WO2005063514A1 - Systeme et procede antiroulis pour des vehicules a moteur, notamment des autocars, des utilitaires legers, des vehicules tout terrain ou analogues - Google Patents

Systeme et procede antiroulis pour des vehicules a moteur, notamment des autocars, des utilitaires legers, des vehicules tout terrain ou analogues Download PDF

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Publication number
WO2005063514A1
WO2005063514A1 PCT/EP2004/013804 EP2004013804W WO2005063514A1 WO 2005063514 A1 WO2005063514 A1 WO 2005063514A1 EP 2004013804 W EP2004013804 W EP 2004013804W WO 2005063514 A1 WO2005063514 A1 WO 2005063514A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
shock absorber
lateral acceleration
hardness
vehicle
Prior art date
Application number
PCT/EP2004/013804
Other languages
German (de)
English (en)
Inventor
Wolf Boll
Original Assignee
Daimlerchrysler Ag
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from DE102004035038A external-priority patent/DE102004035038A1/de
Application filed by Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2005063514A1 publication Critical patent/WO2005063514A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0162—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 mainly during a motion involving steering operation, e.g. cornering, overtaking
    • 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
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/02—Trucks; Load vehicles
    • B60G2300/026—Heavy duty trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/07—Off-road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/14—Buses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
    • B60G2400/1042—Acceleration; Deceleration lateral or transversal with regard to vehicle using at least two sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B60G2400/63—Location of the center of gravity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/84—Atmospheric conditions
    • B60G2400/841—Wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/14—Differentiating means, i.e. differential control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • B60G2600/187—Digital Controller Details and Signal Treatment
    • B60G2600/1879—Fuzzy Logic Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • B60G2800/702—Improving accuracy of a sensor signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B60G2800/9122—ARS - Anti-Roll System Control

Definitions

  • the invention relates to a system and a method for roll stabilization of a motor vehicle, in particular buses, vans, off-road vehicles or the like.
  • the invention can also be used in so-called sport utility vehicles (SUVs).
  • SUVs sport utility vehicles
  • straight-ahead driving of motor vehicles is influenced by cross winds or by uneven ground.
  • a lateral turning of the center of gravity leads at least to an unstable driving state and if the center of gravity of the vehicle is turned out beyond the tire-road contact point, the motor vehicle even tilts.
  • German Offenlegungsschrift DT 23 31 616 AI describes a device in which a pressure sensor for the air pressure generated by the cross wind is provided on two opposite sides of the vehicle, and an actuator controlled by the differential pressure on both sides of the vehicle, the front axle of the vehicle relative to the driving - longitudinal member moves, which causes a wheel lock in the sense of a counter-steering.
  • This device has the disadvantage that pressure-actuated working cylinders of large dimensions are necessary to change the relative positions of the components. This requires high manufacturing costs and a large space requirement. Furthermore, the adjustment is not always smooth, so that the driver could be irritated.
  • the document DE 28 44 413 AI describes a control device for roll stabilization of a vehicle, which causes a stabilizing moment counter to the curve inclination of the vehicle body via hydraulically adjustable spring struts.
  • a particularly disadvantage of this approach is the fact that the respective front and rear strut are subjected to the same pressure.
  • a large, abruptly increasing gravity is caused, which causes the vehicle to oscillate about the vertical axis.
  • pendulum movements are associated with oscillating lateral forces and variable slip angles on the vehicle tires, so that the vehicle's driving behavior is unsafe.
  • German published patent application DE 38 21 610 AI describes a control device for roll stabilization of a vehicle with force-generating actuators arranged between the wheel carriers or wheel guide elements and the vehicle body, which, depending on the approximately vertical wheelbases of the vehicle body, the lateral acceleration of the Vehicle and the steering wheel angle of rotation counteracting the rolling movements on the vehicle body.
  • the present invention is therefore based on the object of eliminating the disadvantages described above and of creating a more cost-effective measure by means of which the roll stability of vehicles, in particular with a critically high center of gravity, can be improved, with both vehicle-induced disturbances, such as steering wheel misalignment. Cracks or an ESP intervention, as well as external disturbances, such as cross winds or uneven floors, can be alleviated.
  • this object is achieved on the device side by the system with the features of claim 1 and on the process side by the method with the features of claim 6.
  • At least one transverse acceleration sensor device arranged in the roof area of the motor vehicle, that is to say in the upper region or near the roof of the motor vehicle, is provided for detecting a transverse acceleration acting on the motor vehicle, with a control unit having the at least one a lateral acceleration sensor device for receiving the acquired lateral acceleration data is.
  • at least one shock absorber device which is assigned to one wheel of the motor vehicle, is equipped with an adjustable hardness setting, the control unit being connected to the at least one shock absorber device for dynamically adjusting a shock absorber hardness of the shock absorber device that compensates for the transverse acceleration detected.
  • a shock absorber equipped with an adjustable hardness setting is preferably assigned to each wheel of the motor vehicle and is in each case connected to the control unit.
  • the system according to the invention with the features of claim 1 and the method according to the invention with the features of claim 6 have the advantage over the known approaches according to the prior art that they have a slight additional effort and thus cost-effective measures to influence driving comfort and road stability to support stability , Furthermore, a control algorithm can be activated by a new evaluation criterion of the interference, which is equally applicable to both internal and external interference.
  • the degrees of hardness of the individual shock absorbers can be adjusted in accordance with the size and direction of the interference with respect to their rebound and compression, so that a force counteracting the torque caused by the disturbance is generated by the appropriately regulated shock absorber and counteracts a tendency to tip over.
  • each wheel of the motor vehicle is at least one Adjustable hardness setting associated shock absorber device, which is connected to the control unit.
  • the at least one transverse acceleration sensor device is arranged centrally in the front roof area of the motor vehicle with respect to the longitudinal axis of the vehicle.
  • both left-hand and right-hand interference can be detected equally using a single sensor device.
  • the deflection angle of the transverse acceleration sensor device is greatest in the roof area with respect to the roll axis of the vehicle when there are torque-generating influences, as a result of which the system is more sensitive to such interference.
  • the at least one lateral acceleration sensor device preferably detects the time differential of the lateral acceleration. In this way, more precise statements can be made about torques acting on the vehicle over predetermined periods of time.
  • transverse acceleration sensors are mounted on the vehicle, for example in the front and / or in the rear wheel axle area.
  • the signals picked up by the additional sensor devices can also be sent to the common control device and evaluated separately or together with the signals of the lateral acceleration sensor provided in the roof area of the vehicle.
  • the tension spring damper hardnesses of the shock absorber devices are preferably increased on the side of the vehicle from which the transverse acceleration acting on the vehicle power comes from.
  • the compression spring damper hardnesses of the shock absorber devices on the opposite side of that side of the motor vehicle from which the disruptive transverse acceleration forces originate are preferably increased.
  • the steering angle of the vehicle in addition to the lateral acceleration, can be recorded and also taken into account for the regulation of the suitable shock absorber hardness.
  • the influences to be taken into account for the precise control of the shock absorber hardness can be recorded, for example, by means of a suitable vehicle model that describes the vehicle's dynamic behavior.
  • the figure illustrates a schematic rear view of a vehicle, partly in section, with a system for rolling stabilization according to an embodiment of the present invention.
  • the motor vehicle for example a coach 1, has a lateral acceleration sensor 2, which is preferably arranged centrally in the front roof area of the coach 1 with respect to the longitudinal axis of the coach.
  • the transverse acceleration sensor 2 can be arranged under the roof panel of the coach.
  • the transverse acceleration sensor 2 is preferably connected via a signal line 20 to a control unit 3, which is also provided in the motor vehicle or the coach 1.
  • control algorithms of different complexity can be stored in control unit 3. In many cases it is sufficient to save costs if the data provided by the lateral acceleration sensor 2 is evaluated on the basis of empirically determined vehicle-specific models, the actual evaluation of the data then being able to be carried out using fuzzy logic.
  • the system according to the invention in accordance with the present exemplary embodiment has shock absorber devices 4, one shock absorber device 4 being assigned to a wheel or wheel set 6 of motor vehicle 1.
  • the shock absorber devices 4 are also each connected to the control unit 3 via signal lines 40 and have an adjustable hardness setting.
  • the transverse acceleration sensor 2 exerts a force on the vehicle 1, measured, for example, by a cross wind gust prevailing in the direction of the arrow.
  • the time differential of the lateral acceleration ie the derivative based on time, can be recorded or determined from the lateral acceleration.
  • the acceleration is detected over a certain period of time in order to avoid unnecessary roll stabilization due to uncritical influences.
  • the acquired lateral acceleration information or information of the time differentials of the lateral acceleration are sent from the lateral acceleration sensor 2 to the control unit 3 via the signal line 20.
  • the control unit 3 finally evaluates this received information and evaluates the interference by means of an evaluation criterion.
  • the control unit sends control signals to the respective shock absorber devices 4 via the control lines 40 in order to amplify the rebound damper hardness, for example on the vehicle side, from which the disturbance acceleration originates.
  • the shock absorber devices 4 are hardened in the rebound in the case of a cross wind prevailing in the direction of the arrow on the right front and right rear side of the vehicle 1.
  • the degree of hardness of the pressure stage of the shock absorber devices 4 on the opposite side of the side from which the wind originates can be set to be harder, in order also to do so To counteract the torque around the roll axis 5 counterclockwise.
  • control unit 3 can preferably dynamically control the degrees of hardness of the individual shock absorber devices 4 in such a way that the pendulum movement is counteracted and the vehicle is returned to a stable driving state.
  • control mechanism described above can be linked to chassis control mechanisms already provided in the motor vehicle, such as an integrated ESP system.
  • chassis control mechanisms already provided in the motor vehicle, such as an integrated ESP system.
  • further transverse acceleration sensors e.g. in the front and rear wheel axle area of the vehicle, the signals of which are combined with the signals of the lateral acceleration sensor 2 in the upper roof area of the vehicle 1 for a more complex dynamic model.
  • the steering angle of the vehicle can also be detected, evaluated and taken into account by the control unit in the case of a corresponding shock absorber control.
  • the lateral acceleration sensor 2 in the upper roof area of the motor vehicle 1 can also detect and deliver signals for further control interventions, for example for the intervention on the active chassis or for an active anti-roll bar, for a provision regarding a correction angle of an active one Steering and / or for an enlargement of a dynamic servo support for a steering compensation of the interference.
  • the present invention provides a system and a method for roll stabilization of a motor vehicle, in particular buses, vans, off-road vehicles or the like, in the event of lateral interfering influences, such as cross winds or uneven ground or ground inclinations, in order to adjust the side tilt of the vehicle by correspondingly controlling the shock absorber hardness of the individual To compensate wheels associated shock absorber devices.
  • the differential quotient of the lateral acceleration can advantageously be used in order to massively change the hardness of the rebound or the hardness of the compression on the opposite side.
  • the lateral acceleration sensor has a particularly high sensitivity to roll disturbances.
  • This sensitivity is significantly higher than that of a rotation rate sensor around the longitudinal axis and is therefore more meaningful with regard to the totality of the interference, including overlaid interference.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

L'invention concerne un système antiroulis pour un véhicule à moteur, notamment un autocar, un utilitaire léger, un tout-terrain ou un véhicule analogue, ce système comprenant les éléments suivants: au moins un dispositif de détection (2) d'accélération transversale, disposée dans le pavillon du véhicule (1) pour saisir une accélération transversale agissant sur le véhicule (1); un appareil de commande (3) relié au dispositif de détection (2) d'accélération transversale pour recevoir les données d'accélération transversale saisies; au moins un dispositif d'amortissement (4) associé à une roue du véhicule (1) et réglable en dureté. L'appareil de commande (3) est relié au dispositif d'amortissement (4) pour le réglage dynamique d'une dureté d'amortissement du dispositif d'amortissement (4), cette dureté compensant le couple de rotation provoqué par l'accélération transversale saisie. L'invention porte également sur un procédé antiroulis correspondant.
PCT/EP2004/013804 2003-12-20 2004-12-04 Systeme et procede antiroulis pour des vehicules a moteur, notamment des autocars, des utilitaires legers, des vehicules tout terrain ou analogues WO2005063514A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10360133.3 2003-12-20
DE10360133 2003-12-20
DE102004035038.8 2004-07-20
DE102004035038A DE102004035038A1 (de) 2003-12-20 2004-07-20 System und Verfahren zur Wankstabilisierung eines Kraftfahrzeuges, insbesondere von Bussen, Transportern, Geländewagen oder dergleichen

Publications (1)

Publication Number Publication Date
WO2005063514A1 true WO2005063514A1 (fr) 2005-07-14

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PCT/EP2004/013804 WO2005063514A1 (fr) 2003-12-20 2004-12-04 Systeme et procede antiroulis pour des vehicules a moteur, notamment des autocars, des utilitaires legers, des vehicules tout terrain ou analogues

Country Status (1)

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WO (1) WO2005063514A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1757472A1 (fr) 2005-08-25 2007-02-28 Steyr-Daimler-Puch Spezialfahrzeug GmbH Procédé pour l'opération d'un arrangement pour un système de gonflage de pneus de véhicules automobiles
DE102018119913A1 (de) * 2018-08-16 2020-02-20 Man Truck & Bus Se Fahrerhauslagerung für ein Nutzfahrzeug, Nutzfahrzeug und Verfahren zur Einstellung einer Dämpfung einer Fahrerhauslagerung
CN115228869A (zh) * 2022-07-12 2022-10-25 国网浙江省电力有限公司台州供电公司 一种光伏运维清洗机器人

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DE2331616A1 (de) 1973-06-22 1975-01-23 Bosch Gmbh Robert Einrichtung zur kompensation von seitenwind- und anderen, eine seitenabweichung eines kraftfahrzeugs bewirkenden stoerkraeften
DE2844413A1 (de) 1978-10-12 1980-04-30 Daimler Benz Ag Verfahren und vorrichtung zum aufrichten von fahrzeugen entgegen einer kurvenneigung
JPS622166A (ja) * 1985-06-28 1987-01-08 Nissan Motor Co Ltd 横加速度検出装置
JPH01190519A (ja) * 1988-01-27 1989-07-31 Nissan Motor Co Ltd 能動型サスペンション装置
DE3821610A1 (de) 1988-06-27 1989-12-28 Bayerische Motoren Werke Ag Regelungseinrichtung zur wankstabilisierung eines fahrzeugs
JPH0220412A (ja) * 1988-07-08 1990-01-24 Mitsubishi Motors Corp バス用サスペンション装置
JPH02237809A (ja) * 1989-03-10 1990-09-20 Atsugi Unisia Corp サスペンションの制御装置
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JPH04191181A (ja) * 1990-11-26 1992-07-09 Hino Motors Ltd 車両用横転警報装置
EP0556055A2 (fr) * 1992-02-14 1993-08-18 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Système de suspension pour un véhicule automobile
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DE2331616A1 (de) 1973-06-22 1975-01-23 Bosch Gmbh Robert Einrichtung zur kompensation von seitenwind- und anderen, eine seitenabweichung eines kraftfahrzeugs bewirkenden stoerkraeften
DE2844413A1 (de) 1978-10-12 1980-04-30 Daimler Benz Ag Verfahren und vorrichtung zum aufrichten von fahrzeugen entgegen einer kurvenneigung
JPS622166A (ja) * 1985-06-28 1987-01-08 Nissan Motor Co Ltd 横加速度検出装置
JPH01190519A (ja) * 1988-01-27 1989-07-31 Nissan Motor Co Ltd 能動型サスペンション装置
DE3821610A1 (de) 1988-06-27 1989-12-28 Bayerische Motoren Werke Ag Regelungseinrichtung zur wankstabilisierung eines fahrzeugs
JPH0220412A (ja) * 1988-07-08 1990-01-24 Mitsubishi Motors Corp バス用サスペンション装置
JPH02237809A (ja) * 1989-03-10 1990-09-20 Atsugi Unisia Corp サスペンションの制御装置
JPH0455109A (ja) * 1990-06-20 1992-02-21 Kayaba Ind Co Ltd 油圧システムの制御方法
JPH04191181A (ja) * 1990-11-26 1992-07-09 Hino Motors Ltd 車両用横転警報装置
EP0556055A2 (fr) * 1992-02-14 1993-08-18 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Système de suspension pour un véhicule automobile
JPH07186666A (ja) * 1993-12-24 1995-07-25 Nissan Motor Co Ltd 能動型サスペンション
JPH07266828A (ja) * 1994-03-31 1995-10-17 Nissan Diesel Motor Co Ltd 電子制御エアサスペンション車用制御装置
JPH07315026A (ja) * 1994-05-25 1995-12-05 Suzuki Motor Corp 車両用サスペンション制御装置
JPH08300927A (ja) * 1995-05-01 1996-11-19 Mitsubishi Motors Corp 姿勢制御方法及び姿勢制御装置
JPH0939535A (ja) * 1995-07-27 1997-02-10 Isuzu Motors Ltd 電子制御式空気ばね懸架装置
EP0940273A2 (fr) * 1998-03-06 1999-09-08 Toyota Jidosha Kabushiki Kaisha Dispositif pour estimer le roulis d'une carosserie de véhicule utilisant des valeurs limites d'angle et de vitesse angulaire de roulis
DE19922154A1 (de) * 1998-05-14 1999-12-02 Toyota Motor Co Ltd Vorrichtung zum Erzeugen elektrischer Signale die die Giergeschwindigkeit, die Querbeschleunigung und die Wankgeschwindigkeit der Fahrzeugkarosserie repräsentieren
US6419240B1 (en) * 1998-09-29 2002-07-16 Land Rover Vehicle roll control
JP2003320830A (ja) * 2002-04-30 2003-11-11 Hitachi Unisia Automotive Ltd 車両横転防止装置

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Cited By (4)

* Cited by examiner, † Cited by third party
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EP1757472A1 (fr) 2005-08-25 2007-02-28 Steyr-Daimler-Puch Spezialfahrzeug GmbH Procédé pour l'opération d'un arrangement pour un système de gonflage de pneus de véhicules automobiles
DE102018119913A1 (de) * 2018-08-16 2020-02-20 Man Truck & Bus Se Fahrerhauslagerung für ein Nutzfahrzeug, Nutzfahrzeug und Verfahren zur Einstellung einer Dämpfung einer Fahrerhauslagerung
CN115228869A (zh) * 2022-07-12 2022-10-25 国网浙江省电力有限公司台州供电公司 一种光伏运维清洗机器人
CN115228869B (zh) * 2022-07-12 2023-11-28 国网浙江省电力有限公司台州供电公司 一种光伏运维清洗机器人

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