CN108202731A - A kind of electronic controlled suspension and ABS integrated control systems - Google Patents
A kind of electronic controlled suspension and ABS integrated control systems Download PDFInfo
- Publication number
- CN108202731A CN108202731A CN201711350352.XA CN201711350352A CN108202731A CN 108202731 A CN108202731 A CN 108202731A CN 201711350352 A CN201711350352 A CN 201711350352A CN 108202731 A CN108202731 A CN 108202731A
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- CN
- China
- Prior art keywords
- solenoid valve
- controlled
- abs
- interface
- abs system
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
-
- 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
- B60G17/0195—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 regulation being combined with other vehicle control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
Abstract
The present invention discloses a kind of electronic controlled suspension and ABS integrated control systems, the spring pocket of active suspension system is set on the left of controlled piston rod, master cylinder is provided on the right side of controlled piston rod, sealing block is provided between master cylinder and electromagnet, master cylinder is connected by oil pipe with the first interface sealing of solenoid valve, the second interface of solenoid valve is connected with the sealing of the brake cylinder of ABS system, and the third interface of solenoid valve is connected with the sealing of the brake fluid fluid reservoir of ABS system；The break-make of solenoid valve is controlled by three relays in parallel, and the break-make of the control circuit of three relays is controlled respectively by the normally open valve of ABS system, normally close valve and hydraulic pump；When solenoid valve is in off-position, first and third orifice, when solenoid valve is in energized state, first and second orifice.The present invention prevents headstock from pushing lift shift value on shift value and the tailstock and fluctuations occurs with the fluctuations of brake force, passenger inside the vehicle can feel more comfortable during ABS system works.
Description
Technical field
The invention belongs to be equipped with the automotive field of ABS system and active suspension system, especially a kind of electronic controlled suspension with
ABS integrated control systems.
Background technology
As shown in Figure 1, four courses of work of ABS system 1 are as follows：
(1) stage is monitored
During braking, driver controls 12/ vacuum booster 13 of master cylinder to be established in brake piping by foot pedal 11
Brake fluid pressure, at this time normally open valve 14 open, normally close valve 15 is closed, and brake fluid pressure enters the brake cylinder 16 at wheel, vehicle
Wheel speed reduces rapidly, and has locking until ABS electronic control units go out wheel by the signal identification that wheel speed sensors obtain
Until during tendency (when power is off in opening, normally close valve 14 is closed normally open valve 14 when power is off).
(2) packing stage
When ABS electronic control units go out wheel by the signal identification that speed probe obtains and have locking tendency, ABS electronics
Control unit makes its closing to the energization of normally open valve 14, and normally close valve 15 still remains turned-off at this time, and the hydraulic pressure in brake cylinder 16 is tried hard to keep
It holds constant.
(3) buck stage
If in packing stage, wheel lock up tendency further increases, then into buck stage.At this point, ABS is controlled electronically
Unit makes its opening to the energization of normally close valve 15, and normally open valve 14 is still closed, and ABS electronic control units make it to the energization of hydraulic pump 17
It starts to work, brake fluid is sent back to master cylinder 12 through low pressure accumulator 18.Brake pressure reduces, and foot pedal 11 is trembled
Dynamic, wheel lock up degree reduces, vehicle wheel rotational speed increase.
(4) pressurization stages
To reach optimum braking effect, after wheel reaches desired speed, ABS electronic control units control normally open valve 14 is beaten
It opens, normally close valve 15 is closed, and with the increase of brake pressure, wheel is braked and slows down again.
Can be obtained from the aforementioned four course of work, when in monitoring the stage when, ABS system 1 be only monitored without
Actual act when ABS system 1 plays a role, recycles between packing stage, buck stage and pressurization stages three successively,
Normally open valve 14, normally close valve 15 or hydraulic pump 17 are in uncontrolled operating state during this, as long as therefore by normally open valve 14,
Whether normally close valve 15 or hydraulic pump 17 work to judge whether ABS system 1 is playing a role.Normally open valve 14, normally close valve 15 or liquid
When press pump 17 works, just there is electric current to pass through in coupled control electric wire, corresponding relay is controlled to open using the electric current
Work is closed, so as to control the connection of corresponding line and disconnection by each relay switch.
Brake cylinder 16 is connect with foot pedal 11, when ABS system 1 is failure to actuate, internal oil pressure and the system of foot pedal 11
Power is proportional, and as shown in Figure 2, when ABS system 1 acts, the rectangular wave of brake fluid pressure in brake cylinder 16 becomes
Change mode, the brake force in foot pedal 11 also change rectangular wave.During automobile brake, headstock can push and the tailstock is by upper lift,
Brake force is bigger, and headstock pushing displacement is bigger, and lift displacement is bigger on the tailstock, when brake force changes in the waveform in Fig. 2, headstock
Fluctuations can be occurred with the fluctuations of brake force by pushing lift shift value on shift value and the tailstock, and passenger inside the vehicle can feel not
Comfortably.
For being equipped with the vehicle of active suspension system (DCC, Dynamic Drive Control), when the system monitoring
When being in on-position to vehicle, according to built-in program and parameter, the damping in the damper of each suspension can be in time improved
Value, i.e., the channel aperture flowed through by adjusting shock absorber oil in damper are damped with the resistance for increasing fluid flowing to improve
Value.After the damping value increase of damper, suspension can become increasingly difficult to compress or extend, so as to reduce the amplitude of headstock pushing, together
When also reduce the tailstock promotion amplitude.
As shown in figure 3, when shock absorber piston rod 21 moves down, subtracting in the piston/cylinder 22 of 21 downside of shock absorber piston rod
The device oil that shakes passes through the gap between piston seat 23 and controlled piston 24 from lower through-hole outflow, flows up and lives into damper
In the piston/cylinder 22 of 21 upside of stopper rod.Existing active suspension system include controlled piston 24, piston seat 23, spring 26, by
Piston rod 27, electromagnet 28 and control computer are controlled, control computer is according to foot pedal 11 and the signal of acceleration transducer, to control
The size of current of electromagnet 28 is controlled the magnetic force of the generation of electromagnet 28 using the electric current, controlled work is driven using the magnetic force
Stopper rod 27 overcomes the elastic force of the spring being set between piston seat 23 and controlled piston 24 26 to move to the left, so as to control piston
Gap size between seat 23 and controlled piston 24, gap is smaller, then resistance is bigger when shock absorber oil flows through the gap, thus subtracts
Resistance when the device piston rod 21 that shakes moves down is bigger, and the damping force of damper is bigger.As shown in figure 4, work as damper piston
When bar 21 moves up, the flow process of shock absorber oil with the above process on the contrary, control computer be also by control piston seat 23 with by
The gap size between piston 24 is controlled to control the damping force of damper.In figs. 3 and 4, the right end of controlled piston 24 is equipped with
One groove, the right end of controlled piston 24 are connect with the left end of controlled piston rod 27 by the clamp spring 29 with through-hole, shock absorber oil meeting
Entered in groove by the through-hole on clamp spring 29, make the oil pressure balance of the arranged on left and right sides of controlled piston 24.
As shown in Figure 3,4, spring 26 is positioned in the gap between piston seat 23 and controlled piston 24, since spring 26 has
There is minimum compressing length, i.e., when the spring 26 is compressed to the most short limit, spring 26 also has certain length, the spring 26
Length will prevent the gap between piston seat 23 and controlled piston 24 from becoming smaller, so as to be unfavorable for further increasing the vibration damping
The damping force of device.
Invention content
To solve the prior art there are during ABS system action, the brake fluid pressure in brake cylinder is in the rectangular wave in Fig. 2
Change, the brake force in brake also changes rectangular wave, and lift shift value can be with braking on headstock pushing shift value and the tailstock
The fluctuations of power and there are fluctuations, passenger inside the vehicle can feel spring between uncomfortable and piston seat and controlled piston
There is the defects of compression limit length, the present invention provides a kind of electronic controlled suspension and ABS integrated control systems.
To achieve the above object, the present invention uses following technical proposals：
A kind of electronic controlled suspension and ABS integrated control systems, it includes ABS system and active suspension system, Active suspension system
The spring pocket of system is set on the left of controlled piston rod, which be in tensional state, and be fixedly connected on controlled piston and pedestal it
Between, be provided with master cylinder on the right side of controlled piston rod, be provided with sealing block between master cylinder and electromagnet, master cylinder by oil pipe with
The first interface sealing connection of solenoid valve, the second interface of solenoid valve are connected with the sealing of the brake cylinder of ABS system, solenoid valve
Third interface is connected with the brake fluid fluid reservoir sealing of ABS system；
The break-make of solenoid valve is controlled by three relays in parallel, the break-make of the control circuit of three relays respectively by
Normally open valve, normally close valve and the hydraulic pump of ABS system controls；
When solenoid valve is in off-position, first interface and third orifice, when solenoid valve is in energized state, first
Interface is connected with second interface.
Further, the anode of the electrode line of solenoid valve and power supply connects, the negative line of solenoid valve respectively with the first relay
Device K1, the second relay K2 are connected with one end of third relay K3, the other ends of three relays respectively with the cathode of power supply
Connection.
Further, the control circuit of the first relay K1 is connected with the normally open valve of ABS system, the control of the second relay K2
Circuit processed is connected with the normally close valve of ABS system, the control circuit of third relay K3 and the hydraulic pressure series connection of pumps of ABS system.
Advantageous effect：
1st, when ABS system works, the brake fluid pressure in brake cylinder is introduced into master cylinder, controlled piston rod is made to exist
It on the basis of the command displacement of electromagnet, is moved farther leftward as, makes the gap smaller between piston seat and controlled piston, damper
Damping force bigger, further suppress headstock push and the tailstock on the effect lifted.
2nd, during ABS system works, the pressure in master cylinder changes with the hydraulic coupling in brake cylinder and is changed,
So as to which the gap between piston seat and controlled piston be made to change with the variation of the hydraulic coupling in brake cylinder (i.e. with brake force
Change and change), can occur so as to prevent headstock from pushing lift shift value on shift value and the tailstock with the fluctuations of brake force
Fluctuations, passenger inside the vehicle can feel more comfortable.
3. the spring being set between piston seat and controlled piston is changed to be sheathed on to the left side of controlled piston rod, the spring
In tensional state, one end is fixedly connected with the left end of pedestal, and the other end is fixedly connected with the right end of controlled piston, the bullet
The elastic force of spring simultaneously can drive controlled piston to move right for pulling force.
Description of the drawings
Fig. 1 is the structure diagram of ABS system；
Oil pressure variation diagram when Fig. 2 is ABS system action in brake cylinder；
Fig. 3 is the flow direction of shock absorber oil when the structure diagram of existing active suspension system and shock absorber piston rod move down；
Fig. 4 is the flow direction of shock absorber oil when the structure diagram of existing active suspension system and shock absorber piston rod move up；
Fig. 5 is the active suspension system structure diagram of one embodiment of the invention；
Fig. 6 is the overall structure diagram of one embodiment of the invention；
Fig. 7 is the solenoid valve off-position schematic diagram of one embodiment of the invention；
Fig. 8 is the solenoid valves status diagram of one embodiment of the invention；
In figure：1-ABS systems, 11- foot pedals, 12- master cylinders, 13- vacuum boosters, 14- normally open valves, 15- are normally closed
Valve, 16- brake cylinders, 17- hydraulic pumps, 18- low pressure accumulators, 19- brake fluid fluid reservoir, 21- shock absorber piston rods, 22- live
Plug cylinder body, 23- piston seats, the controlled pistons of 24-, 25- pedestals, 26- springs, the controlled piston rods of 27-, 28- electromagnet, 29- clamp springs,
30- master cylinders, 31- sealing blocks, 32- oil pipes, 33- solenoid valves, 34- power supplys, 331- first interfaces, 332- second interfaces, 333-
Third interface.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples.
The present embodiment proposes a kind of electronic controlled suspension and ABS integrated control systems, it is to be equipped with ABS system 1 and master
On the automobile of dynamic suspension system (DCC), the improvement that is carried out on the architecture basics of active suspension system.It is as shown in figure 5, actively outstanding
The spring 26 of frame system is sheathed on controlled 27 left side of piston rod, which is in tensional state, one end and a left side for pedestal 25
End is fixedly connected, and the other end is fixedly connected with the right end of controlled piston 24,27 right side of controlled piston rod of active suspension system
Master cylinder 30 is provided with, sealing block 31 is provided between master cylinder 30 and electromagnet 28, as shown in fig. 6, master cylinder 30 passes through oil
Pipe 32 is connected with the sealing of first interface 331 of solenoid valve 33, the second interface 332 of solenoid valve 33 and the brake cylinder of ABS system 1
16 sealing connections, the third interface 333 of solenoid valve 33 are connected with the sealing of the brake fluid fluid reservoir 19 of ABS system 1, solenoid valve 33
Electrode line is connect with the anode of power supply 34, the negative line of solenoid valve 33 respectively with the first relay K1, the second relay K2 and
One end connection of three relay K3, the cathode of the other ends of three relays respectively with power supply 34 are connect, the first relay K1's
Control circuit is connected with the normally open valve 14 of ABS system 1, and the control circuit of the second relay K2 is gone here and there with the normally close valve 15 of ABS system 1
Connection, the control circuit of third relay K3 are connected with the hydraulic pump 17 of ABS system 1.When ABS electronic control units control normally open valve
During 14 closing, there will be electric current to pass through in the electric wire of normally open valve 14, then also there is electric current to pass through in the control circuit of the first relay K1,
So as to connect the controlled circuit of the first relay K1, i.e., solenoid valve 33 is in energized state.Similarly, when ABS is controlled electronically
When unit control normally close valve 15 is opened, the controlled circuit of the second relay K2 is connected, i.e., solenoid valve 33 is in energized state.When
When ABS electronic control units control hydraulic pump 17 works, the controlled circuit of third relay K3 is connected, i.e., solenoid valve 33 is in logical
Electricity condition.As long as can ensure that ABS system 1 works using the first relay K1, the second relay K2 and third relay K3,
Solenoid valve 33 is at energized state.
As shown in figure 5, spring 26 to be placed on to the right side of controlled piston 24, make between piston seat 23 and controlled piston 24
Gap can be adjusted since 0, so as to further expand the damping force adjustable range of damper.
As shown in fig. 7, when solenoid valve 33 is in off-position, first interface 331 is connected with third interface 333, braking
Brake fluid in liquid fluid reservoir 19 can enter in master cylinder 30, since the brake fluid in brake fluid fluid reservoir 19 is without hydraulic coupling, institute
With the brake fluid in master cylinder 30 also without hydraulic coupling, when the control computer of DCC drives controlled piston rod 27 to be moved to the left, braking
Brake fluid in liquid fluid reservoir 19 can be added in master cylinder 30, when the control computer of DCC drives controlled piston rod 27 to move right
When dynamic, the brake fluid in master cylinder 30 can be flowed to brake fluid fluid reservoir 19.The flow process of brake fluid in master cylinder 30 is protected
The brake fluid in master cylinder 30 is demonstrate,proved without hydraulic coupling, does not influence accurate control of the electromagnet 28 to controlled piston rod 27.
As shown in figure 8, when ABS system 1 works, when solenoid valve 33 is in energized state, first interface 331 and second
Interface 332 connects, and master cylinder 30 is connected with brake cylinder 16, in the pressure of the brake fluid in brake cylinder 16 and master cylinder 30
Brake fluid pressure it is equal, when the brake fluid pressure raising in brake cylinder 16, the brake fluid pressure in master cylinder 30
Synchronous raising, so as to be controlled between controlled piston 24 and piston seat 23 on the basis of gap, in master cylinder 30 in electromagnet 28
Hydraulic coupling further drives controlled piston rod 27 to be moved to the left, and the gap between controlled piston 24 and piston seat 23 is made further to subtract
It is small, so as to increase the damping force of damper, inhibit the effect lifted in the head pushing and tail portion of automobile.When in brake cylinder 16
Brake fluid pressure also synchronous reduction when brake fluid pressure reduces, in master cylinder 30, it is controlled under being acted in 26 elastic force of spring
Piston rod 27 moves right, and increases the gap between controlled piston 24 and piston seat 23, so as to reduce the damping force of damper.
When ABS system 1 works, there is the changing rule in Fig. 2, brake fluid in the brake fluid pressure in brake cylinder 16
In wave process, the brake fluid pressure in master cylinder 30 also following fluctuation pressure occurs, so as to make controlled piston 24 and piston
There is corresponding variation in gap between seat 23, i.e., the pressure rise, gap in master cylinder 30 reduce；Pressure in master cylinder 30
Decline, gap increase, the damping force of damper is made followability variation also occur, so as to prevent headstock from pushing on shift value and the tailstock
Lift shift value fluctuations can occur with the fluctuations of brake force, and passenger inside the vehicle can feel more comfortable.
Limiting the scope of the invention, those skilled in the art should understand that, in technical scheme of the present invention
On the basis of, the various modifications or variations that can be made by those skilled in the art with little creative work still the present invention's
Within protection domain.
Claims (3)
1. a kind of electronic controlled suspension and ABS integrated control systems, it includes ABS system (1) and active suspension system, feature exist
In：The spring (26) of the active suspension system is sheathed on the left of controlled piston rod (27), the spring (26) in tensional state,
And be fixedly connected between controlled piston (24) and pedestal (25), master cylinder (30) is provided on the right side of controlled piston rod (27), is controlled
Sealing block (31) is provided between cylinder (30) processed and electromagnet (28), master cylinder (30) passes through oil pipe (32) and solenoid valve (33)
First interface (331) sealing connection, the second interface (332) of solenoid valve (33) are sealed with the brake cylinder (16) of ABS system (1)
Connection, the third interface (333) of solenoid valve (33) are connected with the sealing of the brake fluid fluid reservoir (19) of ABS system (1)；
The break-make of the solenoid valve (33) is controlled by three relays in parallel, the break-make point of the control circuit of three relays
It is not controlled by the normally open valve (14) of ABS system (1), normally close valve (15) and hydraulic pump (17)；
When the solenoid valve (33) is in off-position, first interface (331) is connected with third interface (333), solenoid valve (33)
During in energized state, first interface (331) is connected with second interface (332).
2. electronic controlled suspension according to claim 1 and ABS integrated control systems, it is characterised in that：The solenoid valve (33)
Electrode line connect with the anode of power supply (34), the negative line of solenoid valve (33) respectively with the first relay K1, the second relay
K2 is connected with one end of third relay K3, and the cathode of the other ends of three relays respectively with power supply (34) is connect.
3. electronic controlled suspension according to claim 2 and ABS integrated control systems, it is characterised in that：First relay
The control circuit of K1 is connected with the normally open valve (14) of ABS system (1), control circuit and the ABS system (1) of the second relay K2
Normally close valve (15) is connected, and the control circuit of third relay K3 is connected with the hydraulic pump (17) of ABS system (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711350352.XA CN108202731B (en) | 2017-12-15 | 2017-12-15 | Electric control suspension and ABS integrated control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711350352.XA CN108202731B (en) | 2017-12-15 | 2017-12-15 | Electric control suspension and ABS integrated control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108202731A true CN108202731A (en) | 2018-06-26 |
| CN108202731B CN108202731B (en) | 2020-08-25 |
Family
ID=62603874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711350352.XA Active CN108202731B (en) | 2017-12-15 | 2017-12-15 | Electric control suspension and ABS integrated control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108202731B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2307215A (en) * | 1995-10-23 | 1997-05-21 | Gen Motors Corp | Vehicle chassis control |
| EP1500531A1 (en) * | 2003-07-22 | 2005-01-26 | KNORR-BREMSE SYSTEME FÜR NUTZFAHRZEUGE GmbH | Trailer or semi-trailer brake valve with integrated control of the pneumatic suspension |
| CN101693438A (en) * | 2009-09-28 | 2010-04-14 | 北京航天发射技术研究所 | Heavy-load type oil-gas spring independent suspension steering drive axle |
| CN203946079U (en) * | 2014-06-18 | 2014-11-19 | 三一汽车制造有限公司 | A kind of superimposed trailer and brake system thereof |
| US20150217618A1 (en) * | 2012-06-14 | 2015-08-06 | Igor Dorrestijn | Vehicle system for active wheel angle adjustment |
| CN107031330A (en) * | 2016-12-05 | 2017-08-11 | 安徽江淮汽车集团股份有限公司 | Automobile anti-nod control system and control method, damper |
-
2017
- 2017-12-15 CN CN201711350352.XA patent/CN108202731B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2307215A (en) * | 1995-10-23 | 1997-05-21 | Gen Motors Corp | Vehicle chassis control |
| EP1500531A1 (en) * | 2003-07-22 | 2005-01-26 | KNORR-BREMSE SYSTEME FÜR NUTZFAHRZEUGE GmbH | Trailer or semi-trailer brake valve with integrated control of the pneumatic suspension |
| CN101693438A (en) * | 2009-09-28 | 2010-04-14 | 北京航天发射技术研究所 | Heavy-load type oil-gas spring independent suspension steering drive axle |
| US20150217618A1 (en) * | 2012-06-14 | 2015-08-06 | Igor Dorrestijn | Vehicle system for active wheel angle adjustment |
| CN203946079U (en) * | 2014-06-18 | 2014-11-19 | 三一汽车制造有限公司 | A kind of superimposed trailer and brake system thereof |
| CN107031330A (en) * | 2016-12-05 | 2017-08-11 | 安徽江淮汽车集团股份有限公司 | Automobile anti-nod control system and control method, damper |
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| CN108202731B (en) | 2020-08-25 |
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