Abstract: In order to allow for a timely and reliable recognition of a rollover event of a vehicle, the angular velocities of the vehicle about the yaw axis, the roll axis, and the pitch axis are measured by way of respective rotation rate sensors. A rollover event is signaled as having been detected if an angular velocity exceeds a definable threshold.

Abstract: An undercarriage with a wheel set capable of self-steering independent of the vehicle body is disclosed. The undercarriage contains, in combination with hollow profile wheels in the wheel sets and primary elastic springs in the longitudinal direction, two lever systems which are self-adjusting, independent of each other and are arranged on the longitudinal sides of an undercarriage. The lever systems forcibly couple the axle ends of the wheel sets on the same rail in the longitudinal direction of the undercarriage and are movable only in opposite directions.