CN110040146A - A kind of vehicle rollover method for early warning and system considering road surface Parameters variation - Google Patents
A kind of vehicle rollover method for early warning and system considering road surface Parameters variation Download PDFInfo
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- CN110040146A CN110040146A CN201910314744.3A CN201910314744A CN110040146A CN 110040146 A CN110040146 A CN 110040146A CN 201910314744 A CN201910314744 A CN 201910314744A CN 110040146 A CN110040146 A CN 110040146A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- Mathematical Physics (AREA)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of vehicle rollover method for early warning and system for considering road surface Parameters variation, the influence of road surface input is considered when establishing the vehicle rollover model for calculating rollover index LTR, so that rollover index is suitable for the rollover of tripping property and the rollover of non-tripping property simultaneously；Simultaneously, give a kind of offline determining early warning value and speed, the method for surface friction coefficient of turning on one's side, so that the early warning value of vehicle rollover method for early warning can adaptively change according to vehicle-state and road environment, the environmental suitability and robustness of method for early warning are more preferable.It is compared with the traditional method, introduces roll angle acceleration in the calculating of rollover index, so that the calculating of rollover index error when vehicle is close to roll-over state is smaller, early warning is more accurate.
Description
Technical field
The invention belongs to automatically control and the intelligent vehicles technology field, and in particular to a kind of vehicle for considering road surface Parameters variation
Rollover method for early warning and system.
Background technique
With the increase of car ownership, casualties caused by traffic accident and property loss are on the rise.The U.S.
The statistical data of Office Of Highway Safety shows in 10,960,000 traffic accidents occurred in 2015 that rollover pertains only to therein
1.9%, but in all lethal accidents, shared ratio of turning on one's side is 18.1%, and death toll caused by turning on one's side but accounts for traffic thing
Therefore the 32% of total death toll.In all traffic accidents, the extent of injury of vehicle rollover accident is only second to vehicle collision, occupy
Second.
Vehicle rollover can be divided into the rollover of tripping property and the rollover of non-tripping property according to the difference of producing cause.The rollover of tripping property
Refer to the rollover that vehicle is generated by external input, Uneven road is encountered in vehicle driving or knocks the barriers such as guardrail and produce
Raw rollover just belongs to the rollover of tripping property, and this kind of rollover accounts for about the 80% of rollover sum.Non- tripping property rollover refers to that vehicle is expert at
The rollover generated during sailing because turning to the non-external factor such as too urgent, accounts for about the 20% of rollover sum.Rollover event is generally sent out
It is raw road surface attachment condition is preferable, in the higher situation of speed, driver is more difficult to be avoided by itself judgement.Current vehicle
Early warning technology turn on one's side mostly using wheel lift as starting point, first sets up rollover index, then establishes the kinetic model of vehicle.
Then last complete by reading onboard sensor or establishing observer come vehicle status parameters needed for obtaining kinetic model
At the calculating of rollover index, to realize rollover early warning.
However there are several major defects for the method for mainstream at present:
1, used rollover index is often only applicable to the rollover of non-tripping property, for the rollover of tripping property applicability compared with
Difference.
2, the calculating of vehicle rollover index needs this critical state information of the roll angle acceleration of vehicle, is obtaining the shape
When state, main stream approach mostly goes to obtain vehicle vertical acceleration by installing acceleration transducer additional in vehicle roof, then passes through
Approximate calculation obtains the roll angle acceleration of vehicle.In vehicle, close to rollover, (i.e. vehicle roll angle is greater than for this approximate calculation
10 °) when error it is larger, the accuracy rate of early warning is lower.
3, the selection of rollover early warning value does not account for the variation of road environment, is set to a certain constant greatly.In rural area, more
Under the non-urban road environment such as open country, the variation degree on road surface locating for vehicle is larger, using the rollover method for early warning of fixed early warning value
Applicability is poor.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of vehicle rollover method for early warning for considering road surface Parameters variation and being
System, it is contemplated that the influence of road surface input improves pre- so that rollover index is suitable for the rollover of tripping property and the rollover of non-tripping property simultaneously
Alert accuracy rate.
A kind of vehicle rollover method for early warning, comprising:
Calculate the LTR value of vehicle in real time according to following vehicle rollover model:
Wherein, msFor the spring carried mass of vehicle, ayFor the side acceleration of vehicle, azFor vehicle vertical acceleration, IxxFor vehicle
Around its roll axis rotary inertia, hRFor the spring carried mass constitution heart to the distance of roll axis, lsBetween vehicle revolver and right wheel
Away from, m is vehicular gross combined weight, and g is acceleration of gravity, and φ is the angle of heel of vehicle,For the roll angle acceleration of vehicle；
The LTR value being calculated is compared with the LTR rollover threshold of setting, when LTR value is greater than LTR rollover threshold
When, then issue vehicle rollover pre-warning signal.
Further, the acquisition methods of the LTR rollover threshold of the setting are as follows:
According to the fish hook steering situation of vehicle, the range of the coefficient of friction x and Velicle motion velocity y on road surface are determined；It will rub
Coefficient x and movement velocity y any value in respective range is wiped, the number of the coefficient of friction x and movement velocity y of multiple groups vehicle are obtained
According to combination；
It is combined using the data of the coefficient of friction x and movement velocity y of multiple groups vehicle, the method being fitted by data obtains
Coefficient in following threshold model:
F (x, y)=p00+p10x+p01·y+p20x2+p11xy+p02y2+p30x3+p21x2y+p12xy2+p40x4+p31x3y+
p22x2y2；
Obtained coefficient is updated in threshold model, threshold model expression formula is obtained；
Then the rollover threshold LTR of LTR is determined further according to following formulathreshold:
Preferably, roll angle accelerationIt is obtained by angular accelerometer, angle of heel φ passes through the speed and front-wheel of vehicle
Corner estimated, side acceleration ayWith vertical acceleration azIt is obtained by vehicle-mounted acceleration transducer.
A kind of vehicle rollover early warning early warning system, including vehicle-mounted industrial personal computer 1, usb bus, NI9215 data collecting card 2, angle
Accelerometer 3 and Ethernet CAN card 5；
The vehicle-mounted industrial personal computer 1 obtains the current steering wheel angle of vehicle, front and back wheel speed, laterally by Ethernet CAN card 5
Acceleration ay, vertical acceleration az；
Vehicle-mounted industrial personal computer 1 reads the signal of angular accelerometer 3 by data collecting card NI9215, obtains vehicle and currently rolls
Angular acceleration
The vehicle-mounted industrial personal computer 1 estimates surface friction coefficient, and according to the current steering wheel angle of vehicle and front and back wheel speed
Estimate the angle of heel φ of vehicle；
The vehicle-mounted industrial personal computer 1 is by roll angle accelerationSide acceleration ay, vertical acceleration azIt is defeated with angle of heel φ
Enter vehicle rollover model, calculate the rollover index LTR of vehicle at this time:
Then according to the following relational expression being previously stored:
Determine the LTR rollover threshold that should be used under current vehicle speed and coefficient of friction；
Finally compare the relationship of rollover index LTR value and LTR rollover threshold, it is determined whether issue the early warning letter of vehicle rollover
Number.
The invention has the following beneficial effects:
The present invention provides a kind of vehicle rollover method for early warning for considering road surface Parameters variation, are establishing for calculating rollover
The influence of road surface input is considered when the vehicle rollover model of index LTR, so that rollover index is suitable for the rollover of tripping property simultaneously
It turns on one's side with non-tripping property.Meanwhile being compared with the traditional method, roll angle acceleration is introduced in the calculating of rollover index, so that
The calculating for index of turning on one's side error when vehicle is close to roll-over state is smaller, and early warning is more accurate；
In addition, the present invention gives a kind of offline determining turn on one's side early warning value and speed, the method for surface friction coefficient, make
Capable of adaptively changing according to vehicle-state and road environment for the early warning value of vehicle rollover method for early warning is obtained, method for early warning
Environmental suitability and robustness are more preferable.
A kind of vehicle rollover early warning system of consideration road surface Parameters variation of the invention, can pass through the ECU of vehicle in real time
Module acquires the data of bottom sensor equipment, to obtain environmental information and vehicle running state information, as speed, it is lateral plus
Speed, angular speed of wheel, wheel steering angle, vehicle roll angular acceleration etc..Hereafter, according to can be according to vehicle rollover kinetic simulation
Type calculates the value of the rollover warning index LTR of vehicle in vehicle-mounted industrial personal computer.Then, vehicle-mounted industrial personal computer can be according to vehicle shape
State information estimates road surface parameter, and adjusts LTR threshold value of warning in real time according to road surface parameter.Finally, comparison LTR value and early warning threshold
Value, early warning is carried out when LTR value reaches threshold value.
Detailed description of the invention
Fig. 1 is the vehicle rollover kinetic model of shifted version
Fig. 2 is the vehicle rollover kinetic model of stress relation form.
Fig. 3 fish hook steering situation construction method figure.
Fig. 4 is flow chart of the method for the present invention.
Fig. 5 is the layout of each hardware device in the car.
Fig. 6 is system connection relationship diagram of the invention.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
A kind of vehicle rollover method for early warning of consideration road surface Parameters variation of the invention, the rollover index used is laterally load
The lotus rate of transform (lateral-load transfer ratio, LTR), definition is as follows:
Wherein, FzlFor the sum of left side all tire vertical load, FzrFor the sum of right side all tire vertical load.Due to
The vertical load of vehicle tyre can not be directly measured in practice, therefore the calculating of LTR needs to hang down tire by means of auto model
Straight load is converted into other vehicle state quantities easily obtained.
Fig. 1 and Fig. 2 is vehicle rollover kinetic model of the invention.The model is four-degree-of-freedom model, four freedom degrees
Respectively vehicle spring carried mass body vertical deviation zs, car body side tilt angle φ is vertical at left and right sides of vehicle unsprung mass body
It is displaced zurAnd zul。
By the vehicle dynamic model, the catenary motion of vehicle spring carried mass body and the dynamics side of rollover movement can be obtained
Journey is as follows:
msaz=Fsr+Fsl-msg (2)
Wherein, msFor the spring carried mass of vehicle, ayFor the side acceleration of vehicle, azFor vehicle vertical acceleration, FslWith
FsrThe active force of the left and right sides, I respectively between vehicle spring carried mass body and nonspring carried mass bodyxxIt is vehicle around its roll axis
Rotary inertia, hRFor the spring carried mass constitution heart to the distance of roll axis, lsFor the spacing of revolver and right wheel, g is acceleration of gravity,
φ is the angle of heel of vehicle,For the roll angle acceleration of vehicle.
By the vehicle dynamic model, the kinetics equation that can obtain the catenary motion of vehicle unsprung mass body is as follows:
Wherein, zulAnd zurVertical deviation respectively at left and right sides of nonspring carried mass body, mulAnd murRespectively non-spring charge material
Measure the quality at left and right sides of body.
There is following relationship between the spring carried mass body and nonspring carried mass body of vehicle:
M=mu+ms (7)
Wherein, muFor vehicle unsprung mass, msFor vehicle spring carried mass, m is vehicular gross combined weight.
Joint type (1)~(7), rollover index LTR can be expressed as:
In actual vehicle, nonspring carried mass muProportion very little can be ignored in actually calculating, can simplify simultaneously
Model improves the real-time of system.LTR after abbreviation are as follows:
Wherein, roll angle accelerationCan be obtained by angular accelerometer, angle of heel φ can by the speed of vehicle and
Front wheel angle estimated, side acceleration ayWith vertical acceleration azIt can be obtained by vehicle-mounted acceleration transducer.
Due to considering influence of the road surface input to vehicle rollover when modeling, therefore above-mentioned model is being suitable for non-tripping property side
While turning over, the rollover of tripping property could be applicable to.
In the present invention, for the road environment of variation, early warning system can change early warning threshold according to road surface parameter adaptive
Value, the adaptive approach need to shift to an earlier date the offline relationship for obtaining vehicle early warning value and road surface parameter by dynamics simulation, below
It is described in conjunction with a specific implementation example:
1) building can make vehicle generate the operation operating condition that rollover moves first.Under the speed of 80km/h, make direction of traffic
Disk corner is gradually increased to 180 ° from 0 °, records the side acceleration of steering wheel for vehicle corner and vehicle.Caravan speed be 80km/h,
When side acceleration is 0.3g, the value of steering wheel angle is θ, steering wheel angle θ=55.01 ° of certain vehicle in this state.It connects
Constructed according to Fig. 3 with fish hook slew test operating condition.
2) using the fish hook steering situation of building, on the road surface of different coefficients of friction, vehicle side is carried out with different speeds
The dynamics simulation test turned over.The selection range of coefficient of friction is divided into 0.05 from 0.1 to 1.0.The selection range of speed is
40km/h to 120km/h, is divided into 10km/h.Amount to 171 groups of tests.
3) the LTR value of vehicle in every group of test is calculated, note LTR is t at the time of reaching 1 for the first timeL, take (tL- 0.1s) moment vehicle
LTR value as threshold value of warning, obtain volume of data as shown in Table 1:
Certain vehicle LTR threshold value of warning of table 1
4) according to 1 data of table, LTR threshold value of warning and speed, the relationship of coefficient of friction, certain vehicle are obtained by fitting of a polynomial
Following relational expression is obtained after type fitting:
Wherein, coefficient
p00=0.9173, p10=-0.05603, p01=-0.01891, p20=0.02913,
p11=-0.003014, p02=-0.007117, p30=0.007667, p21=0.003051,
p12=-0.003799, p40=-0.008255, p31=-0.003351, p22=0.0009705；
X is surface friction coefficient, and y is speed (km/h).
As shown in fig. 6, a kind of vehicle rollover early warning system for considering road surface Parameters variation of the present invention, comprising: vehicle-mounted industry control
Machine 1, NI9215 data collecting card 2, liquid-ring angular accelerometer and its filtering and amplifying circuit 3, interchanger 4, Ethernet CAN card
5, the cables such as power module 6 and cable, power supply line, data line；Connection relationship are as follows: the usb bus interface of vehicle-mounted industrial personal computer 1 is logical
Usb bus is crossed to connect with NI9215 data collecting card 2；NI9215 data collecting card 2 is by filter amplification circuit and Pendular ring type angle
Accelerometer 3 connects；The Ethernet interface of vehicle-mounted industrial personal computer 1 is connected to interchanger 4；Interchanger 4 passes through Ethernet and Ethernet
CAN card 5 is connected；Ethernet CAN card 5 is connected by CAN bus with automobile.Vehicle-mounted industrial personal computer 1, NI9215 data collecting card 2, liquid
Ring type angular accelerometer 3, interchanger 4, Ethernet CAN card 5 connect realization power supply with power module 6 by power supply line.Wherein,
The layout of each hardware device in the car is as shown in Figure 5.
The vehicle rollover early warning system of a kind of consideration road surface Parameters variation of the invention, as shown in figure 4, its course of work
Are as follows:
1) system initialization；
2) vehicle-mounted industrial personal computer by CAN bus obtain the current steering wheel angle of vehicle, front and back wheel speed, side acceleration,
The vehicle-states such as vertical acceleration；
3) vehicle-mounted industrial personal computer reads the signal of angular accelerometer by NI9215 data collecting card, obtains vehicle and currently rolls
Angular acceleration；
4) according to resulting car status information, the angle of heel and surface friction coefficient of vehicle are estimated；
5) above data is inputted vehicle rollover model, calculates the rollover index LTR of vehicle at this time；
6) it according to " LTR threshold value of warning and the speed, surface friction coefficient relational expression " determined offline in advance, calculates current
The LTR threshold value of warning that should be used under speed and coefficient of friction；
7) if LTR value is greater than threshold value of warning, the pre-warning signal of vehicle rollover is issued, is otherwise continued；
8) return step 2；
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (4)
1. a kind of vehicle rollover method for early warning characterized by comprising
Calculate the LTR value of vehicle in real time according to following vehicle rollover model:
Wherein, msFor the spring carried mass of vehicle, ayFor the side acceleration of vehicle, azFor vehicle vertical acceleration, IxxFor vehicle around
The rotary inertia of its roll axis, hRFor the spring carried mass constitution heart to the distance of roll axis, lsFor the spacing of vehicle revolver and right wheel, m
For vehicular gross combined weight, g is acceleration of gravity, and φ is the angle of heel of vehicle,For the roll angle acceleration of vehicle；
The LTR value being calculated is compared with the LTR rollover threshold of setting, when LTR value is greater than LTR rollover threshold, then
Issue vehicle rollover pre-warning signal.
2. a kind of vehicle rollover method for early warning as described in claim 1, which is characterized in that the LTR rollover threshold of the setting
Acquisition methods are as follows:
According to the fish hook steering situation of vehicle, the range of the coefficient of friction x and Velicle motion velocity y on road surface are determined；It is by friction
Number x and movement velocity y any value in respective range, obtains the data group of the coefficient of friction x and movement velocity y of multiple groups vehicle
It closes；
It is combined using the data of the coefficient of friction x and movement velocity y of multiple groups vehicle, the method being fitted by data obtains as follows
Coefficient in threshold model:
F (x, y)=p00+p10x+p01·y+p20x2+p11xy+p02y2+p30x3+p21x2y+p12xy2+p40x4+p31x3y+p22x2y2；
Obtained coefficient is updated in threshold model, threshold model expression formula is obtained；
Then the rollover threshold LTR of LTR is determined further according to following formulathreshold:
3. a kind of vehicle rollover method for early warning as claimed in claim 1 or 2, which is characterized in that roll angle accelerationPass through angle
Accelerometer obtains, and angle of heel φ is estimated by the speed and front wheel angle of vehicle, side acceleration ayWith vertical acceleration
Spend azIt is obtained by vehicle-mounted acceleration transducer.
4. a kind of vehicle rollover early warning early warning system, which is characterized in that including vehicle-mounted industrial personal computer (1), usb bus, NI9215 number
According to capture card (2), angular accelerometer (3) and Ethernet CAN card (5)；
The vehicle-mounted industrial personal computer (1) obtains the current steering wheel angle of vehicle, front and back wheel speed, laterally by Ethernet CAN card (5)
Acceleration ay, vertical acceleration az；
Vehicle-mounted industrial personal computer (1) reads the signal of angular accelerometer (3) by NI9215 data collecting card (2), and it is current to obtain vehicle
Roll angle acceleration
The vehicle-mounted industrial personal computer (1) estimates surface friction coefficient, and is estimated according to the current steering wheel angle of vehicle and front and back wheel speed
Calculate the angle of heel φ of vehicle；
The vehicle-mounted industrial personal computer (1) is by roll angle accelerationSide acceleration ay, vertical acceleration azIt is inputted with angle of heel φ
Vehicle rollover model calculates the rollover index LTR of vehicle at this time:
Wherein, msFor the spring carried mass of vehicle, ayFor the side acceleration of vehicle, azFor vehicle vertical acceleration, IxxFor vehicle around
The rotary inertia of its roll axis, hRFor the spring carried mass constitution heart to the distance of roll axis, lsFor the spacing of vehicle revolver and right wheel, m
For vehicular gross combined weight, g is acceleration of gravity, and φ is the angle of heel of vehicle,For the roll angle acceleration of vehicle；
Then according to the following relational expression being previously stored:
Determine the LTR rollover threshold that should be used under current vehicle speed and coefficient of friction；
Finally compare the relationship of rollover index LTR value and LTR rollover threshold, it is determined whether issue the pre-warning signal of vehicle rollover.
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| CN111323167A (en) * | 2020-02-14 | 2020-06-23 | 北京理工大学 | Vehicle mass center height online identification method and system |
| CN111428905A (en) * | 2020-02-11 | 2020-07-17 | 北京理工大学 | Full-working-condition longitudinal vehicle speed prediction method and system |
| CN111674387A (en) * | 2020-05-27 | 2020-09-18 | 南京航空航天大学 | Method for generating novel rollover early warning index based on derivative iterative prediction |
| CN112896120A (en) * | 2021-03-01 | 2021-06-04 | 浙江理工大学 | Vehicle curve dynamic reverse reasoning rollover early warning method |
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| 张甲乐: "客车侧翻稳定性分析与防侧翻控制研究", 《中国优秀硕士学位论文全文数据库（电子期刊）工程科技Ⅱ辑》 * |
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| CN110712652A (en) * | 2019-10-14 | 2020-01-21 | 北京百度网讯科技有限公司 | Method, apparatus, electronic device, and computer storage medium for controlling vehicle |
| CN111428905A (en) * | 2020-02-11 | 2020-07-17 | 北京理工大学 | Full-working-condition longitudinal vehicle speed prediction method and system |
| CN111428905B (en) * | 2020-02-11 | 2020-12-08 | 北京理工大学 | Full-working-condition longitudinal vehicle speed prediction method and system |
| CN111323167A (en) * | 2020-02-14 | 2020-06-23 | 北京理工大学 | Vehicle mass center height online identification method and system |
| CN111674387A (en) * | 2020-05-27 | 2020-09-18 | 南京航空航天大学 | Method for generating novel rollover early warning index based on derivative iterative prediction |
| CN111674387B (en) * | 2020-05-27 | 2022-08-05 | 南京航空航天大学 | Method for generating novel rollover early warning index based on derivative iterative prediction |
| CN112896120A (en) * | 2021-03-01 | 2021-06-04 | 浙江理工大学 | Vehicle curve dynamic reverse reasoning rollover early warning method |
| CN112896120B (en) * | 2021-03-01 | 2021-12-28 | 浙江理工大学 | Vehicle curve dynamic reverse reasoning rollover early warning method |
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