set the original state variable of vehicle rollover model as:；
；
Set Kalman filter estimator coefficients as:
Measure noise covariance R=1；
Procedure activation noise covariance；
Kalman filter estimator time update section is divided into:
；
；
Kalman filter estimator state updating section is:
；
；
；
In formula,For error covariance,For Kalman gain coefficient,For state estimator,、、、For coefficient
Matrix, k-1Front wheel angle for the k-1 moment inputs.
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