The invention relates to an anti-rollover control method, device and equipment for a heavy truck and a medium, and the method comprises the steps: obtaining a roll angle, a steering wheel angle and a vehicle speed of the heavy truck, and determining a real-time transverse load transfer rate of the heavy truck according to the roll angle, the steering wheel angle and the vehicle speed based on a real-time transverse load transfer rate algorithm; whether the absolute value of the real-time transverse load transfer rate exceeds a preset threshold value or not is detected, and if yes, the compensation amount of the additional yawing moment is determined in a PID fuzzy controller according to the deviation value of the real-time transverse load transfer rate; the braking torque of the heavy truck is determined based on a braking torque algorithm according to the compensation amount of the additional yawing torque, when it is detected that the real-time transverse load transfer rate is a positive value, the braking torque is applied to a left front wheel of the heavy truck, and when it is detected that the real-time transverse load transfer rate is a negative value, the braking torque is applied to a right front wheel of the heavy truck. Therefore, the anti-rollover control of the heavy truck is completed. The rollover state of the vehicle can be effectively restrained.
本申请涉及一种重型货车防侧翻控制方法、装置、设备及介质,方法包括:获取重型货车的侧倾角、方向盘转角和车速,基于实时横向载荷转移率算法根据侧倾角、方向盘转角和车速确定重型货车的实时横向载荷转移率;检测实时横向载荷转移率的绝对值是否超过预设阈值,若超过,则在PID模糊控制器中根据实时横向载荷转移率的偏差值确定附加横摆力矩的补偿量;基于制动力矩算法根据附加横摆力矩的补偿量确定重型货车的制动力矩,检测到实时横向载荷转移率为正值时,则将制动力矩施加至重型货车的左前轮,检测到实时横向载荷转移率为负值时,则将制动力矩施加至重型货车的右前轮,以完成重型货车的防侧翻控制。本申请能够有效抑制车辆的侧翻状态。
Heavy truck anti-rollover control method, device and equipment and medium
重型货车防侧翻控制方法、装置、设备及介质
2023-11-10
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
European Patent Office | 2023
|Heavy Truck Crashworthiness - 90 Rollover Accidents
British Library Conference Proceedings | 1996
|Heavy Truck Pilot Crash Test Rollover
NTIS | 1981
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