How to stop row array from overflowing to next line

Question

I am new to TeX, and I love it, but one thing drives me crazy. For a lot of courses, I need to add state row vectors that are bigger than 6 columns. However every time I try to add a row vector using the \bmatrix object the last columns get put on the next line. Is there a way to prohibit this behaviour maybe by setting the equation for vertical overflow margins or do you have any tips on how to best input such a large column state matrix?

Example:

Input:

\begin{equation}
 x0 = 
\begin{bmatrix}
    x_{1} & y_1 & phi_1 & x_2 & y_2 & phi_2 & \dot{x_1} & \dot{y_1} & \dot{phi_1} & \dot{x_2} & \dot{y_2} & \dot{phi_2}
\end{bmatrix}
\end{equation}

Output

Expected behaviour:

I wanted one big column array which does not overflow until the side margins are reached.

Used packages:

\documentclass[a4paper, 11pt]{article}
\usepackage[utf8]{inputenc}
\usepackage[english]{babel}
\usepackage{amsmath}
\usepackage{graphicx}