CN107082003A - One kind passes through the spring controlled motor bus anti-rollover control device of auxiliary air - Google Patents
One kind passes through the spring controlled motor bus anti-rollover control device of auxiliary air Download PDFInfo
- Publication number
- CN107082003A CN107082003A CN201710260547.9A CN201710260547A CN107082003A CN 107082003 A CN107082003 A CN 107082003A CN 201710260547 A CN201710260547 A CN 201710260547A CN 107082003 A CN107082003 A CN 107082003A
- Authority
- CN
- China
- Prior art keywords
- air
- magnetic valve
- rollover
- motor bus
- fixedly mounted
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
Abstract
The present invention proposes that one kind, by the spring controlled motor bus anti-rollover control device of auxiliary air, belongs to haulage vehicle active safety control technical field, especially for motor bus vehicle active anti-rollover control technology；The vehicle body front and back end that the control device gathers motor bus by various sensors rolls angle signal, acceleration signal, steering wheel angle signal, GES, yaw rate signal, processing anticipation motor bus NextState is dangerous with the presence or absence of rollover by analysis, by controlling auxiliary air suspension to adjust the height of vehicle body both sides, the active force that motor bus produces rollover tendency is offset, prevents motor bus from turning on one's side in the process of moving.The apparatus structure is simple, reliability is high, and operating cost is low, can effectively improve the driving safety of motor bus.
Description
Technical field
The present invention relates to haulage vehicle active safety control field, more particularly to one kind are spring controlled by auxiliary air
Motor bus anti-rollover control device.
Background technology
In order to improve the comfortableness and increase handling capacity of passengers of passenger, motor bus is designed ground, and centroid position is higher, vehicle body is longer.
Relative to car, the security system of motor bus is unsound.Therefore, motor bus is in tempo turn or because of front obstacle zig zag
When, easily turn on one's side, cause serious traffic accident.In occurring rollover action process, the bodywork height side of motor bus
Decline, opposite side rise.The side declined in bodywork height, suspension causes deflection to increase because of vehicle body pressure increase, vehicle bridge and
The distance between vehicle body diminishes.In the elevated side of bodywork height, suspension causes deflection to reduce because vehicle body pressure reduces, vehicle bridge
Become big with the distance between vehicle body.If increasing a reaction force between vehicle bridge and vehicle body so that between vehicle bridge and vehicle body
Distance it is constant, can effectively prevent the trend that motor bus is turned on one's side.Existing motor bus not yet passes increase auxiliary reaction
Power apparatus is realized to the control of the anti-rollover of motor bus.
The content of the invention
The present invention is for the problems of in the prior art, proposing that one kind passes through the spring controlled motor bus of auxiliary air
Anti-rollover control device.
One kind passes through the spring controlled motor bus anti-rollover control device of auxiliary air, including front axle, front of the car single shaft
Roll angle transducer, vehicle frame, the first air spring, steering wheel angle position sensor, air cleaner, air pump, the first electromagnetism
Valve, high pressure tank, gyroscope, 3-axis acceleration sensor, the second magnetic valve, the second air spring, vehicle speed sensor, rear car
Body single shaft rolls angle transducer, rear axle, the 3rd air spring, the 3rd magnetic valve, active anti-rollover controller, the 4th electromagnetism
Valve, the 4th air spring；First air spring, the 4th air spring are installed in the front end of vehicle frame；The one of first air spring
End is fixedly mounted on the left front end of vehicle frame, and the other end is fixedly mounted on the left end of front axle；One end of 4th air spring is fixed
Installed in the right front ends of vehicle frame, the other end is fixedly mounted on the right-hand member of front axle；Second air bullet is installed in the rear end of vehicle frame
Spring, the 3rd air spring；One end of second air spring is fixedly mounted on the left back end of vehicle frame, and the other end is fixedly mounted on rear car
The left end of bridge；One end of 3rd air spring is fixedly mounted on the right rear end of vehicle frame, and the other end is fixedly mounted on the right side of rear axle
End；Air cleaner, air pump, high pressure tank, the first magnetic valve, the second magnetic valve, the 3rd electricity are installed with vehicle frame
Magnet valve, the 4th magnetic valve；Air cleaner one end is connected with air, and the other end is connected by gas piping with air pump, gas
The other end of pump is connected by gas piping with high pressure tank；First magnetic valve, the second magnetic valve, the 3rd magnetic valve,
Four magnetic valves are all 3-position-3-way air valves, and each magnetic valve includes an air admission hole, a venthole and an air vent；First
The air admission hole of magnetic valve is connected by gas piping with high pressure tank, the venthole of the first magnetic valve by gas piping with
First air spring is connected, and the air vent of the first magnetic valve is connected by dust cover with air；The air inlet of second magnetic valve
Hole is connected by gas piping with high pressure tank, and the venthole of the second magnetic valve passes through gas piping and the second air spring
It is connected, the air vent of the second magnetic valve is connected by dust cover with air；The air admission hole of 3rd magnetic valve passes through flue
Road is connected with high pressure tank, and the venthole of the 3rd magnetic valve is connected by gas piping with the 3rd air spring, and the 3rd
The air vent of magnetic valve is connected by dust cover with air；The air admission hole of 4th magnetic valve passes through gas piping and high-pressure gas
Tank is connected, and the venthole of the 4th magnetic valve is connected by gas piping with the 4th air spring, the deflation of the 4th magnetic valve
Hole is connected by dust cover with air；Steering wheel angle position sensor is fixedly mounted in steering spindle, and vehicle speed sensor is solid
Dingan County is in driving axle housing, and gyroscope is fixedly mounted on the centroid position of vehicle frame, and 3-axis acceleration sensor is fixedly mounted on
On the vehicle frame at gyroscope rear, front of the car single shaft rolls angle transducer and is fixedly mounted on vehicle frame front end center position, rear list
Axle rolls angle transducer and is fixedly mounted on vehicle frame back-end central position；The signal input port of active anti-rollover controller respectively with
Steering wheel angle position sensor, vehicle speed sensor, gyroscope, 3-axis acceleration sensor, front of the car single shaft angle of heel sensing
Device, rear single shaft roll angle transducer electrical connection, the signal output port of active anti-rollover controller respectively with air pump, first
Magnetic valve, the second magnetic valve, the 3rd magnetic valve, the electrical connection of the 4th magnetic valve.
Beneficial effects of the present invention：The motor bus anti-rollover control device can be prejudged greatly according to Current vehicle parameter
Car NextState whether have rollover be inclined to, can avoid motor bus because tempo turn or hide front obstacle suddenly turn to lead
The rollover behavior of cause, it is ensured that personal security, reduces property loss.
Brief description of the drawings
Fig. 1 is the structural representation of control device of the present invention.
Fig. 2, Fig. 3 are the structural representations of vehicle body height regulating mechanism.
1- front axles in figure, 2- fronts of the car single shaft rolls angle transducer, 3- vehicle frames, the air springs of 4- first, 5- steering wheels
Angle position sensor, 6- air cleaners, 7- air pumps, the magnetic valves of 8- first, 9- high pressure tanks, 10- gyroscopes, 11- tri-
Axle acceleration sensor, the magnetic valves of 12- second, the air springs of 13- second, 14- vehicle speed sensor, 15- rears single shaft is rolled
Angle transducer, 16- rear axles, the air springs of 17- the 3rd, the magnetic valves of 18- the 3rd, 19- active anti-rollover controllers, 20- the 4th
Magnetic valve, the air springs of 21- the 4th.
Embodiment
As shown in Figure 1, Figure 2, Figure 3 shows, it is a kind of by the spring controlled motor bus anti-rollover control device of auxiliary air, including
Front axle 1, front of the car single shaft roll angle transducer 2, vehicle frame 3, the first air spring 4, steering wheel angle position sensor 5, sky
Air cleaner 6, air pump 7, the first magnetic valve 8, high pressure tank 9, gyroscope 10,3-axis acceleration sensor 11, the second electromagnetism
Valve 12, the second air spring 13, vehicle speed sensor 14, rear single shaft roll angle transducer 15, rear axle 16, the 3rd air bullet
Spring 17, the 3rd magnetic valve 18, active anti-rollover controller 19, the 4th magnetic valve 20, the 4th air spring 21；Before vehicle frame 3
End is provided with the first air spring 4, the 4th air spring 21；One end of first air spring 4 is fixedly mounted on the left front of vehicle frame 3
End, the other end is fixedly mounted on the left end of front axle 1；One end of 4th air spring 21 is fixedly mounted on the right front ends of vehicle frame 3,
The other end is fixedly mounted on the right-hand member of front axle 1；Second air spring 13, the 3rd air spring are installed in the rear end of vehicle frame 3
17；One end of second air spring 13 is fixedly mounted on the left back end of vehicle frame 3, and the other end is fixedly mounted on a left side for rear axle 16
End；One end of 3rd air spring 17 is fixedly mounted on the right rear end of vehicle frame 3, and the other end is fixedly mounted on the right side of rear axle 16
End；Be installed with vehicle frame 3 air cleaner 6, air pump 7, high pressure tank 9, the first magnetic valve 8, the second magnetic valve 12,
3rd magnetic valve 18, the 4th magnetic valve 20；The one end of air cleaner 6 is connected with air, and the other end passes through gas piping and gas
Pump 7 is connected, and the other end of air pump 7 is connected by gas piping with high pressure tank 9；First magnetic valve 8, the second magnetic valve
12nd, the 3rd magnetic valve 18, the 4th magnetic valve 20 are all 3-position-3-way air valves, and each magnetic valve goes out including an air admission hole, one
Stomata and an air vent；The air admission hole of first magnetic valve 8 is connected by gas piping with high pressure tank 9, the first electromagnetism
The venthole of valve 8 is connected by gas piping with the first air spring 4, the air vent of the first magnetic valve 8 by dust cover with
Air is connected；The air admission hole of second magnetic valve 12 is connected by gas piping with high pressure tank 9, the second magnetic valve 12
Venthole is connected by gas piping with the second air spring 13, and the air vent of the second magnetic valve 12 passes through dust cover and air
It is connected；The air admission hole of 3rd magnetic valve 18 is connected by gas piping with high pressure tank 9, the outlet of the 3rd magnetic valve 18
Hole is connected by gas piping with the 3rd air spring 17, and the air vent of the 3rd magnetic valve 18 is connected by dust cover with air
Connect；The air admission hole of 4th magnetic valve 20 is connected by gas piping with high pressure tank 9, and the venthole of the 4th magnetic valve 20 leads to
Cross gas piping with the 4th air spring 21 to be connected, the air vent of the 4th magnetic valve 20 is connected by dust cover with air；
Steering wheel angle position sensor 5 is fixedly mounted in steering spindle, and vehicle speed sensor 14 is fixedly mounted in driving axle housing, gyro
Instrument 10 is fixedly mounted on the centroid position of vehicle frame 3, and 3-axis acceleration sensor 11 is fixedly mounted on the vehicle frame 3 at the rear of gyroscope 10
On, front of the car single shaft rolls angle transducer 2 and is fixedly mounted on the front end center position of vehicle frame 3, and rear single shaft rolls angle transducer
15 are fixedly mounted on the back-end central position of vehicle frame 3；The signal input port of active anti-rollover controller 19 turns with steering wheel respectively
Angular position pick up 5, vehicle speed sensor 14, gyroscope 10,3-axis acceleration sensor 11, front of the car single shaft roll angle transducer
2nd, rear single shaft rolls angle transducer electrical connection 15, the signal output port of active anti-rollover controller 19 respectively with air pump 7,
First magnetic valve 8, the second magnetic valve 12, the 3rd magnetic valve 18, the 4th magnetic valve 20 are electrically connected.
During motor bus traveling, active anti-rollover controller 19 passes through the side of collection of steering wheel angle position sensor 5
To disk angular signal, GES is gathered by vehicle speed sensor 14, the collection vehicle of angle transducer 2 is rolled by front of the car single shaft
Front dip angle signal, yaw rate signal is gathered by gyroscope 10, and bus is gathered by 3-axis acceleration sensor 11
The acceleration signal of car, the collection vehicle rear end side dip angle signal of angle transducer 15, active anti-rollover are rolled by rear single shaft
Controller 19 by by the sensor signal analysis currently gathered processing, according to anti-rollover control algolithm, judging motor bus in advance
NextState with the presence or absence of rollover be inclined to.
If the tendency turned on one's side to the right occurs in motor bus, active anti-rollover controller 19 is respectively to air pump 7, the 3rd magnetic valve
18th, the output control signal of the 4th magnetic valve 20；Air pump 7 extracts air by air cleaner 6 from air, passes through gas piping
High pressure tank 9 is conveyed to, high pressure tank 9 is conveyed to the 3rd magnetic valve 18, the 4th magnetic valve 20 respectively by gas piping
The air admission hole and venthole of gases at high pressure, the 3rd magnetic valve 18 and the 4th magnetic valve 20 are in open mode, the 3rd magnetic valve 18
Gases at high pressure are respectively delivered to by the 3rd air spring 17 and the 4th air spring 21 by gas piping with the 4th magnetic valve 20,
The 3rd air spring 17 and the 4th air spring 21 are extended, so as to add the height on the right side of vehicle body between road surface, is offset
The tendency that motor bus is turned on one's side to the right, after the tendency that motor bus is turned on one's side to the right is offset, the difference of active anti-rollover controller 19 the 3rd
Magnetic valve 18, the output control signal of the 4th magnetic valve 20, make the air vent and outlet of the 3rd magnetic valve 18 and the 4th magnetic valve 20
Hole is in open mode, and the gases at high pressure in the 3rd air spring 17 and the 4th air spring 21 are released, and returns normal condition,
In case auxiliary air spring influences the regulation behavior of the original suspension of motor bus.
If the tendency turned on one's side to the left occurs in motor bus, active anti-rollover controller 19 is respectively to air pump 7, the first magnetic valve
8th, the output control signal of the second magnetic valve 12；Air pump 7 extracts air by air cleaner 6 from air, passes through gas piping
High pressure tank 9 is conveyed to, high pressure tank 9 conveys height to the first magnetic valve 8, the second magnetic valve 12 respectively by gas piping
Calm the anger body, the air admission hole and venthole of the first magnetic valve 8 and the second magnetic valve 12 are in open mode, the first magnetic valve 8 and the
Gases at high pressure are respectively delivered to the first air spring 4 and the second air spring 13 by two magnetic valves 12 by gas piping, make
One air spring 4 and the second air spring 13 extend, so as to add the height on the left of vehicle body between road surface, offset motor bus
The tendency turned on one's side to the left, after the tendency that motor bus is turned on one's side to the left is offset, active anti-rollover controller 19 distinguishes the first magnetic valve
8th, the output control signal of the second magnetic valve 12, is in the air vent and venthole of the first magnetic valve 8 and the second magnetic valve 12 and beats
Open state, the gases at high pressure in the first air spring 4 and the second air spring 13 are released, and return normal condition, in order to avoid auxiliary
Air spring influences the regulation behavior of the original suspension of motor bus.
If the tendency turned on one's side does not occur in motor bus, active anti-rollover controller 19 instructs output control, meanwhile,
Active anti-rollover controller 19 will gather the various sensor signals of motor bus NextState, and anticipation motor bus is with the presence or absence of rollover
State.
Claims (2)
1. one kind passes through the spring controlled motor bus anti-rollover control device of auxiliary air, including front axle（1）, front of the car single shaft
Roll angle transducer（2）, vehicle frame（3）, the first air spring（4）, steering wheel angle position sensor 5）, air cleaner（6）、
Air pump（7）, the first magnetic valve（8）, high pressure tank（9）, gyroscope（10）, 3-axis acceleration sensor（11）, the second electromagnetism
Valve（12）, the second air spring（13）, vehicle speed sensor（14）, rear single shaft roll angle transducer（15）, rear axle（16）、
3rd air spring（17）, the 3rd magnetic valve（18）, active anti-rollover controller（19）, the 4th magnetic valve（20）, the 4th air
Spring（21）；In vehicle frame（3）Front end the first air spring is installed（4）, the 4th air spring（21）；First air spring
（4）One end be fixedly mounted on vehicle frame（3）Left front end, the other end is fixedly mounted on front axle（1）Left end；4th air bullet
Spring（21）One end be fixedly mounted on vehicle frame（3）Right front ends, the other end is fixedly mounted on front axle（1）Right-hand member；In vehicle frame
（3）Rear end the second air spring is installed（13）, the 3rd air spring（17）；Second air spring（13）One end fix peace
Mounted in vehicle frame（3）Left back end, the other end is fixedly mounted on rear axle（16）Left end；3rd air spring（17）One end consolidate
Dingan County is mounted in vehicle frame（3）Right rear end, the other end is fixedly mounted on rear axle（16）Right-hand member；In vehicle frame（3）It is upper to be fixedly mounted
There is air cleaner（6）, air pump（7）, high pressure tank（9）, the first magnetic valve（8）, the second magnetic valve（12）, the 3rd magnetic valve
（18）, the 4th magnetic valve（20）；Air cleaner（6）One end is connected with air, and the other end passes through gas piping and air pump（7）
It is connected, air pump（7）The other end pass through gas piping and high pressure tank（9）It is connected；First magnetic valve（8）, second electricity
Magnet valve（12）, the 3rd magnetic valve（18）, the 4th magnetic valve（20）All it is 3-position-3-way air valve, each magnetic valve includes an air inlet
Hole, a venthole and an air vent；First magnetic valve（8）Air admission hole pass through gas piping and high pressure tank（9）Phase
Connection, the first magnetic valve（8）Venthole pass through gas piping and the first air spring（4）It is connected, the first magnetic valve（8）'s
Air vent is connected by dust cover with air；Second magnetic valve（12）Air admission hole pass through gas piping and high pressure tank
（9）It is connected, the second magnetic valve（12）Venthole pass through gas piping and the second air spring（13）It is connected, the second electromagnetism
Valve（12）Air vent be connected by dust cover with air；3rd magnetic valve（18）Air admission hole pass through gas piping and high pressure
Air accumulator（9）It is connected, the 3rd magnetic valve（18）Venthole pass through gas piping and the 3rd air spring（17）It is connected, the
Three magnetic valves（18）Air vent be connected by dust cover with air；4th magnetic valve（20）Air admission hole pass through gas piping
With high pressure tank（9）It is connected, the 4th magnetic valve（20）Venthole pass through gas piping and the 4th air spring（21）Phase
Connection, the 4th magnetic valve（20）Air vent be connected by dust cover with air；Steering wheel angle position sensor 5 fixes peace
In steering spindle, vehicle speed sensor（14）It is fixedly mounted in driving axle housing, gyroscope（10）It is fixedly mounted on the matter of vehicle frame 3
Heart position, 3-axis acceleration sensor（11）It is fixedly mounted on gyroscope（10）The vehicle frame at rear（3）On, front of the car single shaft is rolled
Angle transducer（2）It is fixedly mounted on vehicle frame（3）Front end center position, rear single shaft rolls angle transducer（15）It is fixedly mounted on
Vehicle frame（3）Back-end central position；Active anti-rollover controller（19）Signal input port respectively with steering wheel angle position pass
Sensor（5）, vehicle speed sensor（14）, gyroscope（10）, 3-axis acceleration sensor（11）, front of the car single shaft roll angle transducer
（2）, rear single shaft roll angle transducer electrical connection（15）, active anti-rollover controller（19）Signal output port respectively with
Air pump（7）, the first magnetic valve（8）, the second magnetic valve（12）, the 3rd magnetic valve（18）, the 4th magnetic valve（20）Electrical connection.
2. a kind of motor bus anti-rollover control dress adjusted based on auxiliary air spring bodywork height according to claim 1
Put, it is characterised in that：Active anti-rollover controller（19）Pass through steering wheel angle position sensor（5）Gather steering wheel angle letter
Number, pass through vehicle speed sensor（14）GES is gathered, angle transducer is rolled by front of the car single shaft（2）Collection vehicle front
Dip angle signal, passes through gyroscope（10）Yaw rate signal is gathered, passes through 3-axis acceleration sensor（11）Gather motor bus
Acceleration signal, pass through rear single shaft roll angle transducer（15）Collection vehicle rear end side dip angle signal, active anti-rollover
Controller（19）By the way that by the sensor signal analysis currently gathered processing, according to anti-rollover control algolithm, bus is judged in advance
The NextState of car is inclined to the presence or absence of rollover, active anti-rollover controller（19）By controlling air pump（7）, the first magnetic valve
（8）, the second magnetic valve（12）, the 3rd magnetic valve（18）, the 4th magnetic valve（20）, offset the effect that rollover behavior occurs for motor bus
Power, prevent motor bus because tempo turn or meet barrier emergency turn turn on one's side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710260547.9A CN107082003A (en) | 2017-04-20 | 2017-04-20 | One kind passes through the spring controlled motor bus anti-rollover control device of auxiliary air |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710260547.9A CN107082003A (en) | 2017-04-20 | 2017-04-20 | One kind passes through the spring controlled motor bus anti-rollover control device of auxiliary air |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107082003A true CN107082003A (en) | 2017-08-22 |
Family
ID=59612157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710260547.9A Pending CN107082003A (en) | 2017-04-20 | 2017-04-20 | One kind passes through the spring controlled motor bus anti-rollover control device of auxiliary air |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107082003A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108297642A (en) * | 2018-02-06 | 2018-07-20 | 海南大学 | Shared gas chamber airsuspension system and its control method |
| CN109030020A (en) * | 2018-07-09 | 2018-12-18 | 山东交通学院 | A kind of motor bus rollover early warning experimental rig |
| WO2019007124A1 (en) * | 2017-11-27 | 2019-01-10 | 安徽江淮汽车集团股份有限公司 | Gyroscope assembly and driving cab stabilisation system |
| CN114030331A (en) * | 2021-10-14 | 2022-02-11 | 山东交通学院 | Rollover prevention system |
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| CN207225292U (en) * | 2017-04-20 | 2018-04-13 | 山东交通学院 | A kind of motor bus anti-rollover control device adjusted based on bodywork height |
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| CN2747084Y (en) * | 2004-08-02 | 2005-12-21 | 吉林大学 | Multiple wheel coupling and active torsion-eliminating suspension |
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| WO2019007124A1 (en) * | 2017-11-27 | 2019-01-10 | 安徽江淮汽车集团股份有限公司 | Gyroscope assembly and driving cab stabilisation system |
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| CN114030331B (en) * | 2021-10-14 | 2023-09-12 | 山东交通学院 | Rollover prevention system |
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Application publication date: 20170822 |