CN104386065B - A kind of automobile roll center position measurement device and computational methods thereof - Google Patents
A kind of automobile roll center position measurement device and computational methods thereof Download PDFInfo
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- CN104386065B CN104386065B CN201410772133.0A CN201410772133A CN104386065B CN 104386065 B CN104386065 B CN 104386065B CN 201410772133 A CN201410772133 A CN 201410772133A CN 104386065 B CN104386065 B CN 104386065B
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- 238000000205 computational method Methods 0.000 title claims abstract description 7
- 239000000725 suspension Substances 0.000 claims abstract description 43
- 230000001133 acceleration Effects 0.000 claims description 22
- 238000004364 calculation method Methods 0.000 claims description 3
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- 238000000034 method Methods 0.000 description 3
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- 238000006563 Carroll rearrangement reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/109—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/11—Pitch movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/112—Roll movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/18—Roll
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to a kind of automobile roll center position measurement device, for the existing deficiency that automobile roll and rollover research are existed, propose a kind of automobile roll center position measurement device, including rear left wheel vertical load sensor, left rear suspension, barycenter sensing unit, computing unit, right rear suspension, right rear wheel vertical load sensor, vehicle speed sensor, left front suspension, front left wheel vertical load sensor, right front wheel vertical load sensor, right front suspension etc..The invention still further relates to a kind of automobile roll center computational methods.Use invention can be according to the vertical load of each wheel of automobile, the yaw velocity of automobile, the angle of heel of automobile and the speed of operation of automobile, calculate automobile to occur to roll and the position of roll center during rollover, be effectively improved vehicle side turning prediction and anti-rollover control system effect.
Description
Technical field
The present invention relates to automobile roll and rollover studying technological domain, particularly relate to a kind of automobile roll center position measurement
Device and computational methods thereof.
Background technology
Automobile roll stability is to weigh the important indicator of vehicle safety performance, and automobile occurs significantly to roll, even send out
Raw rollover may cause severe traffic accidents, and its extent of injury is only second to collision scenario accident.For two axle automobiles,
Automobile roll center refer to vehicle body during car body generation roll motion rotate around instantaneous axis and automobile barycenter place horizontal
The intersection point of vertical section, typically represents automobile roll center by Location of Mass Center of Automobiles as reference origin.The most many
Scholar and enterprise, when research automobile roll and rollover, all assume that automobile roll center is constant, and as constant value for vapour
Car rolls and rollover research.But, automobile is when occurring to roll with rollover, and its roll center position is change, and can shadow
Ringing precision and the effect of automobile rollover prevention control system, current technology document fails to realize the survey of automobile roll center
Amount.
Summary of the invention
For the deficiency overcoming current automobile roll to exist with rollover research, the present invention proposes a kind of automobile roll centre bit
Put measurement apparatus and computational methods thereof, it is possible to the mechanics geometric position of roll center when test automobile occurs to roll, for effectively control
Automobile processed prevents rollover provides support.
The technical solution adopted for the present invention to solve the technical problems is: structure a kind of automobile roll center position measurement dress
Put, including wheel, rear left wheel vertical load sensor, left rear suspension, vehicle body, barycenter sensing unit, computing unit, right rear overhang
Frame, right rear wheel vertical load sensor, vehicle speed sensor, rear axle, front axle, left front suspension, front left wheel vertical load
Sensor, right front wheel vertical load sensor, right front suspension；Barycenter sensing unit includes lateral acceleration sensor, yaw
Angular-rate sensor and angle of heel sensor, be fixedly mounted on car load centroid position；Rear axle, two ends and the wheel phase of front axle
Even；The upper end of left rear suspension is connected with vehicle body, and the lower end of left rear suspension is fixedly mounted by rear left wheel vertical load sensor
In rear axle；The upper end of right rear suspension is connected with vehicle body, and right rear wheel vertical load sensor is passed through in the lower end of right rear suspension
It is fixedly mounted in rear axle；The upper end of left front suspension is connected with vehicle body, and the vertical load of front left wheel is passed through in the lower end of left front suspension
Lotus sensor is fixedly mounted on front axle；The upper end of right front suspension is connected with vehicle body, and right front truck is passed through in the lower end of right front suspension
Wheel vertical load sensor is fixedly mounted on front axle；Vehicle speed sensor is fixedly mounted on the middle part of rear axle；Rear left wheel
Vertical load sensor, barycenter sensing unit, right rear wheel vertical load sensor, vehicle speed sensor, the vertical load of front left wheel
Lotus sensor, right front wheel vertical load sensor all electrically connect with computing unit.
The present invention solves another technical scheme that its technical problem used: a kind of automobile roll center calculating side of structure
Method, vehicle is during rolling, and barycenter sensing unit can measure the lateral acceleration at automobile barycenter, yaw velocity, inclination
Angular acceleration and side tilt angle, vehicle speed sensor can measure the speed of operation of automobile, rear left wheel vertical load sensor, right rear wheel
Vertical load sensor, front left wheel vertical load sensor, right front wheel vertical load sensor can measure hanging down suffered by each wheel
To load, computing unit is according to formulaInquire into and vapour
Car roll center is to vertical dimension h on ground, according to formula
Inquire into horizontal range T automobile roll center to right side wheels center1, in formula: g is acceleration of gravity, T is automobile both sides cars
The horizontal range of wheel, M is complete vehicle quality, mLFor spring carried mass, H is the car load barycenter vertical dimension to ground, F1Before Automobile Right
The vertical load of wheel, F2For the vertical load of automobile front left wheel, F3For the vertical load of Automobile Right rear wheel, F4For automobile
The vertical load of rear left wheel, ayFor the lateral acceleration of automobile, ω is the yaw velocity of automobile,For the angle of heel of automobile,For the roll angle acceleration of automobile, u is the speed of operation of automobile；F1、F2、F3And F4Passed by right front wheel vertical load respectively
Sensor, front left wheel vertical load sensor, right rear wheel vertical load sensor and rear left wheel vertical load sensor are anti-
Reflect, ay、ω、WithBeing reflected by barycenter sensing unit, u is reflected by vehicle speed sensor.
Computing unit is hung down by right front wheel vertical load sensor, front left wheel vertical load sensor, right rear wheel
Automobile Right front vehicle wheel is recorded to load transducer, rear left wheel vertical load sensor, barycenter sensing unit and vehicle speed sensor
Vertical load, the vertical load of automobile front left wheel, the vertical load of Automobile Right rear wheel, the vertical load of automobile rear left wheel
Lotus, the lateral acceleration of automobile, the yaw velocity of automobile, the roll angle acceleration of automobile, the angle of heel of automobile and automobile
Speed of operation stores and processes data, exports result of calculation.
The invention has the beneficial effects as follows: can be according to the vertical load of each wheel of automobile, the yaw velocity of automobile, automobile
Angle of heel and the speed of operation etc. of automobile, calculate automobile occur roll with rollover time roll center position, improve automobile
Rollover prediction and anti-rollover control system research precision and effect.
Accompanying drawing explanation
Fig. 1 is automobile and the front view of roll center position-measurement device.
Fig. 2 is automobile and the top view of roll center position-measurement device.
In figure: 1-wheel, 2-rear left wheel vertical load sensor, 3-left rear suspension, 4-roll center, 5-vehicle body, 6-
Barycenter sensing unit, 7-car load barycenter, 8-computing unit, 9-right rear suspension, 10-right rear wheel vertical load sensor, 11-car
Speed sensor, 12-rear axle, 13-front axle, the left front suspension of 14-, 15-front left wheel vertical load sensor, the right front truck of 16-
Wheel vertical load sensor, the right front suspension of 17-.
Detailed description of the invention
For the technical characterstic of this programme can be clearly described, below by detailed description of the invention, and combine accompanying drawing, to this programme
It is illustrated.
Embodiment one
A kind of automobile roll center position measurement device as shown in Figure 1 and Figure 2, including wheel 1, the vertical load of rear left wheel
Lotus sensor 2, left rear suspension 3, vehicle body 5, barycenter sensing unit 6, computing unit 8, right rear suspension 9, right rear wheel vertical load
Sensor 10, vehicle speed sensor 11, rear axle 12, front axle 13, left front suspension 14, front left wheel vertical load sensor 15,
Right front wheel vertical load sensor 16, right front suspension 17；Barycenter sensing unit 6 includes lateral acceleration sensor, yaw angle
Velocity sensor and angle of heel sensor, the car load centroid position being fixedly mounted on vehicle body 5；Rear axle 12, front axle 13
Two ends are connected with wheel 1；The upper end of left rear suspension 3 is connected with vehicle body 5, and the vertical load of rear left wheel is passed through in the lower end of left rear suspension 3
Lotus sensor 2 is fixedly mounted in rear axle 12；The upper end of right rear suspension 9 is connected with vehicle body 5, and the lower end of right rear suspension 9 is passed through
Right rear wheel vertical load sensor 10 is fixedly mounted in rear axle 12；The upper end of left front suspension 14 is connected with vehicle body 5, left front
The lower end of suspension 14 is fixedly mounted on front axle 13 by front left wheel vertical load sensor 15；The upper end of right front suspension 17
Being connected with vehicle body 5, the lower end of right front suspension 17 is fixedly mounted on front axle 13 by right front wheel vertical load sensor 16；
Vehicle speed sensor 11 is fixedly mounted on the middle part of rear axle 12；Rear left wheel vertical load sensor 2, barycenter sensing unit 6, the right side
Rear wheel vertical load sensor 10, vehicle speed sensor 11, front left wheel vertical load sensor 15, right front wheel vertical load
Sensor 16 all electrically connects with computing unit 8.
Embodiment two
The present embodiment provides a kind of automobile roll center computational methods, and automobile is during rolling, and barycenter senses
Unit 6 can measure the lateral acceleration at automobile barycenter, yaw velocity, roll angle acceleration and side tilt angle, and speed senses
Device 11 can measure the speed of operation of automobile, rear left wheel vertical load sensor 2, right rear wheel vertical load sensor 10, a left side
Front vehicle wheel vertical load sensor 15, right front wheel vertical load sensor 16 can measure the vertical load suffered by each wheel, calculate
Unit 8 is according to formulaInquire into and automobile roll center and arrive
Vertical dimension h of barycenter, according to formula
Inquire into horizontal range T automobile roll center to right side wheels center1, in formula, g is acceleration of gravity, and T is automobile both sides cars
The horizontal range of wheel, M is complete vehicle quality, mLFor spring carried mass, H is the car load barycenter vertical dimension to ground, F1Before Automobile Right
The vertical load of wheel, F2For the vertical load of automobile front left wheel, F3For the vertical load of Automobile Right rear wheel, F4For automobile
The vertical load of rear left wheel, ayFor the lateral acceleration of automobile, ω is the yaw velocity of automobile,For the angle of heel of automobile,For the roll angle acceleration of automobile, u is speed；F1、F2、F3And F4Respectively by right front wheel vertical load sensor 16, left front
Wheel vertical load sensor 15, right rear wheel vertical load sensor 10 and rear left wheel vertical load sensor 2 reflect,
ay、ω、WithBeing reflected by barycenter sensing unit 6, u is reflected by vehicle speed sensor 11.
Computing unit 8 is respectively by right front wheel vertical load sensor 16, front left wheel vertical load sensor 15, the right side
Rear wheel vertical load sensor 10, rear left wheel vertical load sensor 2, barycenter sensing unit 6 and vehicle speed sensor 11 are surveyed
Obtain the vertical load of Automobile Right front vehicle wheel, the vertical load of automobile front left wheel, the vertical load of Automobile Right rear wheel, an automobile left side
The vertical load of rear wheel, the lateral acceleration of automobile, the yaw velocity of automobile, the roll angle acceleration of automobile, automobile
The speed of operation of angle of heel and automobile stores and processes data, calculates automobile roll center to the vertical dimension on ground, automobile
Roll center is to the horizontal range at right side wheels center, and exports result of calculation.
Claims (1)
1. an automobile roll center position measurement device, including wheel (1), rear left wheel vertical load sensor (2), left back
Suspension (3), vehicle body (5), barycenter sensing unit (6), computing unit (8), right rear suspension (9), right rear wheel vertical load sense
Device (10), vehicle speed sensor (11), rear axle (12), front axle (13), left front suspension (14), front left wheel vertical load sense
Device (15), right front wheel vertical load sensor (16), right front suspension (17), it is characterised in that barycenter sensing unit (6) includes
Lateral acceleration sensor, yaw-rate sensor and angle of heel sensor, be fixedly mounted on the car load barycenter on vehicle body (5)
Position；Rear axle (12), the two ends of front axle (13) are connected with wheel (1)；The upper end of left rear suspension (3) is connected with vehicle body (5),
The lower end of left rear suspension (3) is fixedly mounted in rear axle (12) by rear left wheel vertical load sensor (2)；Right rear suspension
(9) upper end is connected with vehicle body (5), and the lower end of right rear suspension (9) is by the fixing peace of right rear wheel vertical load sensor (10)
It is contained in rear axle (12)；The upper end of left front suspension (14) is connected with vehicle body (5), and left front car is passed through in the lower end of left front suspension (14)
Wheel vertical load sensor (15) is fixedly mounted on front axle (13)；The upper end of right front suspension (17) is connected with vehicle body (5), right
The lower end of front suspension (17) is fixedly mounted on front axle (13) by right front wheel vertical load sensor (16)；Speed senses
Device (11) is fixedly mounted on the middle part of rear axle (12)；Rear left wheel vertical load sensor (2), barycenter sensing unit (6), the right side
Rear wheel vertical load sensor (10), vehicle speed sensor (11), front left wheel vertical load sensor (15), right front wheel are hung down
All electrically connect with computing unit (8) to load transducer (16).
2. automobile roll center computational methods, it is characterised in that barycenter sensing unit (6) can measure automobile barycenter
The lateral acceleration of automobile, the yaw velocity of automobile, the roll angle acceleration of automobile and the side tilt angle of automobile, the speed at place
Sensor (11) can measure the speed of operation of automobile, and rear left wheel vertical load sensor (2), right rear wheel vertical load pass
Sensor (10), front left wheel vertical load sensor (15), right front wheel vertical load sensor (16) can measure each wheel
Suffered vertical load, computing unit (8) is according to formula
Inquire into vertical dimension h automobile roll center to ground, store and export result of calculation；Computing unit (8) is according to public affairs
Formula
Inquire into horizontal range T automobile roll center to right side wheels center1, in formula, g is acceleration of gravity, and T is automobile both sides
The horizontal range of wheel, M is complete vehicle quality, mLFor spring carried mass, H is the car load barycenter vertical dimension to ground, F1For Automobile Right
The vertical load of front vehicle wheel, F2For the vertical load of automobile front left wheel, F3For the vertical load of Automobile Right rear wheel, F4For vapour
The vertical load of car rear left wheel, ayFor the lateral acceleration of automobile, ω is the yaw velocity of automobile,Inclination for automobile
Angle,For the roll angle acceleration of automobile, u is speed；F1、F2、F3And F4Respectively by right front wheel vertical load sensor
(16), front left wheel vertical load sensor (15), right rear wheel vertical load sensor (10) and rear left wheel vertical load
Sensor (2) reflects, ay、ω、WithBeing reflected by barycenter sensing unit (6), u is reflected by vehicle speed sensor (11).
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| CN201410772133.0A CN104386065B (en) | 2014-12-12 | 2014-12-12 | A kind of automobile roll center position measurement device and computational methods thereof |
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| CN201410772133.0A CN104386065B (en) | 2014-12-12 | 2014-12-12 | A kind of automobile roll center position measurement device and computational methods thereof |
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| CN104386065B true CN104386065B (en) | 2016-09-28 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104865079B (en) * | 2015-06-14 | 2018-04-13 | 山东交通学院 | A kind of automobile roll comprehensive evaluation index measuring device and its computational methods |
| CN105034740A (en) * | 2015-06-29 | 2015-11-11 | 山东交通学院 | Car rollover time measuring device and car rollover time calculation method |
| CN105675311B (en) * | 2016-04-20 | 2018-04-13 | 山东交通学院 | A kind of motor bus active anti-rollover Control experiment device |
| CN106197416B (en) * | 2016-07-04 | 2023-03-28 | 南京航空航天大学 | Multi-condition automobile rollover index calculation device and method |
| CN106768633B (en) * | 2016-12-15 | 2019-02-26 | 长江大学 | A kind of multiple-axle vehicle quality and centroid position dynamic measurement device and measurement method |
| CN109520469A (en) * | 2017-09-18 | 2019-03-26 | 北京凌云智能科技有限公司 | Vehicle attitude measuring device and attitude measurement method |
| CN112065208A (en) * | 2020-08-24 | 2020-12-11 | 恒大新能源汽车投资控股集团有限公司 | Vehicle window control method and vehicle |
| CN114485879A (en) * | 2022-02-14 | 2022-05-13 | 中国第一汽车股份有限公司 | Vehicle weight estimation method and system |
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| CN204279410U (en) * | 2014-12-12 | 2015-04-22 | 山东交通学院 | A kind of automobile roll center position measurement device |
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| US7165008B2 (en) * | 2003-11-21 | 2007-01-16 | Kelsey-Hayes Company | Vehicle anti-rollover monitor using kinetic energy and lateral acceleration |
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| EP1944228B1 (en) * | 2005-10-07 | 2013-12-25 | Toyota Jidosha Kabushiki Kaisha | Vehicle |
| CN102402644A (en) * | 2011-08-11 | 2012-04-04 | 西北工业大学 | Dynamical model modeling method of vehicle driven on mountainous road |
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