CN112201052A - Vehicle-Road System-Based Vehicle Rollover Early Warning System for Hazardous Chemicals Transporter Expressway Curves - Google Patents
Vehicle-Road System-Based Vehicle Rollover Early Warning System for Hazardous Chemicals Transporter Expressway Curves Download PDFInfo
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Abstract
本发明公开了一种基于车路协同的危化品运输车高速公路弯道防侧翻预警系统，包括车路信息交互系统、车辆侧翻判断系统、车‑路报警系统、车速主动控制系统。车路信息交互系统中路侧单元将前方弯道路况传输至车载单元；车辆侧翻判断系统通过建立临界车速计算公式，计算安全车速；车辆车速传感器将采集到的车速由物理变量转变为电信号输送至车载单元，车载单元将获取的车速与预警系统计算的车速阈值进行比对；车‑路报警系统在车辆速度大于或者等于车速阈值时，车路警报装置通过显示器对驾驶员进行车速过快预警。其可以提高危化品运输车进行侧翻预警的准确性和稳定性。
The invention discloses a vehicle-road coordination-based anti-rollover early warning system for dangerous chemical transport vehicles on expressways, including a vehicle-road information interaction system, a vehicle rollover judgment system, a vehicle-road alarm system, and a vehicle speed active control system. The roadside unit in the vehicle-road information interaction system transmits the forward curved road conditions to the vehicle-mounted unit; the vehicle rollover judgment system calculates the safe vehicle speed by establishing a critical vehicle speed calculation formula; the vehicle speed sensor converts the collected vehicle speed from physical variables into electrical signals for transmission To the on-board unit, the on-board unit compares the obtained vehicle speed with the vehicle speed threshold calculated by the early warning system; when the vehicle speed is greater than or equal to the vehicle speed threshold, the vehicle road warning device will warn the driver of excessive speed through the display . It can improve the accuracy and stability of the rollover warning of the hazardous chemicals transport vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle transportation safety, in particular to a dangerous chemical transport vehicle curve rollover early warning system based on a vehicle road system.
Background
The vehicle-road cooperation technology applies a wireless communication technology, an advanced sensor technology and the like to vehicles to realize information interaction between vehicles and roads and between vehicles and vehicles. The vehicle-road cooperation technology mainly comprises a vehicle-mounted unit, a road side unit and a wireless communication technology. The vehicle-mounted unit obtains the working condition information of the vehicle through the information equipment of the vehicle system, the road side unit can receive the information of the vehicle-mounted unit, the collected road condition information is shared with the vehicle through the wireless communication technology, and the warning device is additionally arranged to provide support for the safe driving of the vehicle.
Hazardous chemical substance transport vehicles are common transport vehicles. Because of the particularity of the carrying object of the dangerous chemical transport vehicle, the liquid is shaken to change the position of the center of mass in the turning process, so that the center of mass is unstable when the dangerous chemical transport vehicle runs, and the rollover stability of the dangerous chemical transport vehicle is lower than that of a common transport vehicle. In addition, due to the special properties of hazardous chemicals, once rollover occurs, serious influence is caused, and even the life is threatened.
Therefore, it is important to improve the driving safety of the hazardous chemical substance transport vehicle. Considering that the dangerous chemical transport vehicle shakes liquid during turning, the vehicle is difficult to steer in a stable state, and the rollover critical speed is used as a rollover early warning threshold value. Early warning is carried out in advance, and a certain reaction time is given to a driver, so that accidents are avoided. The traditional scheme usually needs to rely on the prejudgment of a driver to carry out rollover early warning, so that the rollover early warning is easy to have low accuracy.
Disclosure of Invention
Aiming at the problems, the invention provides a dangerous chemical transport vehicle curve side-turning early warning system based on a vehicle road system.
In order to realize the purpose of the invention, the invention provides a dangerous chemical substance transport vehicle curve rollover early warning system based on a vehicle road system, which comprises the following systems: the system comprises a vehicle road information interaction system, a vehicle rollover judging system, a vehicle-road alarming system and a vehicle speed active control system;
the vehicle-road information interaction system comprises a power supply, a vehicle-mounted unit, a road side unit, a laser radar signal receiver, a road side laser radar and a vehicle-mounted ECU; the vehicle-road alarm system comprises an in-vehicle display and a roadside electronic warning board; the vehicle rollover judging system comprises a vehicle speed threshold value calculation center and a vehicle speed sensor; the vehicle speed active control system comprises an electric control fuel injection device;
the vehicle-mounted unit is connected with the road side unit through a power supply, the road side unit is connected with the laser radar signal receiver through a lead, the road side laser radar works to transmit front road condition information to the road side unit, and the road side unit and the vehicle-mounted unit realize information interaction through a wireless communication technology; the in-vehicle display is connected with the vehicle-mounted unit through a lead, and the roadside electronic warning board is connected with the roadside unit through a lead; the vehicle speed threshold value calculation center and the vehicle speed sensor are connected with the vehicle-mounted unit through leads, when the vehicle speed is greater than the threshold vehicle speed, the display screen in the vehicle receives a signal of the vehicle-mounted unit and sends out a sound and picture alarm of a too fast character, and in view of the intercommunity of the vehicle path information, the electronic warning board receives an early warning signal of the road side unit and sends out an alarm of the too fast character; the vehicle-mounted unit is connected with the vehicle-mounted ECU through a wire, if the vehicle speed is safe, the vehicle-mounted ECU does not give out early warning any more, and if the vehicle speed is still dangerous, the vehicle-mounted ECU sends out an electric signal to the electric control fuel injection device so as to reduce the fuel injection time and the vehicle speed.
In one embodiment, a roadside device installed at the roadside is connected with an onboard device installed at a vehicle by a wireless communication technology; the vehicle-mounted unit receives various vehicle running condition information transmitted by the vehicle ECU, and the road side unit transmits road condition information in front to the automobile to prepare for early warning.
In one embodiment, the rollover judging system obtains vehicle information and road condition information transmitted from the road side unit and the vehicle mounted unit, where the information at least includes: track width, mass of liquid, vehicle weight, and curve radius; determining a critical rollover speed threshold value of the hazardous chemical substance transport vehicle through a moment taking equation obtained by taking a moment from a vertical projection point P of a side-tipping central point O of the hazardous chemical substance transport vehicle on the ground;
in the vehicle rollover judging system, the critical rollover speed V of the vehicleRThe calculation process of (2) is as follows:
Step 2, obtaining a moment-taking equation by obtaining a moment-taking equation of a vertical projection point P of the side-tipping central point O on the ground when the hazardous chemical substance transport vehicle heels:
wherein B represents the wheel track of the dangerous chemical transport vehicle, Fz0Indicating the vertical wheel load outside the curve, FzlRepresents the load of vertical wheels at the inner side of a curve, m represents the total vehicle mass of the hazardous chemical transport vehicle when the vehicle is not fully loaded with liquid, ayDenotes lateral acceleration, hcRepresents the vertical distance h between the center of mass position and the lateral-inclination center point O when the hazardous chemical substance transport vehicle is not fully loaded with liquidrThe distance between the roll center point O and the ground is represented, g represents the gravity acceleration, and L represents the horizontal distance between the center of mass of the hazardous chemical transport vehicle and the roll center point O when the hazardous chemical transport vehicle is not fully loaded with liquid;
vertical distance of its centroid from the roll center O when partially loaded with liquid:
the horizontal distance from the center of mass of the dangerous chemical transport vehicle to the side-tipping center point O when the part of the dangerous chemical transport vehicle is loaded with liquid is as follows:
wherein m islFor the mass of liquid loaded, hvDistance m of mass center from roll center O point for vehicle servicingvThe tank body is the servicing quality of the tank type automobile, and phi is the side inclination angle of the tank body;
step 3, the vehicleWhen turning over, the load Fz of the inner wheel l0, outboard wheel load FzlIf mg, sin phi is approximately equal to phi due to the small side inclination angle of the dangerous chemical transport vehicle, cos phi is approximately equal to 1, and the formula is substituted to obtain:
and 4, substituting the curve radius R transmitted by the road side equipment into an early warning system for calculation to obtain the critical rollover speed:
in one embodiment, the alarm system is based on a vehicle-road information interaction system, electronic display alarm devices are respectively installed on road side equipment and vehicle-mounted equipment, and when the fact that the vehicle speed is greater than a vehicle speed threshold value is predicted, the vehicle-mounted display can give a sound-picture alarm to a driver in the form of words of too fast vehicle speed; meanwhile, in view of the information interoperability of the vehicle-road cooperative system, the electronic display screen additionally arranged on the road side equipment can simultaneously give an alarm of the fact that the vehicle speed is too fast to the driver.
In one embodiment, the active control system is divided into an artificial control module and a vehicle speed active control module; the driver performs deceleration processing after obtaining the alarm, and if the driver does not take effective measures, the active control system can send an electric signal for reducing the fuel injection time to the electric control fuel injection device through the vehicle-mounted ECU to reduce the vehicle speed so as to achieve the aim of deceleration.
The invention is based on the vehicle-road cooperation technology. When the vehicle fast enters a curve, the vehicle rollover judging system receives vehicle working condition information transmitted by the vehicle-mounted equipment and road condition information transmitted by the road side equipment and substitutes the vehicle working condition information and the road condition information into a critical vehicle speed threshold value calculation formula. At the moment, if the vehicle speed is safe, the monitoring is continued, and the display in the vehicle for the vehicle with the too fast vehicle speed warns the driver in a sound and picture manner in the word of the too fast vehicle speed. Meanwhile, in view of the information interoperability of the vehicle-road cooperative system, the electronic display screen additionally arranged on the road side equipment can also give an alarm in the form of 'the speed of the vehicle is too fast' to the driver. If the driver is actively taking effective action, the detection continues. If the speed is still in the dangerous range, the vehicle-mounted ECU sends an electric signal for reducing the fuel injection quantity to the electric control fuel injection system, so that the vehicle speed is reduced, and the aim of reducing the speed is fulfilled. The safety of the dangerous chemical transport vehicle passing through the curve is improved in the reasonable and orderly early warning process.
Drawings
FIG. 1 is a flow chart of a vehicle-road cooperation based hazardous chemical substance transport vehicle curve rollover prevention early warning system according to an embodiment;
FIG. 2 is a schematic diagram of an embodiment of a rollover-prevention early warning system of a hazardous chemical substance transport vehicle based on vehicle-road coordination;
FIG. 3 is a schematic structural diagram of a vehicle-road alarm system based on vehicle-road coordination for a critical diagram of rollover of a curve of a hazardous chemical transport vehicle according to an embodiment;
FIG. 4 is a schematic structural diagram of a vehicle-to-road warning system based on vehicle-to-road coordination according to an embodiment;
FIG. 5 is a flow chart of an active vehicle speed control system according to one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a flow chart of a dangerous chemical substance transport vehicle curve rollover prevention early warning system based on vehicle-road coordination according to an embodiment, and the dangerous chemical substance transport vehicle curve rollover prevention early warning system based on vehicle-road coordination comprises a vehicle-road information interaction system, a vehicle rollover judgment system, a vehicle-road alarm system and a vehicle speed active control system.
A road side unit in the vehicle-road information interaction system transmits the road condition of a front curve to a vehicle-mounted unit to prepare for early warning; the vehicle rollover judging system determines a vehicle speed rollover threshold value calculation formula through a moment taking equation obtained by taking moment for a vertical projection point P of a side rollover center point O on the ground when the road condition rolls; a vehicle speed sensor in the vehicle rollover judging system converts the acquired vehicle speed from a physical variable into an electric signal and transmits the electric signal to a vehicle-mounted unit, and the vehicle-mounted unit compares the acquired vehicle speed with a vehicle speed threshold value calculated by the early warning system; when the vehicle speed is greater than or equal to the vehicle speed threshold value, the in-vehicle warning device carries out vehicle speed over-speed early warning on the driver through the vehicle-mounted display, and because the vehicle-mounted unit and the road side unit are in information interaction, an electronic warning board arranged on the road side unit can simultaneously carry out vehicle speed over-speed warning on the driver; in the vehicle active control system, when a driver does not take effective measures, the vehicle active control system starts to work, and the vehicle speed is reduced by descending low fuel injection time. The accuracy and the stability of the dangerous chemical transport vehicle for curve rollover early warning are improved.
In one embodiment, the working process of the rollover-prevention early warning system for the hazardous chemical substance transport vehicle based on vehicle-road coordination is shown in fig. 2: when the dangerous chemical transport vehicle runs on a highway, road condition monitoring is carried out through a roadside laser radar, roadside equipment detects that only 150m away from a curve is required to send a signal to vehicle-mounted equipment, and preparation for vehicle speed rollover prejudgment in advance is carried out.
In one embodiment, the rollover critical state of the hazardous chemical substance transport vehicle is shown in fig. 3, and the rollover critical vehicle speed is calculated according to the following formula:
(1) considering the influence of liquid shaking of the hazardous chemical substance transport vehicle during running, the liquid level in the tank is simplified into a plane, and a coordinate system with the long axis of the tank body as the y axis and the short axis as the z axis is established. Setting up the coordinates of the center of mass (y) of the liquidl、zl) Then there is yl＝Sz/A；zl＝Syand/A. Wherein the cross-sectional area of the liquid surface line and the liquid is A, and the static moments of the cross-sectional area of the liquid to the y-axis and the z-axis are SyAnd Sz
(2) The moment-taking equation obtained by taking the moment of the vertical projection point P of the side-tipping central point O on the ground when the hazardous chemical substance transport vehicle heels is obtained as follows:
wherein B represents the wheel track of the dangerous chemical transport vehicle, Fz0Indicating the vertical wheel load outside the curve, FzlRepresents the load of vertical wheels at the inner side of a curve, m represents the total vehicle mass of the hazardous chemical transport vehicle when the vehicle is not fully loaded with liquid, ayDenotes lateral acceleration, hcRepresents the vertical distance h between the center of mass position and the lateral-inclination center point O when the hazardous chemical substance transport vehicle is not fully loaded with liquidrThe distance between the roll center point O and the ground is represented, g represents the gravity acceleration, and L represents the horizontal distance between the center of mass of the dangerous chemical transport vehicle and the roll center point O when the vehicle is not fully loaded with liquid
Vertical distance of its centroid from the roll center O when partially loaded with liquid:
the horizontal distance from the center of mass of the dangerous chemical transport vehicle to the side-tipping center point O when the part of the dangerous chemical transport vehicle is loaded with liquid is as follows:
wherein m islFor the mass of liquid loaded, hvDistance m of mass center from roll center O point for vehicle servicingvThe tank body is the service mass of the tank type automobile, and phi is the side inclination angle of the tank body.
(3) When the vehicle turns over, the load Fz of the inner wheel l0, outboard wheel load FzlMg due to dangerAnd if the side inclination angle of the product transport vehicle is smaller, sin phi is approximately equal to phi, cos phi is approximately equal to 1, and the formula is substituted to obtain:
(4) the curve radius R transmitted by the road side equipment is brought into an early warning system for calculation, so that the critical rollover speed can be obtained:
at the moment, the vehicle speed sensor can convert the acquired vehicle signals into electronic signals to be transmitted to the vehicle-mounted ECU, and the vehicle rollover system can compare the vehicle speed with the calculated vehicle speed threshold value, judge whether the vehicle rollover system is dangerous or not and further prepare for rollover warning at the back.
The schematic structural diagram of the vehicle-road alarm system based on vehicle-road cooperation is shown in fig. 4: electronic display alarm devices are respectively arranged on the road side equipment and the vehicle-mounted equipment, and information intercommunication of all devices of the system is ensured by utilizing a wireless communication technology. When the vehicle speed is predicted to be larger than the vehicle speed threshold value, the in-vehicle display gives a sound and picture alarm in the word of 'too fast vehicle speed' to the driver. Meanwhile, in view of the information interoperability of the vehicle-road cooperative system, the electronic display screen additionally arranged on the road side equipment can simultaneously give an alarm in the form of 'speed of vehicle is too fast' to the driver.
In one embodiment, the vehicle speed active control system flow is as shown in FIG. 5: the active control system comprises a human control module and a vehicle active control module. Firstly, if the driver takes deceleration measures in time, the vehicle speed is reduced to a safe range, and then monitoring is continued. If the driver does not take effective measures, the vehicle active control module sends an electric signal for reducing the fuel injection time to the electric control fuel injection system through the vehicle-mounted ECU, so that the vehicle speed is reduced, and the aim of reducing the speed is fulfilled.
The beneficial effects of this embodiment include:
in the embodiment, on the basis of realizing vehicle-road information intercommunication by considering the vehicle-road cooperation technology, the real-time performance of the information is ensured. By additionally arranging the alarm devices on the vehicle-mounted unit and the road side unit, the defect of single alarm in the traditional early warning method is avoided.
In the embodiment, the driver performs deceleration processing in the vehicle speed control system, meanwhile, the rollover prevention early warning system also compares the vehicle speed, and if the driver cannot reduce the vehicle speed to a safe vehicle speed, the vehicle-mounted ECU transmits information to the fuel injection control module, so that the fuel injection time is shortened to achieve active speed reduction of the vehicle. The sequence is reasonable, and the driving safety is improved.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express the embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (5)
1. The utility model provides a danger article transport vechicle highway bend early warning system that turns on one's side based on car road system which characterized in that includes following system: the system comprises a vehicle road information interaction system, a vehicle rollover judging system, a vehicle-road alarming system and a vehicle speed active control system;
the vehicle-road information interaction system comprises a power supply, a vehicle-mounted unit, a road side unit, a laser radar signal receiver, a road side laser radar and a vehicle-mounted ECU; the vehicle-road alarm system comprises an in-vehicle display and a roadside electronic warning board; the vehicle rollover judging system comprises a vehicle speed threshold value calculation center and a vehicle speed sensor; the vehicle speed active control system comprises an electric control fuel injection device;
the vehicle-mounted unit is connected with the road side unit through a power supply, the road side unit is connected with the laser radar signal receiver through a lead, the road side laser radar works to transmit front road condition information to the road side unit, and the road side unit and the vehicle-mounted unit realize information interaction through a wireless communication technology; the in-vehicle display is connected with the vehicle-mounted unit through a lead, and the roadside electronic warning board is connected with the roadside unit through a lead; the vehicle speed threshold value calculation center and the vehicle speed sensor are connected with the vehicle-mounted unit through leads, when the vehicle speed is greater than the threshold vehicle speed, the display screen in the vehicle receives a signal of the vehicle-mounted unit and sends out a sound and picture alarm of a too fast character, and in view of the intercommunity of the vehicle path information, the electronic warning board receives an early warning signal of the road side unit and sends out an alarm of the too fast character; the vehicle-mounted unit is connected with the vehicle-mounted ECU through a wire, if the vehicle speed is safe, the vehicle-mounted ECU does not give out early warning any more, and if the vehicle speed is still dangerous, the vehicle-mounted ECU sends out an electric signal to the electric control fuel injection device so as to reduce the fuel injection time and the vehicle speed.
2. The vehicle-road-system-based dangerous chemical transport vehicle curve rollover early warning system for the high-speed road of the dangerous chemical transport vehicle according to claim 1, wherein roadside equipment installed on the roadside is connected with vehicle-mounted equipment installed on the vehicle through a wireless communication technology; the vehicle-mounted unit receives various vehicle running condition information transmitted by the vehicle ECU, and the road side unit transmits road condition information in front to the automobile to prepare for early warning.
3. The vehicle-road-system-based dangerous chemical transport vehicle curve rollover early warning system for the high-speed road of the dangerous chemical transport vehicle according to claim 1, wherein the rollover judging system obtains vehicle information and road condition information transmitted from the road side unit and the vehicle-mounted unit, and the information at least comprises: track width, mass of liquid, vehicle weight, and curve radius; determining a critical rollover speed threshold value of the hazardous chemical substance transport vehicle through a moment taking equation obtained by taking a moment from a vertical projection point P of a side-tipping central point O of the hazardous chemical substance transport vehicle on the ground;
in the vehicle rollover judging system, the critical rollover speed V of the vehicleRThe calculation process of (2) is as follows:
step 1, considering that the dangerous chemical transport vehicle runsThe liquid level in the tank is simplified into a plane under the influence of the liquid shaking, a coordinate system with the major axis of the tank body as the y axis and the minor axis as the z axis is established, and the barycentric coordinate (y) of the liquid is establishedl、zl) Then there is yt＝Sz/A；zl＝SyA, wherein the cross-sectional area of the liquid line and the liquid is A, and the static moments of the cross-sectional area of the liquid to the y-axis and the z-axis are SyAnd Sz；
Step 2, obtaining a moment-taking equation by obtaining a moment-taking equation of a vertical projection point P of the side-tipping central point O on the ground when the hazardous chemical substance transport vehicle heels:
wherein B represents the wheel track of the dangerous chemical transport vehicle, Fz0Indicating the vertical wheel load outside the curve, FzlRepresents the load of vertical wheels at the inner side of a curve, m represents the total vehicle mass of the hazardous chemical transport vehicle when the vehicle is not fully loaded with liquid, ayDenotes lateral acceleration, hcRepresents the vertical distance h between the center of mass position and the lateral-inclination center point O when the hazardous chemical substance transport vehicle is not fully loaded with liquidrThe distance between the roll center point O and the ground is represented, g represents the gravity acceleration, and L represents the horizontal distance between the center of mass of the hazardous chemical transport vehicle and the roll center point O when the hazardous chemical transport vehicle is not fully loaded with liquid;
vertical distance of its centroid from the roll center O when partially loaded with liquid:
the horizontal distance from the center of mass of the dangerous chemical transport vehicle to the side-tipping center point O when the part of the dangerous chemical transport vehicle is loaded with liquid is as follows:
wherein m islFor the mass of liquid loaded, hvAs vehiclesThe distance between the center of the servicing mass and the point O of the side-tipping center, mv is the servicing mass of the tank automobile, and phi is the side-tipping angle of the tank body;
step 3, when the vehicle turns over, the load Fz of the inner wheel10, outboard wheel load Fz1If mg, sin phi is approximately equal to phi due to the small side inclination angle of the dangerous chemical transport vehicle, cos phi is approximately equal to 1, and the formula is substituted to obtain:
and 4, substituting the curve radius R transmitted by the road side equipment into an early warning system for calculation to obtain the critical rollover speed:
4. the vehicle-road-system-based dangerous chemical transport vehicle curve rollover early warning system on the highway is characterized in that the warning system is based on a vehicle-road information interaction system, electronic display warning devices are respectively installed on road-side equipment and vehicle-mounted equipment, a vehicle speed threshold calculation center performs threshold calculation, and when the vehicle speed is predicted to be greater than a vehicle speed threshold, a vehicle-mounted display can perform sound-picture warning on a driver in the form of too fast vehicle speed; meanwhile, in view of the information interoperability of the vehicle-road cooperative system, the electronic display screen additionally arranged on the road side equipment can simultaneously give an alarm of the fact that the vehicle speed is too fast to the driver.
5. The vehicle road system-based dangerous chemical transport vehicle curve rollover early warning system according to claim 1, wherein the active control system is divided into an artificial control module and a vehicle speed active control module; the driver performs deceleration processing after obtaining the alarm, and if the driver does not take effective measures, the active control system sends an electric signal for reducing the fuel injection quantity to the electric control fuel injection system through the vehicle-mounted ECU, so that the vehicle speed is reduced, and the aim of deceleration is fulfilled.
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Cited By (7)
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| CN112885116A (en) * | 2021-01-25 | 2021-06-01 | 浙江公路水运工程咨询有限责任公司 | Highway rain and fog scene vehicle and road collaborative induction system |
| CN113570906A (en) * | 2021-07-13 | 2021-10-29 | 淮阴工学院 | A kind of dangerous chemicals transport vehicle driving and safety state monitoring and early warning system and method |
| CN115107623A (en) * | 2022-06-23 | 2022-09-27 | 淮阴工学院 | A kind of anti-rollover warning method for dangerous chemicals transport vehicle |
| CN115214678A (en) * | 2022-06-24 | 2022-10-21 | 广州汽车集团股份有限公司 | Driving monitoring method, controller, recorder and vehicle for high-speed loop conditions |
| CN115691157A (en) * | 2022-09-19 | 2023-02-03 | 哈尔滨工业大学 | Vehicle-road cooperation based curve road section vehicle speed early warning method and system |
| CN116300889A (en) * | 2023-02-03 | 2023-06-23 | 清华大学 | Driving assistance method, device, control device and medium for electronically guided rubber-tyred vehicle |
| GB2620936A (en) * | 2022-07-25 | 2024-01-31 | Total Vehicle Solutions Group Ltd | Roll over warning system |
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