Aiming at the rollover problem of concrete mixer truck, the main technical research includes four directions: static rollover test method research, dynamic rollover technology research, rollover warning system research, and anti-rollover control system research. The main research contents and achievements include:

（1）侧向加速度是汽车侧翻的主要诱导因素，单独主动转向可以达到防止混凝土搅拌车侧翻的效果，提出主动转向和制动联合控制来防止混凝土搅拌车侧翻；

(1) Lateral acceleration is the main inducement factor of vehicle rollover. Independent active steering can achieve the effect of preventing the concrete mixer from rollover. A joint control of active steering and braking is proposed to prevent the concrete mixer from rollover;

（2）混凝土运输车在转弯时易产生侧翻现象进行了分析，得出了不同状态下横向行驶的临界状态，分析出混凝土运输车行驶稳定性的影响因素；

(2) This paper analyzes the rollover phenomenon of concrete transporters when turning, obtains the critical state of lateral driving under different states, and analyzes the factors affecting the driving stability of concrete transporters;

（3）针对混凝土搅拌运输车质心变化及螺旋叶片的旋向对行车稳定性的影响进行了探究；

(3) The influence of the change of the mass center of the concrete mixer truck and the rotation direction of the spiral blade on the driving stability is investigated;

（4）计算搅拌筒旋转时的质心变化规律，找出临界侧翻速度与转弯半径的关系，确定转弯时混凝土搅拌运输车车速，搭建虚拟仪器，实时显示在转弯时的车速并预警；

(4) Calculate the change rule of the center of mass when the mixing drum rotates, find out the relationship between the critical rollover speed and the turning radius, determine the safe speed of the concrete mixer truck when turning, build a virtual instrument, display the safe speed when turning in real time and give an early warning;

（5）通过车身姿态的控制来警示液罐车侧翻的研究，利用多体动力学仿真，分析质心位置的改变对液罐车侧翻的影响；

(5) Through the control of body posture to warn the research of tank car rollover, the influence of the change of the center of mass on the tank car rollover is analyzed by using the multi-body dynamics simulation;

（6）基于改进TTR算法的汽车防侧翻预警系统，采用卡曼滤波技术总结传统的TTR算法的优点以及缺点；

(6) The vehicle rollover warning system based on improved TTR algorithm uses Kalman filter technology to summarize the advantages and disadvantages of traditional TTR algorithm;

（7）通过研究混凝土搅拌运输车弯道工况下侧翻的机理，建立不同弯道混凝土搅拌运输车侧翻的动力学模型，根据实车参数进行参数仿真分析，开发出弯道工况混凝土搅拌运输车防侧翻预警系统；

(7) By studying the rollover mechanism of the concrete mixer truck under the bending condition, the dynamic models of the concrete mixer truck rollover in different bending conditions are established, and the parameter simulation analysis is carried out according to the actual vehicle parameters, and the anti-rollover warning system of the concrete mixer truck under the bending condition is developed;

（8）建立混凝土搅拌运输车的三自由度动力学模型，通过PID控制证明主动转向对混凝土搅拌运输车防侧翻有很好的控制效果；

(8) The three-degree-of-freedom dynamic model of the concrete mixer truck is established. Through PID control, it is proved that the active steering has a good control effect on the rollover prevention of the concrete mixer truck;