CN113060088A - Intelligent automobile driving system based on active safety - Google Patents

Abstract

The invention discloses an intelligent automobile driving system based on active safety, which comprises an anti-rollover actuating mechanism, a control module, a gas generation module and a sensor unit, wherein the anti-rollover actuating mechanism is symmetrically arranged at two sides of an automobile frame and comprises a mechanism shell, an ejection mechanism for ejecting a support, a rotary driving mechanism, a gas port switching mechanism, a gravity center transfer mechanism and a translation transmission mechanism, the mechanism shell is fixedly arranged on the automobile frame, one end of the mechanism shell, which is close to the outer side of an automobile body, is of a semicircular structure, the rotary driving mechanism comprises a fixed cylinder shell and a rotatable container which is rotatably connected in the fixed cylinder shell, the gas generation module is arranged in the rotatable container, and two ends of the rotatable container are symmetrically provided with electric control gas outlet doors. The invention achieves the anti-rollover effect superior to the prior art by continuously executing various anti-rollover actions, and simultaneously, the lateral actual extension length of the ejected support is smaller, thereby reducing the probability of secondary harm and simultaneously having better anti-rollover effect.

Description

Intelligent automobile driving system based on active safety

Technical Field

The invention belongs to the field of automatic driving systems, and relates to an intelligent automobile driving system based on active safety.

Background

At present, in the technical field of automatic driving, methods such as active suspension, differential braking, active steering, chassis integrated control and the like are mainly adopted for realizing the adjustment of the vehicle roll angle aiming at the rollover accident possibly caused by turning, so as to achieve the purpose of preventing rollover. In the method, the lateral acceleration and the roll angle are required to be detected, and the transverse load transfer rate is calculated to be used as a judgment index for starting each rollover prevention actuating mechanism. However, when the wheels are laterally obstructed by low terrain obstacles in the turning process, the transverse load transfer rate is increased sharply, and at the moment, an actuating mechanism capable of rapidly applying a aligning moment opposite to the rollover direction is required to react immediately when the measured roll angle reaches a threshold value, so that the rollover-preventing action cannot be realized in time when the wheels are rolled over.

At present, the modes of generating aligning moment include air injection recoil, gravity center movement and auxiliary support of an injection support. Wherein the auxiliary stay can continuously provide with the supporting force that turns on one's side opposite direction, can realize better under suitable support angle and prevent the effect of turning on one's side, but the shortcoming is that the supporter that jets out is because the angle and the distance of jetting out are difficult for confirming to cause the secondary to the car safety of traveling easily. When the automobile has the risk of side turning, the automobile body starts the ejection of the support object at a certain side inclination angle, and at the moment, the support point of the auxiliary support is close to the side turning fulcrum on the obstacle due to the fact that the ejection position is low, and the aligning moment is small. Secondly, when the roll angle is larger, the included angle between the launching direction of the support and the transverse direction of the automobile needs to be smaller, otherwise, the support point can further approach the side-turning fulcrum, but the transverse extending distance of the support after the support is ejected is larger, and the support easily collides with people or objects during the movement of the automobile after the automobile is rightly returned, so that secondary damage is caused.

In addition at present in the driving system who adopts multiple mode to prevent turning on one's side, adopt a plurality of actuating mechanism independent control more, this is because these actuating mechanism prevent turning on one's side the action difference, it realizes each action in proper order with simpler control mode through unified power supply to be difficult to integrate, this leads to many actions to prevent that the structure of turning on one's side needs a plurality of power devices and independent starting drive to realize, this can increase each actuating mechanism's on the frame the degree of difficulty of arranging, the complexity of control has been improved, at the quick in-process of turning on one's side that meets barrier and leads to, it leads to a plurality of actions of preventing turning on one's side to fail in time to be carried out in proper order to take place.

Disclosure of Invention

The invention aims to provide an intelligent automobile driving system based on active safety, and aims to solve the technical problems that in the prior art, an unmanned driving system integrating a plurality of rollover prevention mechanisms such as air injection, gravity center adjustment and auxiliary support is lacked, so that the rollover prevention mechanisms are difficult to arrange, and after a support object of the auxiliary support in the rollover prevention process is ejected, a supporting point is too close to a rollover fulcrum or the transverse extending distance is longer, so that the rollover prevention reliability and the later automobile driving safety are influenced.

Intelligent automobile driving system based on initiative safety, including preventing actuator, control module, gaseous generation module and the sensor unit of turning on one's side, the sensor unit is used for detecting the roll angle and the lateral acceleration of automobile body, prevent that the actuator symmetry of turning on one's side is installed in the frame both sides, including mechanism's casing, the ejection mechanism, rotary driving mechanism, gas port on-off mechanism, focus shift mechanism and translation drive mechanism who jets out the supporter, mechanism's casing fixed mounting is in on the frame and it is close to automobile body outside one end and is the semicircular structure, rotary driving mechanism is including fixing fixed shell in the mechanism's casing rotates with connecting through the drive shaft and is in rotatable container in the fixed shell, gaseous generation module is located in the rotatable container, the automatically controlled air outlet door that rotatable container both ends symmetry set up is used for jet-propelled drive when the unblock rotatable container is rotatory according to the turn that the sensor unit records Directional control corresponds automatically controlled air outlet door is opened, fixed connection in the drive shaft rotatable container with be located the outer rotation piece of mechanism casing, fixed bobbin casing has the door that can destroy when receiving the high pressure closed, be equipped with the air jet on the semicircular structure and can be in after the drive shaft upwards rotates the shrouding in the middle of the rotation piece is sealed, ejection mechanism locates on the mechanism casing, translation mechanism includes the horizontal migration drive translation subassembly and the transmission connecting rod of focus transfer mechanism, the transmission connecting rod both ends articulate respectively in the terminal surface of rotation piece with translation subassembly, focus transfer mechanism includes the pivoted transfer connecting rod to one side after being driven, thereby the transfer connecting rod is driven and is rotated to one side the drive the frame is to one side skew.

Preferably, be equipped with the arc direction arch on the shrouding, be equipped with on the circular arc face of circular arc structure with the protruding sliding fit's of arc direction arc guide slot, under initial condition, the shrouding is located the air jet below, the arc direction is protruding to be arrived the distance of the upper end of arc guide slot is less than the arc direction is protruding to arrive the distance of arc guide slot lower extreme, the transmission connecting rod with the hinge of connecting between the rotation piece is in the protruding pivoted in-process of arc direction all is located the top of drive shaft or all is located the below of drive shaft.

Preferably, the translation subassembly including transversely set up the slip rod that slides and insert the inboard one end of mechanism's casing, fix uide bushing on the frame, fix drive frame below the slip rod and with the transmission connecting rod tip rotates the transmission shaft of connecting, the transmission shaft with slip rod fixed connection, the drive frame including transversely stretch out and with the actuating lever that the upper end of shifting the connecting rod is connected, fixedly connected with mount pad below the crossbeam of frame, shift the connecting rod with rotate through the pivot between the mount pad and connect, it articulates on the axle to shift the connecting rod lower extreme.

Preferably, an ejection opening is formed in the lower portion of the semicircular structure close to the outer side, the ejection mechanism comprises a support and a clamping non-return structure, the support comprises a support rod and an end plate fixed to the end portion of the support rod, the end plate is arranged in the ejection opening in an initial state and sealed through a sealing structure, the clamping non-return structure comprises a non-return structure, a fixing piece and a support guide sleeve, the fixing piece is provided with a protruding portion extending to two sides of the support guide sleeve, the protruding portion is provided with a pair of electric control jacking devices capable of relatively extending into the support guide sleeve to press the support rod, and the support rod penetrates through the support guide sleeve.

Preferably, the clamping and non-return structure comprises a plurality of non-return bulges arranged on the side surface of the supporting rod along the length direction, non-return shells symmetrically arranged on two sides of the supporting guide sleeve and non-return locking blocks connected in the non-return shells in a sliding manner, the non-return locking blocks are inserted into the end parts of the sleeves and provided with combining parts matched with the non-return bulges, a telescopic rod with a jacking function on the electric control jacking device jacks the non-return locking blocks in a jacking state, and a fixing part of the electric control jacking device is connected with the non-return locking blocks through a pressure spring sleeved outside the telescopic rod.

Preferably, the fixed cylinder shell is provided with shaft holes at two ends thereof, the shaft holes are matched with the driving shaft, the inner surface of each shaft hole and the side surface of the driving shaft at the position are provided with friction surfaces which are mutually contacted, and the friction surfaces are used for preventing the rotatable container from rotating relative to the fixed cylinder shell before the gas generating module is not started.

Preferably, a vertical partition plate is arranged in the mechanism shell, the vertical partition plate divides the mechanism shell into an air chamber with the rotary driving mechanism and a slide rod accommodating chamber in sliding insertion connection with the slide rod, the slide rod accommodating chamber is provided with an inner side slide rod sleeve in sliding insertion connection with the slide rod, and the slide rod accommodating chamber is not smaller than the maximum movable stroke of the slide rod towards the outer side of the vehicle body in the transverse direction.

The invention has the technical effects that: 1. the scheme pre-adjusts the opening and closing of the electric control air outlet doors at two ends of the rotatable container when the automobile turns, and prepares for the sudden rollover danger. When the automobile body takes place the more serious time that heels can start gas generator fast, the actuating mechanism that turns on one's side is prevented to both sides only need start gas generator simultaneously, need not more power device input power, has reduced the occupation of power device to space in the automobile body, has improved actuating mechanism's integrated degree, sets up more conveniently. The rollover prevention executing mechanism sequentially completes a series of actions of enabling the frame to be far away from a rollover fulcrum, changing the inclination angle of the frame part, performing jet recoil on one side far away from the rollover fulcrum, and performing auxiliary support on a jet support when the inclination angle of the side of the frame is further increased. The continuous execution of various actions can achieve a better anti-rollover effect, for example, after the air injection recoil action is carried out on the frame, the air injection position is far away from the rollover fulcrum, the generated aligning moment is larger, and the anti-rollover effect is improved.

2. According to the scheme, the frame not only moves towards the side opposite to the side turning direction, but also changes towards the side opposite to the side turning direction in the inclination direction of the frame, so that the inclination angle of the frame towards the side turning direction is reduced, and the position of the anti-side-turning actuating mechanism located in the same direction as the side turning direction is higher. Therefore, when the support is ejected, the ejection starting position is higher, so that the support is farther from the side-turning fulcrum position than the prior art. Meanwhile, when the support is ejected, the actual inclination angle of the vehicle body is smaller, so that the ejection direction of the support can have a larger downward inclination angle relative to the transverse direction of the vehicle body. Like this when the automobile body returns the positive back, the support thing side that jets out is to actual extension length less, when reducing the chance of taking place the secondary nuisance, prevents that the effect of turning on one's side is also better.

3. The scheme controls the sequence of each specific anti-rollover action and selects different left and right anti-rollover actions to be realized through the structure of the anti-rollover executing mechanism, so that the control mode of the scheme is greatly simplified, rollover can be avoided in multiple modes through a series of actions in a short time after the rollover occurs, and the problem of disordered sequence of the anti-rollover actions caused by control signal errors is solved.

4. Utilize the rotary drive translation drive mechanism and the gas port closing mechanism of drive shaft in this scheme, the drive structure who compares the translation mode can reduce and remove required distance, reduces the volume of fixed barrel as the required enclosed construction of removal process, can more conveniently reduce the air chamber volume to improve atmospheric pressure when spouting gas, increase the return moment.

Drawings

Fig. 1 is a schematic structural diagram of an anti-rollover actuating mechanism in an intelligent automobile driving system based on active safety.

Fig. 2 is a schematic structural diagram of an intelligent automobile driving system based on active safety during normal driving.

Fig. 3 is a schematic structural view of the structure shown in fig. 2 when the gas generation module is started after the rollover risk occurs.

Fig. 4 is a schematic view of the structure of fig. 2 when the auxiliary support is ejected after the rollover risk occurs.

Fig. 5 is a front view of the structure shown in fig. 1.

Fig. 6 is a cross-sectional view in the direction of a-a of the structure shown in fig. 5.

Fig. 7 is an enlarged view of region a in the structure shown in fig. 6.

Fig. 8 is a cross-sectional view in the direction of B-B of the structure shown in fig. 5.

Fig. 9 is a cross-sectional view in the direction of C-C of the structure shown in fig. 5.

Fig. 10 is a schematic view of a structure of a clamping backstop structure in the structure shown in fig. 1.

The labels in the figures are: 1. the device comprises a vehicle frame, 2, an axle, 3, an air port switch mechanism, 31, a driving shaft, 32, a rotatable container, 33, a rotating sealing plate, 34, a transmission connecting rod, 35, a gas generation module, 36, a fixed cylinder shell, 37, a closing door, 38, an electric control air outlet door, 4, a gravity center transfer mechanism, 41, a transfer connecting rod, 42, a mounting seat, 5, a translation transmission mechanism, 51, a guide sleeve, 52, a sliding rod, 53, a transmission shaft, 54, a driving frame, 55, a driving rod, 6, an ejection mechanism, 61, a supporting rod, 611, a non-return bulge, 62, a clamping non-return structure, 621, a supporting guide sleeve, 622, a non-return shell, 623, a non-return locking block, 624, a pressure spring, 625, an electric control jacking device, 626, a fixing piece, 63, an end plate, 7, a mechanism shell, 71, an air jet port, 72, an arc-shaped guide groove, 73.

Detailed Description

The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.

As shown in fig. 1 to 10, the present invention provides an intelligent vehicle driving system based on active safety, which includes an anti-rollover actuator, a control module, a gas generation module 35, and a sensor unit for detecting a roll angle and a lateral acceleration of a vehicle body. Prevent that side turning actuating mechanism symmetry installs in frame 1 both sides, including mechanism's casing 7, jet-out mechanism 6, rotary driving mechanism, gas port switching mechanism 3, focus transfer mechanism 4 and translation drive mechanism 5 that jet-out the support, mechanism's casing 7 fixed mounting be in on frame 1 and its one end that is close to the automobile body outside is semicircular structure 73, rotary driving mechanism is including fixing fixed barrel casing 36 in mechanism's casing 7 with rotate through drive shaft 31 and connect in rotatable container 32 in fixed barrel casing 36, gaseous generating module 35 is located in rotatable container 32, the automatically controlled air outlet door 38 that rotatable container 32 both ends symmetry set up is used for jet-propelled drive when the unblock rotatable container 32 is rotatory according to the turn direction control that the sensor unit surveyed corresponds automatically controlled air outlet door 38 is opened, fixed connection on the drive shaft 31 rotatable container 32 with be located the outer rotation of mechanism's casing 7 seals Plate 33, fixed cartridge 36 has the door 37 that can destroy when receiving the high pressure, be equipped with air jet 71 on semicircular structure 73 and drive shaft 31 can be by after upwards rotating the middle part of closing plate 33 seals, ejection mechanism 6 is located on mechanism's casing 7, translation mechanism includes the horizontal migration drive translation subassembly and transmission link 34 of centre of gravity transfer mechanism 4, transmission link 34 both ends articulate respectively in rotate the terminal surface of closing plate 33 with translation subassembly, centre of gravity transfer mechanism 4 includes the transfer link 41 of being driven backward to one side pivoted, thereby transfer link 41 is driven backward to one side rotation drive frame 1 is to one side skew.

The electric control air outlet doors 38 extend out of the lock tongue closing door plate in a closing state and are used for providing air injection direction when gas is generated, and the electric control air outlet doors 38 on two sides are always kept with only one electric control air outlet door open and the other electric control air outlet door closed in the turning process.

Rotate and be equipped with the arc direction arch on the shrouding 33, be equipped with on the circular arc face of circular arc structure with the protruding sliding fit's of arc direction arc guide slot 72, under initial condition, the middle part of rotating shrouding 33 is located air jet 71 below, the protruding arrival of arc direction the distance of the upper end of arc guide slot 72 is less than the protruding arrival of arc direction the distance of arc guide slot 72 lower extreme, transmission connecting rod 34 with it is in to rotate the hinge of being connected between the shrouding 33 the protruding pivoted in-process of arc direction all is located the top of drive shaft 31 or all is located the below of drive shaft 31.

Preferably, the translation assembly includes a sliding rod 52 transversely disposed and slidably inserted into one end of the inner side of the mechanism housing 7, a guide sleeve 51 fixed on the vehicle frame 1, a driving frame 54 fixed below the sliding rod 52, and a transmission shaft 53 rotatably connected to the end of the transmission link 34, the transmission shaft 53 is fixedly connected to the sliding rod 52, the driving frame 54 includes a driving rod 55 transversely extending and connected to the upper end of the transfer link 41, a mounting seat 42 is fixedly connected to the lower side of the cross beam of the vehicle frame 1, the transfer link 41 is rotatably connected to the mounting seat 42 through a rotating shaft, and the lower end of the transfer link 41 is hinged to the vehicle axle 2. A connecting shaft is fixed on the driving rod 55, an upper end guide groove extending along the length direction is arranged at the upper end of the transfer connecting rod 41, and the connecting shaft is connected with the upper end guide groove in a sliding mode and can rotate relatively.

An ejection opening 74 is formed in the lower portion of the semicircular structure 73 close to the outer side, the ejection mechanism 6 includes a support and a clamping non-return structure 62, the support includes a support rod 61 and an end plate 63 fixed to the end portion of the support rod 61, the end plate 63 is arranged in the ejection opening 74 in an initial state and sealed by a sealing structure, the clamping non-return structure 62 includes a non-return structure, a fixing member 626 and a support guide sleeve 621, the fixing member 626 has an extending portion extending to two sides of the support guide sleeve 621, the extending portion is provided with a pair of electrically controlled abutting devices 625 capable of extending into the support guide sleeve 621 relatively to press the support rod 61, and the support rod 61 penetrates through the support guide sleeve 621.

The clamping non-return structure 62 comprises a plurality of non-return protrusions 611 arranged on the side surface of the support rod 61 along the length direction, non-return shells 622 symmetrically arranged on the two sides of the support guide sleeve 621, and non-return locking blocks 623 slidably connected in the non-return shells 622, wherein the end parts of the non-return locking blocks 623 inserted into the sleeves are provided with combining parts matched with the non-return protrusions 611, the telescopic rod with a jacking function on the electric control jacking device 625 jacks the non-return locking blocks 623 in a jacking state, and the fixing part of the electric control jacking device 625 is connected with the non-return locking blocks 623 through a pressure spring 624 sleeved outside the telescopic rod.

The fixed cylinder 36 has shaft holes at both ends for engaging with the driving shaft 31, and the inner surface of the shaft hole and the side surface of the driving shaft 31 at this point are provided with friction surfaces that contact each other to prevent the rotatable container 32 from rotating relative to the fixed cylinder 36 before the gas generating module 35 is not activated.

The mechanism shell 7 is internally provided with a vertical partition plate 75, the vertical partition plate 75 divides the mechanism shell 7 into an air chamber with the rotary driving mechanism and a slide rod accommodating chamber in sliding insertion connection with the slide rod 52, the slide rod accommodating chamber is provided with an inner side slide rod sleeve in sliding insertion connection with the slide rod 52, and the slide rod accommodating chamber is not smaller than the maximum movable stroke of the slide rod 52 towards the outer side of the vehicle body in the transverse direction.

The mechanism shell 7 can be further provided with other exhaust ports communicated with the air passage of the mechanism shell, the air passage communicated with the exhaust ports is controlled by a switch valve, and the exhaust ports are arranged at positions which do not influence the stability of the vehicle when exhausting, such as the top of the vehicle or two sides of the vehicle which are symmetrically arranged. Thus, if the exhaust port is opened without ejecting the support after the vehicle is stabilized, the high-pressure gas in the mechanism case 7 on the side of the front roll fulcrum can be exhausted through the exhaust port.

When the invention is used, a control module of the system firstly detects the roll angle and the lateral acceleration when turning, calculates the transverse load transfer rate by combining information such as vehicle speed and the like, judges whether the risk of side turning exists or not, and automatically controls the turning angle and the turning speed by using an ESP system (an electronic stability program) to prevent the side turning. At this time, the turning direction is judged according to the direction of the lateral acceleration, and the electrically controlled air outlet 38 at one side of the rotatable container 32 is controlled to open the rotatable container 32 to spray air from the side to realize rotation, and if the rotatable container 32 rotates towards the same side, the transmission connecting rod 34 drives the translation assembly to move towards the inner side during turning.

When the automobile turns, due to terrain change, the side faces of wheels are hindered by short obstacles when the automobile turns, the transverse load transfer rate is increased sharply, the turning speed is caused to be in a dangerous range, the risk of side turning is caused, when the automobile body rolls to a certain angle, the roll angle is not large at the moment, but the lateral acceleration is still large, the risk of side turning is caused, and the control module immediately and simultaneously starts the gas generation modules 35 in the side-turning prevention actuating mechanisms. The gas generating module 35 is started to generate a large amount of gas through chemical reaction, the gas is sprayed out from the gas outlet opening, and the gas can be sprayed out only from the other side due to the fact that the electric control outlet door on one side is in a closed state, and therefore the driving shaft 31 is driven to rotate.

In the anti-rollover actuator positioned in the inner side direction during turning, namely in the anti-rollover actuator positioned on the side opposite to the rollover direction, the driving shaft 31 drives the rotating sealing plate 33 to rotate, and finally, the rotating sealing plate 33 can stay at a certain position through the end part limitation of the arc-shaped guide groove 72, the rotating sealing plate 33 drives the translation assembly to translate through the transmission connecting rod 34, and when the rotating sealing plate stays, the translation assembly drives the gravity center transfer mechanism 4 to start the transfer process, and the gravity center position of the vehicle body is adjusted through the transfer connecting rod 41. At this time, the rotary closing plate 33 is rotated clockwise and downward, so that the air outlet 71 of the air chamber housing is still in an open state.

In the anti-rollover actuator positioned in the outer side direction during turning, namely in the anti-rollover actuator positioned on the side opposite to the rollover direction, when the rotatable container 32 ejects a large amount of gas generated by the gas generation module 35, the electrically controlled air outlet door 38 on one side is in a closed state to rotate, and the rotating direction is the same as that of the rotatable container 32 on the other side, so that the driving shaft 31 is driven to rotate. The driving shaft 31 drives the rotating sealing plate 33 to rotate, the end part of the rotating sealing plate 33 is limited finally through the arc-shaped guide groove 72, the rotating sealing plate 33 can stay at a certain position, the rotating sealing plate 33 drives the translation assembly to translate through the transmission connecting rod 34, the translation assembly drives the gravity center transfer mechanism 4 to start a transfer process when the translation assembly stays, and the gravity center position of the vehicle body is adjusted through the transfer connecting rod 41. At this time, the rotary closing plate 33 rotates clockwise and upward, and the air outlet 71 of the air chamber housing is closed by the middle portion thereof, thereby maintaining a high pressure state in the air chamber.

When the closing door 37 on the fixed drum 36 is broken by the air pressure being sufficiently high, the translation mechanism has completed the excursion process and the closing also achieves the closing of the air outlet 71 on one side. The high-pressure gas is sprayed out at high speed by the damaged closed door 37, a large amount of gas is sprayed out at high speed from the gas spraying port 71 to form a gas spraying recoil effect, the center of gravity of the vehicle body and the gas spraying port 71 are moved to positions farther away from a rollover fulcrum by the deviation of the vehicle frame 1 before, so that the aligning moment generated by gas spraying is larger than that of the prior art, the power for firstly transferring the center of gravity and then spraying gas comes from the gas generating module 35, the front and back sequence of the action and the selection of different actions on the inner side and the outer side in the turning direction are realized through the structure of the rollover prevention executing mechanism, the power device and the control part are reduced, the control process is simplified, the difficulty of mechanism arrangement and the complexity of control are reduced, and the situation that rollover is quickly caused by.

Because the anti-rollover executing mechanisms all rotate towards the same direction, the frame 1 transversely moves towards the inner side direction during turning, meanwhile, because the arc-shaped guide protrusions are closer to the upper ends of the arc-shaped guide grooves 72 in the initial state, the translation assembly positioned on one side of the inner side direction during turning after rotation moves more towards the inner side due to the larger rotation angle of the sealing plates, the rotation angle of the transfer connecting rod 41 is larger, the frame 1 deflects, the side inclination angle of the vehicle body is rapidly reduced, transverse load transfer is reduced, if the side inclination angle does not become larger any more at the moment and reaches a threshold value, the anti-rollover executing mechanism can be adjusted back without ejecting a support, and the vehicle can normally run. However, if the above actions still cannot prevent the vehicle body roll angle from increasing to the threshold value again, the control module will immediately control the tightening device 625 to release the tightening state of the telescopic rod after detecting the action, so that the telescopic rod can be retracted. At this time, the gas chamber after the gas injection is not filled with the high-pressure gas, and the check lock 623 is pressed by the compression spring 624 to interfere with the counter-support rod 61, so that the support located at the inner side in the turning direction is not ejected. The air jet port 71 of the support on the other side is sealed, so that high pressure in the air chamber is generated after air generated by the air generating module 35 enters the air chamber, when the fixing structure is released from fixing, the high pressure air can immediately jet the end plate 63, the high pressure air can generate certain recoil force by jetting, more importantly, the jetted support is obliquely supported on the other side of the side turning fulcrum relative to the position of the vehicle body, a continuous supporting effect is generated, and the vehicle body is prevented from being turned on the side.

Because the movement of the frame 1 leads to the movement of the gravity center of the vehicle body and the lifting of the position of the rollover prevention actuating mechanism close to the rollover direction, when the support is ejected, the ejection starting position is higher, and the support distance from the rollover fulcrum is farther than that of the prior art. Although the roll angle of the axle 2 is now greater, the actual vehicle body inclination is smaller and the ejection direction of the supports can therefore have a greater downward inclination relative to the transverse direction of the vehicle body. Like this when the automobile body returns the positive back, the support thing side that jets out is to actual extension length less, and the probability that receives side object pedestrian and hinder when later traveling is less, when reducing the probability of taking place the secondary harm, prevents also better effect of turning on one's side. Moreover, because the power for ejecting the support comes from the high-pressure gas generated before but sealed in the mechanism shell 7, the power device required by ejection is reduced, the integration level of the anti-rollover actuating mechanism is increased, and the arrangement is convenient. Meanwhile, the ejection device on one side does not need to be selected to be started during the control of the working process, and the support can be ejected before the air injection and the transfer of the frame 1 are triggered, so that the control mode is greatly simplified, the rollover can be avoided in various modes through a series of actions in a short time after the rollover occurs, and the problem that the sequence of the rollover-preventing actions is disordered due to control signal errors is solved.

The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution of the invention, or to apply the inventive concept and solution directly to other applications without modification.

Claims (7)

1. The utility model provides an intelligent automobile driving system based on initiative safety, includes prevents actuator, control module, gas generation module (35) and sensor unit that turns on one's side, the sensor unit is used for detecting the roll angle and the lateral acceleration of automobile body, its characterized in that: prevent that actuator symmetry of turning on one's side installs in frame (1) both sides, including mechanism casing (7), jet out mechanism (6), rotary drive mechanism, gas port on-off mechanism (3), focus of jet out supporter (4) and translation drive mechanism (5), mechanism casing (7) fixed mounting be in on frame (1) and it is close to automobile body outside one end and is semicircular structure (73), rotary drive mechanism is including fixing fixed barrel casing (36) in mechanism casing (7) and rotate through drive shaft (31) and connect rotatable container (32) in fixed barrel casing (36), gas generation module (35) are located in rotatable container (32), the automatically controlled air outlet door (38) that rotatable container (32) both ends symmetry set up are used for jet-propelled drive when the unblock rotatable container (32) are rotatory according to the direction control that the sensor unit surveyed corresponds automatically controlled air outlet door (32) are corresponding (38) Open, fixed connection the rotatable container (32) and lie in the rotation shrouding (33) outside mechanism casing (7) on drive shaft (31), fixed cartridge shell (36) have can destroy when receiving high pressure closed door (37), be equipped with air jet (71) on semicircular structure (73) and can be sealed by the mid portion of rotation shrouding (33) after drive shaft (31) upwards rotates, ejection mechanism (6) are located on mechanism casing (7), translation mechanism includes horizontal movement drive the translation subassembly and transmission link (34) of centre of gravity transfer mechanism (4), transmission link (34) both ends articulate respectively to the terminal surface of rotation shrouding (33) and translation subassembly, centre of gravity transfer mechanism (4) includes being driven the backward to one side pivoted transfer link (41), the transfer connecting rod (41) is driven to rotate towards one side so as to drive the frame (1) to deflect towards one side.

2. The intelligent automobile driving system based on active safety as claimed in claim 1, wherein: it is protruding to be equipped with the arc direction on rotation shrouding (33), be equipped with on the circular arc face of circular arc structure with protruding sliding fit's of arc direction arc guide slot (72), under initial condition, the mid portion that rotates shrouding (33) is located air jet (71) below, the protruding play of arc direction reaches the distance of the upper end of arc guide slot (72) is less than the protruding play of arc direction the distance of arc guide slot (72) lower extreme, transmission connecting rod (34) with the hinge of connecting between rotation shrouding (33) is in the protruding pivoted in-process of arc direction all is located the top of drive shaft (31) or all is located the below of drive shaft (31).

3. The intelligent automobile driving system based on active safety as claimed in claim 2, wherein: translation subassembly is including transversely setting up the slip rod (52) that the slip inserted inboard one end of mechanism casing (7), fixing uide bushing (51) on frame (1), fixing drive frame (54) below slip rod (52) and with transmission connecting rod (34) tip rotates transmission shaft (53) of connecting, transmission shaft (53) with slip rod (52) fixed connection, drive frame (54) including transversely stretch out and with actuating lever (55) that the upper end of transferring connecting rod (41) is connected, fixedly connected with mount pad (42) below the crossbeam of frame (1), transfer connecting rod (41) with rotate through the pivot between mount pad (42) and connect, transfer connecting rod (41) lower extreme articulates on axle (2).

4. The intelligent automobile driving system based on active safety as claimed in claim 3, wherein: the lower part of semicircular structure (73) is equipped with and jets out mouth (74) by the outside, it includes support and presss from both sides tight non-return structure (62) to jet out mechanism (6), the support includes bracing piece (61) and fixes end plate (63) at bracing piece (61) tip, initial condition down end plate (63) are located in spouting out mouth (74) and through seal structure sealing, press from both sides tight non-return structure (62) including non-return structure, mounting (626) and support guide pin bushing (621), mounting (626) have and stretch to the extension of support guide pin bushing (621) both sides, the extension is equipped with and can relatively stretch into support guide pin bushing (621) are pushed down a pair of automatically controlled top tight device (625) of bracing piece (61), bracing piece (61) pass support guide pin bushing (621).

5. The intelligent automobile driving system based on active safety as claimed in claim 4, wherein: the clamping non-return structure (62) comprises a plurality of non-return bulges (611) arranged on the side surface of the supporting rod (61) along the length direction, non-return shells (622) symmetrically arranged on two sides of the supporting guide sleeve (621) and non-return locking blocks (623) connected in the non-return shells (622) in a sliding manner, the non-return locking blocks (623) are inserted into the end parts of the sleeves and are provided with combining parts matched with the non-return bulges (611), an expansion rod for jacking and tightening on the electric control jacking device (625) is jacked on the non-return locking blocks (623) in a jacking state, and fixing parts of the electric control jacking device (625) are connected with the non-return locking blocks (623) through compression springs (624) sleeved outside the expansion rod.

6. The intelligent automobile driving system based on active safety as claimed in claim 5, wherein: the two ends of the fixed cylinder shell (36) are provided with shaft holes matched with the driving shaft (31), the inner surface of each shaft hole and the side surface of the driving shaft (31) at the position are provided with friction surfaces which are in mutual contact, and the friction surfaces are used for preventing the rotatable container (32) from rotating relative to the fixed cylinder shell (36) before the gas generation module (35) is not started.

7. The intelligent automobile driving system based on active safety as claimed in claim 6, wherein: be equipped with perpendicular baffle (75) in mechanism casing (7), perpendicular baffle (75) will mechanism casing (7) divide into and have rotary drive mechanism's air chamber and with slide bar accommodation chamber that slide bar (52) slip was pegged graft, slide bar accommodation chamber be equipped with slide bar (52) slip grafting complex inboard slide bar cover, in the transverse direction slide bar accommodation chamber is not less than slide bar (52) court the mobilizable maximum stroke in the automobile body outside.

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