CN206826783U - Heavy-duty car anti-rollover system - Google Patents
Heavy-duty car anti-rollover system Download PDFInfo
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- CN206826783U CN206826783U CN201720697189.3U CN201720697189U CN206826783U CN 206826783 U CN206826783 U CN 206826783U CN 201720697189 U CN201720697189 U CN 201720697189U CN 206826783 U CN206826783 U CN 206826783U
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Abstract
The utility model discloses a kind of heavy-duty car anti-rollover system, it is related to heavy-duty car safety design technical field, including gyroscope, range sensor, controller, control panel and hydraulic assembly, gyroscope, range sensor, control panel and hydraulic assembly connect controller respectively；Gyroscope is arranged on the bottom of automobile frame intermediate transverse girder, and range sensor is arranged on the bottom of automobile frame both sides, and hydraulic assembly is arranged on automobile frame both sides, and control panel is arranged in automobile control room.During work, gyroscope detects the rolling condition of automobile frame, range sensor detects the distance between automobile frame and road surface, the data of collection are sent to controller by gyroscope and range sensor, and controller carries out comprehensive analysis to data, judges the inclination degree of automobile, and show on the control panel, driver controls hydraulic assembly to act by control panel, keeps the balance of automobile, and the effect of heavy-duty car anti-rollover is realized by such a technological means.
Description
Technical field
Heavy-duty car safety design technical field is the utility model is related to, more particularly to a kind of heavy-duty car anti-rollover system
System.
Background technology
The active safety sex chromosome mosaicism of heavy motor truck is increasingly subject to pay attention in recent years, for multi-axle heavy type truck combination
Anti-rollover, it is external to develop associated braking system (Associated Braking System) in succession, roll warning device
(RWD-Rolling Warning Device), roll stable are controlled with supporting system (RSC-RSS) dispatch control system, but have one
A little important process variables, such as brake-pipe pressure, braking moment, are that can not measure or be difficult to survey by sensor at present
Amount, or measurement cost are too high.The domestic research to heavy installation of car for guarding against side turned over relatively lags behind, because the cost of inlet system is high
High, application of the active Anti-side-turning device on domestic heavy-duty car is not yet popularized, therefore the weight urgently developed one's own intellectual property
Type installation of car for guarding against side turned over.
Utility model content
The technical problems to be solved in the utility model is to be directed to above-mentioned the deficiencies in the prior art, there is provided a kind of heavy-duty car is prevented
Rollover system, solve heavy-duty car rollover problem, there is the characteristics of preventing heavy-duty car from turning on one's side.
In order to solve the above technical problems, technical solution adopted in the utility model is：A kind of heavy-duty car anti-rollover system
System, including gyroscope, range sensor, controller, control panel and hydraulic assembly；The gyroscope, the range sensor,
The control panel and the hydraulic assembly connect the controller respectively；The gyroscope is arranged on automobile frame intermediate transverse girder
Bottom, the range sensor is arranged on the bottom of automobile frame both sides, and the hydraulic assembly is arranged on automobile frame both sides,
The control panel is arranged in automobile control room；When automobile frame tilts to threshold angle, the hydraulic assembly is stretched
It is partially supported upon on ground.
Preferably, in addition to data acquisition device, signal projector and signal receiver, the data acquisition device are distinguished
The gyroscope and the range sensor are connected, the signal projector connects the data acquisition device, and the signal connects
Receive device and connect the controller.
Preferably, the gyroscope number is two, is separately mounted to the bottom at automobile frame intermediate transverse girder both ends.
Preferably, the range sensor number is four, is separately mounted to the bottom of automobile frame both sides, is installed per side
There are two range sensors, two range sensors are one in front and one in back distributed.
Preferably, the hydraulic assembly includes hydraulic support oil cylinder, base, universal wheel and motor, the hydraulic pressure support oil
Cylinder and the motor connect the controller respectively, and the hydraulic support oil cylinder is arranged on the sidepiece of automobile frame, the base
It is fixedly connected with the end of the hydraulic support oil cylinder piston rod, the base is fixedly connected with the motor shaft of the motor, institute
Universal wheel is stated on the base.
Preferably, the hydraulic assembly number is four, is separately mounted to automobile frame both sides, and two institutes are provided with per side
Hydraulic assembly is stated, two hydraulic assembly are one in front and one in back distributed.
Preferably, the base includes the first side plate, the second side plate and support, first side plate and second side plate
It is mutually connected vertically L-shaped, the support is fixedly mounted on the side of first side plate, and the universal wheel is fixedly mounted on institute
The opposite side of the first side plate is stated, the support and second side plate are located at the homonymy of first side plate；The motor and and
The end of the hydraulic support oil cylinder piston rod is fixedly connected with the support respectively.
Preferably, it is self-locking stepper motor that the motor, which is selected,.
Preferably, the control panel includes signal lamp, alarm and Operation switch, the signal lamp, the alarm
It is connected with the Operation switch with the controller.
It is using beneficial effect caused by above-mentioned technical proposal：The utility model is prevented by designing a kind of heavy-duty car
Rollover system, including gyroscope, range sensor, controller, control panel and hydraulic assembly.During work, gyroscope detection vapour
The rolling condition of vehicle carriage, range sensor detection the distance between automobile frame and road surface, gyroscope and range sensor will
The data of collection are sent to controller, and controller carries out comprehensive analysis to data, judges the inclination degree of automobile, and in chain of command
Shown on plate, driver controls hydraulic assembly to act by control panel, keeps the balance of automobile, real by such a technological means
The effect of existing heavy-duty car anti-rollover.
Brief description of the drawings
Fig. 1 is the theory diagram of the utility model heavy-duty car anti-rollover system.
Fig. 2 is the theory diagram of the utility model one embodiment medium-heavy automobile anti-rollover system.
Fig. 3 is the scheme of installation of the utility model one embodiment medium-heavy automobile anti-rollover system.
Fig. 4 is the first face structure of hydraulic assembly schematic diagram in the utility model one embodiment.
Fig. 5 is the second face structure of hydraulic assembly schematic diagram in the utility model one embodiment.
Fig. 6 is the work-based logic flow chart of the utility model one embodiment medium-heavy automobile anti-rollover system.
In figure：1st, vehicle frame；2nd, hydraulic assembly；3rd, range sensor；4th, the second side plate；5th, the first side plate；6th, motor；7th, ten thousand
To wheel；8th, hydraulic support oil cylinder.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and detailed description, but the utility model
Protection domain be not limited to it is as described below.
As shown in figure 1, be the theory diagram of the utility model heavy-duty car anti-rollover system, including gyroscope, distance pass
Sensor 3, controller, control panel and hydraulic assembly 2；Gyroscope, range sensor 3, control panel and hydraulic assembly 2 connect respectively
Controller is connect, gyroscope is arranged on the bottom of the intermediate transverse girder of automobile frame 1, and range sensor 3 is arranged on the both sides of automobile frame 1
Bottom, hydraulic assembly 2 are arranged on the both sides of automobile frame 1, and control panel is arranged in automobile control room.
During work, gyroscope detects the rolling condition of automobile frame 1, range sensor 3 detect automobile frame 1 and road surface it
Between distance, the data of collection are sent to controller by gyroscope and range sensor 3, and controller carries out total score to data
Analysis, judges the inclination degree of automobile, and shows on the control panel, and driver controls hydraulic assembly 2 to act by control panel,
The balance of automobile is kept, the effect of heavy-duty car anti-rollover is realized by such a technological means.
As shown in Fig. 2 be the theory diagram of the utility model one embodiment medium-heavy automobile anti-rollover system, including top
Spiral shell instrument, range sensor 3, controller, control panel, hydraulic assembly 2, data acquisition device, signal projector and signal receive
Device, data acquisition device connect gyroscope and range sensor 3, signal projector connection data acquisition device respectively, and signal connects
Device connection controller is received, control panel and hydraulic assembly 2 connect controller respectively.
During work, gyroscope detects the rolling condition of automobile frame 1, range sensor 3 detect automobile frame 1 and road surface it
Between distance, the data that data acquisition device collection gyroscope and range sensor 3 detect, and sent out by signal projector
Go, the data that signal receiver reception signal transmitter is sent, and transfer data to controller, controller carries out comprehensive to data
Analysis is closed, judges the inclination degree of automobile, and is shown on the control panel, driver controls hydraulic assembly 2 by control panel
Action, the balance of automobile is kept, the effect of heavy-duty car anti-rollover is realized by such a technological means.
As shown in figure 3, the scheme of installation for the utility model one embodiment medium-heavy automobile anti-rollover system；
Gyroscope number is two in the present embodiment, is separately mounted to the bottom at the intermediate transverse girder both ends of automobile frame 1, such a
It is designed to ensure that the data of gyroscope detection tilting of automobile degree are more accurate, while also gyro can be increased according to actual requirement
The quantity of instrument installation, to ensure the accuracy of gyroscope detection data.
3 numbers of range sensor are four in the present embodiment, are separately mounted to the bottom of the both sides of automobile frame 1, are pacified per side
Equipped with two range sensors 3, two range sensors 3 are one in front and one in back distributed, and such a design divides equivalent to by range sensor 3
Do not design on four angles of automobile frame 1, cover the whole body of automobile frame 1, make the data of measurement more comprehensive, ensure data
Accuracy, be advantageous to the heeling condition of accurate detection automobile.
2 numbers of hydraulic assembly are four in the present embodiment, are separately mounted to the both sides of automobile frame 1, and two are provided with per side
Hydraulic assembly 2, two hydraulic assembly 2 are one in front and one in back distributed, and hydraulic assembly 2 act as car assisted vehicle frame 1 and balanced, the present embodiment
The design of middle hydraulic assembly 2 can ensure that hydraulic assembly 2 covers the whole body of automobile frame 1, and no matter automobile frame 1 inclines to any angle
Tiltedly, hydraulic assembly 2 can be balanced auxiliary to automobile frame 1.
As shown in Figure 4 and Figure 5, the face structure of hydraulic assembly 2 first shows respectively in the utility model one embodiment
It is intended to and the second face structure schematic diagram, hydraulic assembly 2 includes hydraulic support oil cylinder 8, base, universal wheel 7 and motor 6, liquid
Pressure support cylinder 8 and motor 6 connect controller respectively, and hydraulic support oil cylinder 8 is arranged on the sidepiece of automobile frame 1, base and liquid
The end of the pressure piston rod of support cylinder 8 is fixedly connected, and base is fixedly connected with the motor shaft of motor 6, and universal wheel 7 is arranged on base
On, base includes the first side plate 5, the second side plate 4 and support, and the first side plate 5 and the second side plate 4 are mutually connected vertically L-shaped, branch
Frame is fixedly mounted on the side of the first side plate 5, and universal wheel 7 is fixedly mounted on the opposite side of the first side plate 5, support and the second side plate
4 are located at the homonymy of the first side plate 5；Motor 6 is fixedly connected with support respectively with the end with the piston rod of hydraulic support oil cylinder 8.
The effect of hydraulic assembly 2 is to maintain automobile frame 1 to balance, and hydraulic assembly 2 has two working faces, when automobile is in
When transport condition occurs vehicle frame 1 and tilted, from the first working face, now the universal wheel 7 on base contacts with ground, ensures to travel
Automobile keep balance；When automobile remains static run-off the straight, from the second side plate of the second working face, now base
4 plane contacts with ground, keeps automobile balance；Hydraulic support oil cylinder 8 can carry out expanding-contracting action, during automobile run-off the straight, liquid
The support bar elongation of pressure support cylinder 8 makes base contact holding automobile balance with ground, when not needing balance auxiliary device,
Hydraulic support oil cylinder 8 shrinks support bar, does not influence the normally travel of automobile；The design of motor 6 realizes that hydraulic assembly 2 first works
Face and the switching of the second working face, more automobile difference transport condition switch different working faces.
For motor 6 from being self-locking stepper motor, stepper motor action is more accurate, can ensure liquid in the present embodiment
Accurately switch between the pressure working face of assembly 2 first and the second working face, locked after the completion of switching, ensure hydraulic assembly 2
The balance of automobile frame 1 can be maintained with best position and mode of operation.
Control panel includes signal lamp, alarm and Operation switch in the present embodiment, and signal lamp, alarm and operation are opened
Guan Jun is connected with controller, and control panel is provided with three green light, amber light and red light signal lamps, represents automobile frame 1 respectively
Heeling condition, when the transverse load rate of transform of automobile is normal, green light lights, when the transverse load rate of transform of automobile is more than first
During threshold value, amber light lights, and when the transverse load rate of transform of automobile exceedes Second Threshold, red light lights；Alarm act as working as
Warning reminding driver is carried out during 1 run-off the straight of automobile frame, when the transverse load rate of transform of automobile is normal, alarm is not sent out
Go out the sound, when the transverse load rate of transform of automobile exceedes first threshold or Second Threshold, alarm sends high-frequency and " ticked
Tick " prompt tone；Control panel is provided with three Operation switches, controls the work of the working face of hydraulic assembly 2 first, the second work respectively
Make face work and be stopped.
During work, when the transverse load rate of transform of automobile is normal, green light lights, and alarm does not send the sound；Work as automobile
Transverse load rate of transform when exceeding first threshold, amber light is lighted, and alarm is alarmed, and driver has more the traveling shape of automobile
State selection operation switch so that select hydraulic assembly 2 mode of operation, when automobile be in traveling during should make hydraulic assembly 2 with
First working face works, i.e., the universal wheel 7 in hydraulic assembly 2 contacts with ground, when automobile remains static, selects hydraulic pressure
Assembly 2 is worked with the second working face, and the plane of the second side plate of upper bed-plate 4 of hydraulic assembly 2 contacts with ground, when the transverse direction of automobile
After load transfer rate recovers normal, driver makes the hydraulic support oil cylinder 8 in hydraulic assembly 2 shrink stopping work by Operation switch
Make；When the transverse load rate of transform of automobile exceedes Second Threshold, red light is lighted, and alarm is alarmed, and driver has more vapour
The transport condition selection operation of car switchs and then selects the mode of operation of hydraulic assembly 2, should make during automobile is in traveling
Hydraulic assembly 2 is worked with the first working face, i.e., the universal wheel 7 in hydraulic assembly 2 contacts with ground, when automobile remains static
When, select hydraulic assembly 2 to be worked with the second working face, and the plane of the second side plate of upper bed-plate 4 of hydraulic assembly 2 contacts with ground,
After the transverse load rate of transform of automobile recovers normal, driver makes the hydraulic pressure support oil in hydraulic assembly 2 by Operation switch
Cylinder 8, which shrinks, to be stopped.
As shown in fig. 6, be the work-based logic flow chart of the utility model one embodiment medium-heavy automobile anti-rollover system,
When system works, gyroscope and range sensor 3 detect the data of automobile frame 1, and transfer data in controller, controller
Vehicle condition is judged, when the transverse load rate of transform of automobile is normal, the green light on control panel lights, and alarm is not
Alarm；When the automobile transverse load rate of transform exceedes first threshold or Second Threshold, the alarm on control panel is alarmed,
Synchronous signal lamp lights (amber light is bright when exceeding first threshold, more than Second Threshold when when red), and driver is needed according to automobile
Transport condition selection hydraulic assembly 2 mode of operation, when automobile be in traveling during, driver is opened by pressing first
Close, hydraulic assembly 2 is worked with the first working face, i.e. the piston rod elongation of hydraulic support oil cylinder 8, until the universal wheel 7 on base
Stop after being contacted with ground, when automobile remains static, driver is by pressing second switch, and hydraulic assembly 2 is with second
Working face works, i.e. the piston rod elongation of hydraulic support oil cylinder 8, it is known that the plane of the second side plate 4 on base contacts with ground
After stop, after the transverse load rate of transform of automobile recovers normal, driver is by pressing the 3rd switch, hydraulic support oil cylinder 8
Piston rod shrink, hydraulic assembly 2 is stopped.It can ensure to control hydraulic assembly 2 during automobile run-off the straight by this system
Car assisted balance, prevents automobile from turning on one's side.
A kind of heavy-duty car anti-rollover system alarm threshold value is disclosed in the utility model and determines method, is filtered using Kalman
Ripple device estimates automobile body inclination angle and height of C.G. change, determines alarm threshold value.
Vehicle rollover model is established according to vehicle design parameter first, vehicle roll model is established by dAlembert principle：
(1) torque equilibrium equation around X-axis is：
(2) it is along the equilibrium equation of Y-axis：
(3) torque equilibrium equation about the z axis is：
Wherein
F12=Cγα12
F34=Chα34
Ix=Ixx+mh2
Meet geometrical relationship under small slip angle of tire：
In formula, m is complete vehicle quality；H is distance of the barycenter to roll center；δ is front wheel angle；φ is angle of heel；For
Yaw velocity；α12、α34Respectively front and back wheel side drift angle；β is side slip angle；lv、lhRespectively barycenter to axle away from
From；Vx、VyRespectively longitudinally, laterally speed；F12、F34The respectively total side force of front and rear wheel；ayFor side acceleration；IxxIt is whole
Rotary inertia of the car quality around the longitudinal axis of vehicle body barycenter；IxIt is rotary inertia of the complete vehicle quality around roll axis；Cv, ChBefore respectively,
Total cornering stiffness of rear tyre；K is the equivalent roll stiffness of suspension；C is the equivalent inclination damped coefficient of suspension.Above-mentioned vehicle parameter can
Obtained according to specific vehicle, state variable can be obtained by vehicle itself institute's band ECU units or gyroscope.
Early warning threshold value of the vehicle dynamic transverse load rate of transform as dangerous criterion of turning on one's side is selected first.Such thresholding
Value selection causes warning algorithm more to have universality；Secondly, in order to more accurately obtain dynamic early-warning threshold value, turning on one's side
The parameter estimator based on Kalman Filter Technology is used in warning algorithm.
In traditional sense, lateral direction of car load transfer rate (LTR) can be defined as the vertical load on the wheel of vehicle both sides
Difference and vertical load sum ratio, i.e.,：
F in formulazl、FzrRespectively left and right wheels vertical load.
When left and right tyre load is equal, VLTRValue be 0；When occurring to turn on one's side dangerous, single wheel leaves ground, this
When VLTRAbsolute value be 1, i.e., for different vehicles and different driving conditions, rollover early warning threshold value can be identified as necessarily
Value, to ensure the driving safety of vehicle, dynamic transverse load rate of transform early warning threshold value first threshold is set to 0.8 herein, the
Two threshold values are set to 0.9.
Due to vehicle, left and right wheelses vertical load constantly changes and is not easy direct measurement in the process of moving, so being difficult to root
Dynamic V is directly calculated according to definitionLTRValue.A set of calculating transverse load rate of transform V in real time is chosen hereinLTRAlgorithm, tool
Body calculation formula is：
In formula, hRCFor vehicle roll center height, d1For car gage.
So want to obtain the accurate dynamic transverse load rate of transform, it is necessary to obtain vehicle side acceleration and reality first
The two quantity of states of border angle of heel.Vehicle side acceleration can directly be measured by gyroscope, and the actual angle of heel of vehicle
But it is difficult to directly obtain by onboard sensor, it need to be estimated in real time by Kalman Filter Estimation technology.
The threshold value obtained using this method is more accurate, is advantageous to system and precisely acts, and maintains automobile balance, prevents from turning on one's side
Reach optimum efficiency.
After adopting the above technical scheme, during work, gyroscope and range sensor 3 detect the data of automobile frame 1, and by number
According to being sent in controller, controller is judged vehicle condition, when the transverse load rate of transform of automobile is normal, chain of command
Green light on plate is lighted, and alarm is not alarmed；When the automobile transverse load rate of transform exceedes first threshold or Second Threshold, control
Alarm on panel is alarmed, and synchronous signal lamp lights that (amber light is bright when exceeding first threshold, red light during more than Second Threshold
It is bright), driver needs to select the mode of operation of hydraulic assembly 2 according to the transport condition of automobile, during automobile is in traveling,
Driver is worked by pressing first switch, hydraulic assembly 2 with the first working face, i.e. the piston rod elongation of hydraulic support oil cylinder 8,
Stop after the universal wheel 7 on base contacts with ground, when automobile remains static, driver is opened by pressing second
Close, hydraulic assembly 2 is worked with the second working face, i.e. the piston rod elongation of hydraulic support oil cylinder 8, it is known that the second side plate on base
4 plane stops after being contacted with ground, and after the transverse load rate of transform of automobile recovers normal, driver is opened by pressing the 3rd
Close, the piston rod of hydraulic support oil cylinder 8 shrinks, and hydraulic assembly 2 is stopped.Automobile run-off the straight can be ensured by this system
When control 2 car assisted balance of hydraulic assembly, prevent automobile from turning on one's side.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (9)
- A kind of 1. heavy-duty car anti-rollover system, it is characterised in that：Including gyroscope, range sensor, controller, control panel And hydraulic assembly；The gyroscope, the range sensor, the control panel and the hydraulic assembly connect the control respectively Device processed；The gyroscope is arranged on the bottom of automobile frame intermediate transverse girder, and the range sensor is arranged on automobile frame both sides Bottom, the hydraulic assembly is arranged on automobile frame both sides, and the control panel is arranged in automobile control room.
- 2. heavy-duty car anti-rollover system according to claim 1, it is characterised in that：Also include data acquisition device, letter Number transmitter and signal receiver, the data acquisition device connects the gyroscope and the range sensor respectively, described Signal projector connects the data acquisition device, and the signal receiver connects the controller.
- 3. heavy-duty car anti-rollover system according to claim 1, it is characterised in that：The gyroscope number is two, It is separately mounted to the bottom at automobile frame intermediate transverse girder both ends.
- 4. heavy-duty car anti-rollover system according to claim 1, it is characterised in that：The range sensor number is four It is individual, the bottom of automobile frame both sides is separately mounted to, two range sensors, two Distance-sensings are installed per side Device is one in front and one in back distributed.
- 5. heavy-duty car anti-rollover system according to claim 1, it is characterised in that：The hydraulic assembly includes hydraulic pressure branch Support oil cylinder, base, universal wheel and motor, the hydraulic support oil cylinder and the motor connect the controller, the liquid respectively Support cylinder is pressed to be arranged on the sidepiece of automobile frame, the end fixation of the base and the hydraulic support oil cylinder piston rod connects Connect, the base is fixedly connected with the motor shaft of the motor, and the universal wheel is arranged on the base.
- 6. heavy-duty car anti-rollover system according to claim 1, it is characterised in that：The hydraulic assembly number is four It is individual, automobile frame both sides are separately mounted to, two hydraulic assembly are installed per side, two hydraulic assembly are one in front and one in back Distribution.
- 7. heavy-duty car anti-rollover system according to claim 5, it is characterised in that：The base include the first side plate, Second side plate and support, first side plate and second side plate are mutually connected vertically L-shaped, and the support is fixedly mounted on The side of first side plate, the universal wheel are fixedly mounted on the opposite side of first side plate, the support and described Two side plates are located at the homonymy of first side plate；The end of the motor and the hydraulic support oil cylinder piston rod respectively with it is described Support is fixedly connected.
- 8. heavy-duty car anti-rollover system according to claim 5, it is characterised in that：The motor is selected to be walked for self-locking Stepper motor.
- 9. heavy-duty car anti-rollover system according to claim 1, it is characterised in that：The control panel includes signal Lamp, alarm and Operation switch, the signal lamp, the alarm and the Operation switch are connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720697189.3U CN206826783U (en) | 2017-06-15 | 2017-06-15 | Heavy-duty car anti-rollover system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720697189.3U CN206826783U (en) | 2017-06-15 | 2017-06-15 | Heavy-duty car anti-rollover system |
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| Publication Number | Publication Date |
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| CN206826783U true CN206826783U (en) | 2018-01-02 |
Family
ID=60774833
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720697189.3U Expired - Fee Related CN206826783U (en) | 2017-06-15 | 2017-06-15 | Heavy-duty car anti-rollover system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107176216A (en) * | 2017-06-15 | 2017-09-19 | 石家庄铁道大学 | Heavy-duty car anti-rollover system |
| CN108639167A (en) * | 2018-06-18 | 2018-10-12 | 陆晓童 | A kind of installation of car for guarding against side turned over |
| CN111891118A (en) * | 2020-08-05 | 2020-11-06 | 桂林电子科技大学 | Model predictive control algorithm-based electric vehicle rollover prevention control method |
-
2017
- 2017-06-15 CN CN201720697189.3U patent/CN206826783U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107176216A (en) * | 2017-06-15 | 2017-09-19 | 石家庄铁道大学 | Heavy-duty car anti-rollover system |
| CN108639167A (en) * | 2018-06-18 | 2018-10-12 | 陆晓童 | A kind of installation of car for guarding against side turned over |
| CN108639167B (en) * | 2018-06-18 | 2020-09-01 | 南京溧水高新创业投资管理有限公司 | Rollover prevention device for automobile |
| CN111891118A (en) * | 2020-08-05 | 2020-11-06 | 桂林电子科技大学 | Model predictive control algorithm-based electric vehicle rollover prevention control method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180102 Termination date: 20190615 |