CN-122009234-A - Vehicle rollover prevention early warning method, system and program product based on inertial measurement

CN122009234ACN 122009234 ACN122009234 ACN 122009234ACN-122009234-A

Abstract

The invention belongs to the technical field of vehicle safety, and particularly discloses a vehicle rollover prevention early warning method, a vehicle rollover prevention early warning system and a vehicle rollover prevention early warning program product based on inertial measurement. According to the invention, the vehicle motion data is collected in real time based on the inertia measurement unit, the vehicle rollover risk in the running process is evaluated by combining with the vehicle static configuration parameters, and then the corresponding rollover warning prompt information is sent to the driver based on the rollover risk evaluation result, so that the multidimensional sensing and warning of the vehicle rollover risk in the running process can be realized, and the driving safety of the vehicle is obviously improved. The vehicle rollover risk detection method has the advantages of strong comprehensive judgment capability and high judgment accuracy, can comprehensively reflect the vehicle rollover risk under the complex working condition, provides enough reaction time for a driver, has strong applicability, and is suitable for popularization and application in actual vehicles.

Inventors

LI QIANG
WANG FEI

Assignees

上海金盾特种车辆装备有限公司

Dates

Publication Date: 20260512
Application Date: 20260304

Claims (10)

1. The vehicle rollover prevention early warning method based on inertial measurement is characterized by comprising the following steps of: acquiring vehicle configuration parameters, and acquiring vehicle inertia measurement data acquired by an inertia measurement unit in real time in the running process of the vehicle; extracting lateral acceleration, longitudinal acceleration, roll angle speed and yaw rate based on vehicle inertia measurement data, and extracting whole vehicle mass, vehicle wheelbase, vehicle gravity center height, vehicle safety coefficient and road surface adhesion coefficient based on vehicle configuration parameters; Determining a critical roll angle according to the wheel track of the vehicle, the height of the center of gravity of the vehicle, the safety coefficient of the vehicle and the road surface attachment coefficient, and determining a load factor according to the transverse acceleration, the longitudinal acceleration, the whole vehicle mass, the wheel base of the vehicle, the wheel track of the vehicle and the height of the center of gravity of the vehicle; calculating a rollover risk evaluation value by using the transverse acceleration, the roll angle speed, the yaw rate, the critical roll angle, the load factor and the road surface adhesion coefficient; When the rollover risk evaluation value meets the set threshold triggering condition, a corresponding early warning instruction is generated, and the early warning instruction is sent to the early warning prompt unit, so that the early warning prompt unit executes the early warning instruction and sends out corresponding rollover early warning prompt information.
2. The inertia measurement-based rollover prevention warning method for a vehicle according to claim 1, wherein the determining the critical roll angle according to the vehicle track, the vehicle center of gravity height, the vehicle safety factor, and the road surface adhesion factor, and the determining the load factor according to the lateral acceleration, the longitudinal acceleration, the vehicle mass, the vehicle wheelbase, the vehicle track, and the vehicle center of gravity height, comprises: substituting the wheel track of the vehicle, the gravity center height of the vehicle, the safety coefficient of the vehicle and the road surface attachment coefficient into a critical camber angle calculation formula to calculate to obtain a critical camber angle, wherein the critical camber angle calculation formula is as follows: Wherein phi max is critical camber angle, B is vehicle track, h is vehicle gravity center height, SF is vehicle safety coefficient, mu road is road surface adhesion coefficient; Substituting the lateral acceleration, the longitudinal acceleration, the whole vehicle mass, the vehicle wheelbase and the vehicle gravity center height into a load factor calculation formula to calculate to obtain a load factor, wherein the load factor calculation formula is as follows: Wherein L f is a load factor, a y is a transverse acceleration, a x is a longitudinal acceleration, m is the mass of the whole vehicle, and L is the wheelbase of the vehicle.
3. The inertia measurement-based rollover prevention warning method for a vehicle according to claim 2, wherein the calculating of the rollover risk assessment value using the lateral acceleration, the roll angle speed, the yaw rate, the critical roll angle, the load factor, and the road surface adhesion coefficient comprises: Substituting the lateral acceleration, the roll angle speed, the yaw rate, the critical roll angle, the load factor and the road surface adhesion coefficient into a preset roll risk evaluation value calculation formula to calculate to obtain a roll risk evaluation value, wherein the roll risk evaluation value calculation formula is as follows: Wherein RRE is a rollover risk evaluation value, phi t is a roll angle speed, omega z is a yaw rate, and alpha, beta, gamma, delta, epsilon and zeta are respectively set first weight coefficient, second weight coefficient, third weight coefficient, fourth weight coefficient, fifth weight coefficient and sixth weight coefficient.
4. The inertia measurement-based vehicle rollover prevention warning method according to claim 1, wherein when the rollover risk evaluation value meets a set threshold trigger condition, generating a corresponding warning instruction comprises: When the rollover risk evaluation value is in a set low risk threshold value interval, a low risk early warning instruction is generated, when the rollover risk evaluation value is in a set medium risk threshold value interval, a medium risk early warning instruction is generated, and when the rollover risk evaluation value exceeds a set high risk threshold value, a high risk early warning instruction is generated.
5. The inertial measurement-based vehicle rollover prevention warning method of claim 1, further comprising: extracting a suspension equivalent damping coefficient and suspension roll stiffness based on vehicle configuration parameters, and extracting a real-time roll angle based on vehicle inertia measurement data; Calculating a transverse load transfer rate by using the equivalent damping coefficient of the suspension, the roll stiffness of the suspension, the roll angle speed, the real-time roll angle, the mass of the whole vehicle and the wheel track of the vehicle, and calculating critical target time by using the transverse load transfer rate, the roll stiffness of the suspension, the roll angle speed, the mass of the whole vehicle and the wheel track of the vehicle; When the critical target time meets the set time triggering condition, a corresponding early warning instruction is generated, and the early warning instruction is sent to the early warning prompt unit, so that the early warning prompt unit executes the early warning instruction and sends out corresponding rollover early warning prompt information.
6. The inertia measurement-based rollover prevention warning method for a vehicle according to claim 5, wherein calculating the lateral load transfer rate using the suspension equivalent damping coefficient, the suspension roll stiffness, the roll angle speed, the real-time roll angle, the vehicle mass and the vehicle track, and calculating the critical target time using the lateral load transfer rate, the suspension roll stiffness, the roll angle speed, the vehicle mass and the vehicle track, comprises: Substituting the suspension equivalent damping coefficient, suspension roll stiffness, roll angle speed, real-time roll angle, whole vehicle mass and vehicle wheel track into a transverse load transfer rate calculation formula to calculate so as to obtain a transverse load transfer rate, wherein the transverse load transfer rate calculation formula is as follows: Wherein LTR is the transverse load transfer rate, c is the equivalent damping coefficient of the suspension, k is the roll stiffness of the suspension, phi t is the roll angle speed, phi is the real-time roll angle, m is the mass of the whole vehicle, g is the set gravitational acceleration, and B is the tread of the vehicle; The lateral load transfer rate, the suspension roll stiffness, the roll angle speed, the whole vehicle mass and the vehicle wheel track are substituted into a critical target time calculation model for calculation, so as to obtain critical target time, wherein the critical target time calculation model is as follows: The TTR is critical target time, the unit is seconds, t max is critical state touch time, the unit is seconds, the min (min.) representation takes the minimum value, and the LTR max is a set transverse load transfer rate reference value.
7. The inertia measurement-based rollover prevention warning method for a vehicle according to claim 6, wherein when the critical target time satisfies the set time triggering condition, generating a corresponding warning command comprises: When TTR is more than 3s, a low-risk early warning instruction is generated, when TTR is less than or equal to 1s and less than or equal to 3s, a medium-risk early warning instruction is generated, and when TTR is less than or equal to 1s, a high-risk early warning instruction is generated.
8. The vehicle rollover prevention early warning system based on inertial measurement is characterized by comprising an inertial measurement unit, a data processing unit and an early warning prompt unit, wherein the inertial measurement unit is used for collecting vehicle inertial measurement data, the early warning prompt unit comprises an information display unit and a sound alarm device, and the data processing unit is used for: acquiring vehicle configuration parameters, and acquiring vehicle inertia measurement data acquired by an inertia measurement unit in real time in the running process of the vehicle; extracting lateral acceleration, longitudinal acceleration, roll angle speed, real-time roll angle and yaw rate based on vehicle inertia measurement data, and extracting whole vehicle mass, vehicle wheelbase, vehicle gravity center height, vehicle safety coefficient, road surface attachment coefficient, suspension equivalent damping coefficient and suspension roll stiffness based on vehicle configuration parameters; Determining a critical roll angle according to the wheel track of the vehicle, the height of the center of gravity of the vehicle, the safety coefficient of the vehicle and the road surface attachment coefficient, and determining a load factor according to the transverse acceleration, the longitudinal acceleration, the whole vehicle mass, the wheel base of the vehicle, the wheel track of the vehicle and the height of the center of gravity of the vehicle; Calculating a rollover risk evaluation value by using the transverse acceleration, the roll angle speed, the yaw rate, the critical roll angle, the load factor and the road surface attachment coefficient, calculating a transverse load transfer rate by using the suspension equivalent damping coefficient, the suspension roll stiffness, the roll angle speed, the real-time roll angle, the whole vehicle mass and the vehicle track, and calculating critical target time by using the transverse load transfer rate, the suspension roll stiffness, the roll angle speed, the whole vehicle mass and the vehicle track; when the rollover risk evaluation value meets the set threshold triggering condition, a corresponding early warning instruction is generated, and when the critical target time meets the set time triggering condition, the corresponding early warning instruction is generated and sent to the early warning prompt unit, so that the early warning prompt unit executes the early warning instruction and sends corresponding rollover early warning prompt information.
9. Vehicle rollover prevention early warning system based on inertial measurement, which is characterized by comprising: a memory for storing instructions; the processor is used for reading the instructions stored in the memory and executing the vehicle rollover prevention early warning method based on inertia measurement according to the instructions.
10. A computer program product, characterized in that it when run on a computer performs the vehicle rollover prevention warning method based on inertial measurement according to any one of claims 1-7.

Description

Vehicle rollover prevention early warning method, system and program product based on inertial measurement Technical Field The invention belongs to the technical field of vehicle safety, and particularly relates to a vehicle rollover prevention early warning method, system and program product based on inertial measurement. Background The vehicle is easy to have rollover accidents under the conditions of sharp turning, emergency lane changing, slope running or uneven road surface, and particularly for vehicles with higher gravity centers (such as SUVs, trucks, buses and the like), the rollover risk is higher. The traditional rollover prevention technology is mostly dependent on the mechanical structure teaching of a vehicle chassis, and cannot realize real-time rollover early warning of a vehicle in dynamic driving. Although rollover warning devices based on a single sensor (such as an inclination sensor) exist in the market at present, the response speed and the precision are limited, the comprehensive judgment capability of the vehicle motion state is lacked, the rollover risk under the complex working condition cannot be comprehensively reflected, enough response time is provided for a driver, the false alarm rate is high, the adaptability is poor, and therefore the popularization in actual vehicles is not high. Disclosure of Invention The invention aims to provide a vehicle rollover prevention early warning method, system and program product based on inertial measurement, which are used for solving the problems in the prior art. In order to achieve the above purpose, the present invention adopts the following technical scheme: in a first aspect, a vehicle rollover prevention early warning method based on inertial measurement is provided, including: acquiring vehicle configuration parameters, and acquiring vehicle inertia measurement data acquired by an inertia measurement unit in real time in the running process of the vehicle; extracting lateral acceleration, longitudinal acceleration, roll angle speed and yaw rate based on vehicle inertia measurement data, and extracting whole vehicle mass, vehicle wheelbase, vehicle gravity center height, vehicle safety coefficient and road surface adhesion coefficient based on vehicle configuration parameters; Determining a critical roll angle according to the wheel track of the vehicle, the height of the center of gravity of the vehicle, the safety coefficient of the vehicle and the road surface attachment coefficient, and determining a load factor according to the transverse acceleration, the longitudinal acceleration, the whole vehicle mass, the wheel base of the vehicle, the wheel track of the vehicle and the height of the center of gravity of the vehicle; calculating a rollover risk evaluation value by using the transverse acceleration, the roll angle speed, the yaw rate, the critical roll angle, the load factor and the road surface adhesion coefficient; When the rollover risk evaluation value meets the set threshold triggering condition, a corresponding early warning instruction is generated, and the early warning instruction is sent to the early warning prompt unit, so that the early warning prompt unit executes the early warning instruction and sends out corresponding rollover early warning prompt information. In one possible design, the determining the critical roll angle according to the vehicle track, the vehicle center of gravity height, the vehicle safety factor, and the road adhesion factor, and the determining the load factor according to the lateral acceleration, the longitudinal acceleration, the vehicle mass, the vehicle wheelbase, the vehicle track, and the vehicle center of gravity height, includes: substituting the wheel track of the vehicle, the gravity center height of the vehicle, the safety coefficient of the vehicle and the road surface attachment coefficient into a critical camber angle calculation formula to calculate to obtain a critical camber angle, wherein the critical camber angle calculation formula is as follows: Wherein phi max is critical camber angle, B is vehicle track, h is vehicle gravity center height, SF is vehicle safety coefficient, mu road is road surface adhesion coefficient; Substituting the lateral acceleration, the longitudinal acceleration, the whole vehicle mass, the vehicle wheelbase and the vehicle gravity center height into a load factor calculation formula to calculate to obtain a load factor, wherein the load factor calculation formula is as follows: Wherein L f is a load factor, a y is a transverse acceleration, a x is a longitudinal acceleration, m is the mass of the whole vehicle, and L is the wheelbase of the vehicle. In one possible design, the calculating the rollover risk assessment value using the lateral acceleration, the roll angle speed, the yaw rate, the critical roll angle, the load factor, and the road surface adhesion coefficient includes: Substituting the lateral acceleration, the roll angle spe