| Due to the frequent rollover accidents of dangerous goods transport tankers,the warning and control methods of tankers rollover have been widely concerned and become a research hotspot in the field of vehicle safety active prevention and control.At present,the domestic and foreign researches on tanker rollover warning and control methods have made some progress.However,due to the particularity and complexity of the body structure,the following problems still exist in the warning and control methods of tanker rollover.1)The existing warning method is to warn when the tanker is already in danger of rollover,which may result in untimely warning.2)The existing warning methods use the single rollover characterization parameter and the fixed rollover threshold,which may lead to inaccurate and unreliable warning.3)The existing control method does not consider the driver’s operation and the action delay of the control device,which may result in low control stability and effectiveness.In view of the above problems,this paper has carried out the research on the warning and control technology of dangerous goods transport tanker rollover.The main research contents and work of this dissertation are as follows:(1)The advance warning methods of dangerous goods transportation tanker rollover are studied,including the advance warning of rollover based on the enhanced digital map and the advance warning of rollover based on vehicle-road cooperative perception.The road attribute information of the road section ahead of the tanker is obtained by using the enhanced digital map.Whether there is a rollover risk when the tanker passes the road section ahead at the current speed is estimated,combining with the dynamic model.The perception range of the tanker is expanded by the vehicle-road communication equipment,so that the tanker can simultaneously detect whether there are factors causing the rollover between the tanker and the road section ahead.The two methods are independent of each other and are suitable for different rollover advance warning scenarios.The test results show that the advance warning methods of rollover effectively solve the problem that the tanker rollover warning is not timely.(2)The warning method of the dangerous goods transportation tanker rollover-is studied,including the real-time estimation of the tanker quality,the dynamic identification of the rollover threshold and the redundant warning of rollover risk.Firstly,a neural network is used to establish the characterization function of the tanker quality and the tanker quality is estimated in real time based on the airbag pressure of the air suspension.Secondly,the function relationship between the tanker quality,the speed,the filling ratio and the rollover threshold is established by the LS-SVM model to realize the dynamic adjustment of the rollover threshold when the tanker is driving.Finally,combined with the rollover threshold,the rollover risk is evaluated through multiple characterization parameters respectively.The evaluation results are fused by the D-S evidence theory so that the rollover warning can be conducted.The abovementioned contents are progressive and closely connected,which together constitute the rollover warning method.The test results show that the rollover warning method can overcome the inaccurate and unreliable problems of tanker rollover warning.(3)The control method of the dangerous goods transportation tanker rollover + is studied preliminarily.First,the characterization function of the braking deceleration of the tanker is established.Then,two rollover control scenarios with different priorities are summarized and the control strategies are designed separately.(4)The active prevention and control system for rollover accidents is built for the dangerous goods transport tanker.The comprehensive test of a real vehicle are carried out to conduct an overall verification and analysis of the performance of the above rollover warning and control methods. |
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