CN113120101A - Control method of anti-rolling system, activation method of anti-rolling system and vehicle - Google Patents
Control method of anti-rolling system, activation method of anti-rolling system and vehicle Download PDFInfo
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- CN113120101A CN113120101A CN201911398645.4A CN201911398645A CN113120101A CN 113120101 A CN113120101 A CN 113120101A CN 201911398645 A CN201911398645 A CN 201911398645A CN 113120101 A CN113120101 A CN 113120101A
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- rollover
- side wheel
- damping force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/08—Tractors having means for preventing overturning or tipping
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0002—Type of accident
- B60R2021/0018—Roll-over
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R2021/01306—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring vehicle inclination
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a control method of an anti-rollover system, an activation method of the anti-rollover system and a vehicle, wherein the control method of the anti-rollover system comprises the following steps: judging whether the vehicle has a rolling tendency; if the vehicle has a rolling tendency, the shock absorbing damping force of the left side wheel shock absorber or/and the shock absorbing damping force of the right side wheel shock absorber are adjusted to make the vehicle return to a stable state. According to the control method of the rollover prevention system, the running state of the vehicle is monitored in real time through equipment such as a vehicle speed sensor, a transverse acceleration sensor, a steering wheel angle sensor, a left side wheel pressure sensor and a right side wheel pressure sensor, and when the rollover tendency of the vehicle is judged, the damping force of a left side wheel shock absorber and a right side wheel shock absorber is properly adjusted, so that the vehicle is recovered to a stable state, and the rollover prevention effect of the vehicle is achieved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a control method of an anti-rollover system, an activation method of the anti-rollover system and a vehicle.
Background
In the existing market, the anti-rollover control system for the vehicle mainly has two types: one is that equipment such as an anti-roll frame is additionally arranged on a vehicle body, but the equipment is only suitable for vehicles in specific environments and has poor applicability; the other method is that the vehicle torque is reduced and the braking force of the left wheel and the right wheel is adjusted to keep the vehicle body stable, so that the vehicle is prevented from rolling, but the vehicle torque is reduced and the braking force of the left wheel and the right wheel is adjusted, so that the dynamic property of the vehicle is reduced, and the driving experience of a driver is reduced; and the vehicle is prevented from overturning to a certain extent only in the steering process of the vehicle, and if the vehicle rolls on a left inclined road surface and a right inclined road surface, the mode cannot play a role.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
Therefore, the first purpose of the invention is to provide a control method of an anti-rolling system, which can be used on various vehicle types without adding large equipment such as a large rolling frame;
the second purpose of the present invention is to provide an activation method of an anti-rollover system, which can activate the control method of the anti-rollover system;
a third object of the invention is to propose a vehicle comprising an anti-rollover system.
In order to achieve the above object, a first aspect of the present invention provides a method for controlling an anti-rollover system, including: judging whether the vehicle has a rolling tendency; if the vehicle has a rolling tendency, the shock absorbing damping force of the left side wheel shock absorber or/and the shock absorbing damping force of the right side wheel shock absorber are adjusted to make the vehicle return to a stable state.
The control method of the rollover prevention system monitors the running state of the vehicle in real time through equipment such as a vehicle speed sensor, a transverse acceleration sensor, a steering wheel angle sensor, a left side wheel pressure sensor and a right side wheel pressure sensor, and when the rollover tendency of the vehicle is judged, the damping force of a left side wheel shock absorber and a right side wheel shock absorber is properly adjusted to enable the vehicle to recover to a stable state, so that the rollover prevention effect of the vehicle is achieved.
Further, the determining whether the vehicle has a rollover tendency includes: and judging whether the vehicle rolls and whether the roll degree exceeds a roll preset value.
Further, the adjusting of the suspension damping force of the left side wheel suspension or/and the suspension damping force of the right side wheel suspension comprises: collecting pressure F _ l of all left wheels bearing the frame, and collecting pressure F _ r of all right wheels bearing the frame; if F _ l is larger than F _ r + Fk1, judging that the left inclination degree of the vehicle exceeds the roll preset value, and increasing the shock absorption damping force of the shock absorber of the left wheel; if F _ r > F _ l + Fk1, it is determined that the right tilt degree of the vehicle exceeds the roll preset value, and the suspension damping force of the right wheel suspension is increased.
Further, still include: and judging the current rotation degree of the steering wheel of the vehicle, and if the rotation degree of the steering wheel exceeds a preset rotation angle value, adjusting the shock absorption damping force of the left wheel shock absorber or/and the shock absorption damping force of the right wheel shock absorber to enable the vehicle to recover to a stable state.
Further, collecting the rotation angle a of the steering wheel; if a > ak1, the suspension damping force of the left side wheel suspension is increased, and if a < -ak1, the suspension damping force of the right side wheel suspension is increased.
Further, if the vehicle does not have the rolling tendency, the function of the anti-rolling system is turned off, and the marker light of the anti-rolling system is turned off.
The second aspect of the present invention provides an activation method for an anti-roll system, including: detecting whether a switch of the anti-rolling system is turned on or off; judging whether the vehicle is inclined or not and whether the inclination degree exceeds a first inclination preset value or not, if so, activating the function of the anti-rollover system, and flashing a marker light of the anti-rollover system; judging whether the vehicle is inclined or not and whether the inclination degree exceeds a second inclination preset value or not and whether the transverse acceleration is greater than a transverse acceleration preset value or not, if the conditions are all met, activating the function of the rollover prevention system, and enabling a marker light of the rollover prevention system to flash; wherein the second roll preset value is less than the first roll preset value; and judging whether the rotation angle of the steering wheel and the vehicle speed both exceed a preset rotation angle value and a preset vehicle speed value, if so, activating the function of the anti-rollover system, and flashing the marker light of the anti-rollover system.
Further, still include: collecting the pressure of all left wheels bearing the frame and adding to obtain F _ l, and collecting the pressure of all right wheels bearing the frame and adding to obtain F _ r; if F _ l-F _ r > Fk2, it is determined that the roll degree of the vehicle exceeds the first roll preset value.
Further, still include: collecting the pressure of all left wheels bearing the frame and adding to obtain F _ l, and collecting the pressure of all right wheels bearing the frame and adding to obtain F _ r; if F _ l-F _ r > Fk3, it is determined that the roll degree of the vehicle exceeds the second roll preset value.
A third aspect of the invention provides a vehicle comprising: an anti-rollover system, comprising: a controller; the device comprises a vehicle speed sensor, a transverse acceleration sensor, a steering wheel angle sensor, a left side wheel pressure sensor and a right side wheel pressure sensor, wherein the vehicle speed sensor, the transverse acceleration sensor, the steering wheel angle sensor, the left side wheel pressure sensor and the right side wheel pressure sensor are all connected with a controller; the left wheel shock absorber and the right wheel shock absorber are both connected with the controller; wherein the controller is adapted to control the left side wheel damper or the right side wheel damper to change a damping force of the damper upon receiving detection data of the vehicle speed sensor and/or the lateral acceleration sensor and/or the steering wheel angle sensor and/or the left side wheel pressure sensor and/or the right side wheel pressure sensor.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a control flow diagram of an anti-rollover system in an embodiment of the present invention;
fig. 2 is a flowchart of activation of the anti-rollover system function in the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A control method of the rollover prevention system according to an embodiment of the present invention is described below with reference to fig. 1, including determining whether a vehicle has a rollover tendency; if the vehicle has a rolling tendency, the shock absorbing damping force of the left side wheel shock absorber or/and the shock absorbing damping force of the right side wheel shock absorber are adjusted to make the vehicle return to a stable state.
According to the control method of the rollover prevention system, when a driver drives on a road, the driving state of the vehicle is monitored in real time through the equipment such as the vehicle speed sensor, the lateral acceleration sensor, the steering wheel angle sensor, the left wheel pressure sensor, the right wheel pressure sensor and the like, and when the rollover tendency of the vehicle is judged, the damping force of the left wheel shock absorber and the damping force of the right wheel shock absorber are properly adjusted, so that the vehicle is recovered to a stable state, and the rollover prevention effect of the vehicle is achieved.
It should be noted that the left wheel pressure sensor is the sum of the pressures of all the left wheels; the right wheel pressure sensor is the sum of the pressures of all the right wheels.
It should be noted that the left wheel shock absorber is a shock absorber capable of changing the damping force of the left side according to the command sent by the controller; the right wheel shock absorber can change the damping force of the right side according to the command sent by the controller.
Further, the determining whether the vehicle has a rollover tendency includes: and judging whether the vehicle rolls and whether the roll degree exceeds a roll preset value.
According to one embodiment of the present invention, the adjusting the suspension damping force of the left side wheel suspension or/and the suspension damping force of the right side wheel suspension includes: collecting pressure F _ l of all left wheels bearing the frame, and collecting pressure F _ r of all right wheels bearing the frame; if F _ l is larger than F _ r + Fk1, judging that the left inclination degree of the vehicle exceeds the roll preset value, and increasing the shock absorption damping force of the shock absorber of the left wheel; if F _ r > F _ l + Fk1, it is determined that the right tilt degree of the vehicle exceeds the roll preset value, and the suspension damping force of the right wheel suspension is increased.
According to an embodiment of the present invention, the control method of the anti-rollover system further includes: and judging the current rotation degree of the steering wheel of the vehicle, and if the rotation degree of the steering wheel exceeds a preset rotation angle value, adjusting the shock absorption damping force of the left wheel shock absorber or/and the shock absorption damping force of the right wheel shock absorber to enable the vehicle to recover to a stable state.
Specifically, the rotation angle a of a steering wheel is collected; if a > ak1, the suspension damping force of the left side wheel suspension is increased, and if a < -ak1, the suspension damping force of the right side wheel suspension is increased. Where a > ak1, ak1 indicates counterclockwise rotation of the steering wheel; a < -ak1, -ak1 indicates a clockwise rotation of the steering wheel; "-" merely indicates the direction of rotation of the steering wheel.
According to one embodiment of the invention, if the vehicle does not have a rolling tendency, the function of the anti-rolling system is turned off, and the anti-rolling system marker light is turned off. At this time, the shock-absorbing damping force of the left side wheel shock absorber or/and the shock-absorbing damping force of the right side wheel shock absorber are not increased.
The following describes an activation method of the anti-rollover system according to an embodiment of the present invention with reference to fig. 2, including detecting whether a switch of the anti-rollover system is turned on or off; judging whether the vehicle is inclined or not and whether the inclination degree exceeds a first inclination preset value or not, if so, activating the function of the anti-rollover system, and flashing a marker light of the anti-rollover system; judging whether the vehicle is tilted or not and whether the tilting degree exceeds a second tilting preset value or not and whether the lateral acceleration is greater than a lateral acceleration preset value or not, if the conditions are all met, activating the function of the rollover prevention system, and flashing a marker light of the rollover prevention system; wherein the second roll preset value is less than the first roll preset value; and judging whether the rotation angle of the steering wheel and the vehicle speed both exceed a preset rotation angle value and a preset vehicle speed value, if so, activating the function of the anti-rollover system, and flashing the marker light of the anti-rollover system.
According to one embodiment of the invention, the method further comprises the following steps: collecting the pressure of all left wheels bearing the frame and adding to obtain F _ l, and collecting the pressure of all right wheels bearing the frame and adding to obtain F _ r; if F _ l-F _ r > Fk2, it is determined that the roll degree of the vehicle exceeds the first roll preset value.
According to one embodiment of the invention, the method further comprises the following steps: collecting the pressure of all left wheels bearing the frame and adding to obtain F _ l, and collecting the pressure of all right wheels bearing the frame and adding to obtain F _ r; if F _ l-F _ r > Fk3, it is determined that the roll degree of the vehicle exceeds the second roll preset value.
In accordance with one embodiment of the present invention, a vehicle is provided that includes an anti-rollover system.
Specifically, the rollover prevention system comprises: the device comprises a controller, a vehicle speed sensor, a transverse acceleration sensor, a steering wheel corner sensor, a left wheel pressure sensor and a right wheel pressure sensor;
specifically, a vehicle speed sensor, a transverse acceleration sensor, a steering wheel angle sensor, a left wheel pressure sensor and a right wheel pressure sensor are all connected with a controller; the left wheel shock absorber and the right wheel shock absorber are both connected with the controller; wherein the controller is adapted to control the left side wheel damper or the right side wheel damper to change the suspension damping force upon receiving detection data of the vehicle speed sensor and/or the lateral acceleration sensor and/or the steering wheel angle sensor and/or the left side wheel pressure sensor and/or the right side wheel pressure sensor.
It should be noted that the controller is a device capable of adjusting the damping force of the left wheel damper or the right wheel damper according to the information of the vehicle speed sensor, the lateral acceleration sensor, the steering wheel angle sensor, the left wheel pressure sensor and the right wheel pressure sensor of the vehicle and the actual state, so as to achieve the purpose of keeping the vehicle running stably.
The safety of passengers in the vehicle can be ensured by the vehicle, large equipment such as a large rolling frame and the like does not need to be added, and the vehicle can be used in various vehicle types, for example: passenger cars, commercial vehicles, trucks, and the like.
The left side wheel shock absorber and the right side wheel shock absorber in the invention are based on a device which is not used in a large scale in the market, the invention is not limited to the left side wheel shock absorber and the right side wheel shock absorber which are already appeared in the market, and the invention only represents a shock absorbing system which can flexibly adjust damping force through electronic control.
In the description of the present invention, it is to be understood that the terms "left", "right", "clockwise", "counterclockwise", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, "the first feature" and "the second feature" may include one or more of the features.
In the description of the present invention, "a plurality" means two or more.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A control method of an anti-rollover system is characterized by comprising the following steps:
judging whether the vehicle has a rolling tendency;
if the vehicle has a rolling tendency, the shock absorbing damping force of the left side wheel shock absorber or/and the shock absorbing damping force of the right side wheel shock absorber are adjusted to make the vehicle return to a stable state.
2. The control method of the rollover prevention system as recited in claim 1, wherein the determining whether the vehicle has a rollover tendency comprises: and judging whether the vehicle rolls and whether the roll degree exceeds a roll preset value.
3. The method of claim 2, wherein the adjusting the suspension damping force of the left side wheel suspension or/and the suspension damping force of the right side wheel suspension comprises: collecting pressure F _ l of all left wheels bearing the frame, and collecting pressure F _ r of all right wheels bearing the frame;
if F _ l is larger than F _ r + Fk1, judging that the left inclination degree of the vehicle exceeds the roll preset value, and increasing the shock absorption damping force of the shock absorber of the left wheel;
if F _ r > F _ l + Fk1, it is determined that the right tilt degree of the vehicle exceeds the roll preset value, and the suspension damping force of the right wheel suspension is increased.
4. The control method of the rollover prevention system as set forth in claim 2, further comprising: and judging the current rotation degree of the steering wheel of the vehicle, and if the rotation degree of the steering wheel exceeds a preset rotation angle value, adjusting the shock absorption damping force of the left wheel shock absorber or/and the shock absorption damping force of the right wheel shock absorber to enable the vehicle to recover to a stable state.
5. The control method of the rollover prevention system according to claim 4, characterized in that the rotation angle a of the steering wheel is collected;
if a > ak1, the suspension damping force of the left side wheel suspension is increased, and if a < -ak1, the suspension damping force of the right side wheel suspension is increased.
6. The control method of the rollover prevention system according to any one of claims 1 to 5, wherein if the vehicle does not have a rollover tendency, the rollover prevention system function is turned off and the rollover prevention system marker light is turned off.
7. An activation method of an anti-rollover system, comprising:
detecting whether a switch of the anti-rolling system is turned on or off;
judging whether the vehicle is inclined or not and whether the inclination degree exceeds a first inclination preset value or not, if so, activating the function of the anti-rollover system, and flashing a marker light of the anti-rollover system;
judging whether the vehicle is inclined or not and whether the inclination degree exceeds a second inclination preset value or not and whether the transverse acceleration is greater than a transverse acceleration preset value or not, if the conditions are all met, activating the function of the anti-rollover system, and flashing a marker light of the anti-rollover system; wherein the second roll preset value is less than the first roll preset value;
and judging whether the rotation angle of the steering wheel and the vehicle speed both exceed a preset rotation angle value and a preset vehicle speed value, if so, activating the function of the anti-rollover system, and flashing the marker light of the anti-rollover system.
8. The activation method of the rollover prevention system as set forth in claim 7, further comprising:
collecting the pressure of all left wheels bearing the frame and adding to obtain F _ l, and collecting the pressure of all right wheels bearing the frame and adding to obtain F _ r;
if F _ l-F _ r > Fk2, it is determined that the roll degree of the vehicle exceeds the first roll preset value.
9. The activation method of the rollover prevention system as set forth in claim 7, further comprising:
collecting the pressure of all left wheels bearing the frame and adding to obtain F _ l, and collecting the pressure of all right wheels bearing the frame and adding to obtain F _ r;
if F _ l-F _ r > Fk3, it is determined that the roll degree of the vehicle exceeds the second roll preset value.
10. A vehicle, characterized by comprising: an anti-rollover system, comprising:
a controller;
the device comprises a vehicle speed sensor, a transverse acceleration sensor, a steering wheel angle sensor, a left side wheel pressure sensor and a right side wheel pressure sensor, wherein the vehicle speed sensor, the transverse acceleration sensor, the steering wheel angle sensor, the left side wheel pressure sensor and the right side wheel pressure sensor are all connected with a controller;
the left wheel shock absorber and the right wheel shock absorber are both connected with the controller; wherein
The controller is suitable for controlling the left side wheel shock absorber or the right side wheel shock absorber to change shock absorption damping force after receiving detection data of the vehicle speed sensor and/or the lateral acceleration sensor and/or the steering wheel angle sensor and/or the left side wheel pressure sensor and/or the right side wheel pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911398645.4A CN113120101A (en) | 2019-12-30 | 2019-12-30 | Control method of anti-rolling system, activation method of anti-rolling system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911398645.4A CN113120101A (en) | 2019-12-30 | 2019-12-30 | Control method of anti-rolling system, activation method of anti-rolling system and vehicle |
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| CN113120101A true CN113120101A (en) | 2021-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911398645.4A Pending CN113120101A (en) | 2019-12-30 | 2019-12-30 | Control method of anti-rolling system, activation method of anti-rolling system and vehicle |
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| CN (1) | CN113120101A (en) |
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| CN107499271A (en) * | 2017-09-01 | 2017-12-22 | 浙江万安科技股份有限公司 | A kind of car anti-rollover control system and method based on electronic control air suspension and electric controlled brake system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09263115A (en) * | 1996-01-24 | 1997-10-07 | Unisia Jecs Corp | Cab suspension control device |
| CN1843789A (en) * | 2005-04-06 | 2006-10-11 | 肖国 | Car shock-buffering method utilizing vibration between wheel and car body for power supply |
| CN101184641A (en) * | 2005-05-24 | 2008-05-21 | 丰田自动车株式会社 | Vehicle damping force control apparatus |
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| CN106740873A (en) * | 2016-12-30 | 2017-05-31 | 南京航空航天大学 | One kind rollover early warning system and its method for early warning |
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Application publication date: 20210716 |