BR112018009409A8 - método de controle de força de frenagem/acionamento e dispositivo de controle de força de frenagem/acionamento - Google Patents
método de controle de força de frenagem/acionamento e dispositivo de controle de força de frenagem/acionamentoInfo
- Publication number
- BR112018009409A8 BR112018009409A8 BR112018009409A BR112018009409A BR112018009409A8 BR 112018009409 A8 BR112018009409 A8 BR 112018009409A8 BR 112018009409 A BR112018009409 A BR 112018009409A BR 112018009409 A BR112018009409 A BR 112018009409A BR 112018009409 A8 BR112018009409 A8 BR 112018009409A8
- Authority
- BR
- Brazil
- Prior art keywords
- torque
- driver demand
- amount
- demand torque
- drive control
- Prior art date
Links
- 230000007423 decrease Effects 0.000 abstract 5
- 230000001133 acceleration Effects 0.000 abstract 4
- 230000003247 decreasing effect Effects 0.000 abstract 1
Classifications
-
- 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
- B60W30/14—Adaptive cruise control
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
- B60K26/021—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements with means for providing feel, e.g. by changing pedal force characteristics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/10—Interpretation of driver requests or demands
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/24—Speed setting methods
- B60K2310/248—Speed setting methods resuming speed control, e.g. returning to old target 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0657—Engine torque
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
- B60W2540/103—Accelerator thresholds, e.g. kickdown
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Mathematical Physics (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
Abstract
quando um torque de demanda de motorista dependendo de uma quantidade de operação de um pedal de acelerador é igual ou menor que um torque de frenagem/acionamento alvo para permitir que o veículo desloque na velocidade de deslocamento definida pelo motorista, a aceleração/desaceleração do veículo é controlada dependendo do torque de frenagem/acionamento alvo, quando o torque de demanda de motorista excede o torque de frenagem/acionamento alvo, a aceleração/desaceleração é controlada dependendo do torque de demanda de motorista, quando a quantidade de operação do pedal de acelerador diminui após o torque de demanda de motorista exceder o torque de frenagem/acionamento alvo, o torque de demanda de motorista é diminuído dependendo da diminuição na quantidade de operação do pedal de acelerador, a taxa de diminuição do torque de demanda de motorista dependendo da diminuição na quantidade de operação do pedal de acelerador é definida para ser menor que a taxa de diminuição para um caso onde o motorista não define a velocidade de deslocamento, e a aceleração/desaceleração é controlada com base no torque de demanda de motorista definido, e quando a quantidade de operação do pedal de acelerador se torna zero subsequentemente, a aceleração/desaceleração é controlada dependendo do torque de frenagem/acionamento alvo.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2015/005585 WO2017081713A1 (ja) | 2015-11-09 | 2015-11-09 | 制駆動力制御方法及び制駆動力制御装置 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| BR112018009409A2 BR112018009409A2 (pt) | 2018-11-13 |
| BR112018009409A8 true BR112018009409A8 (pt) | 2019-02-26 |
| BR112018009409B1 BR112018009409B1 (pt) | 2022-05-03 |
Family
ID=58695964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| BR112018009409-9A BR112018009409B1 (pt) | 2015-11-09 | 2015-11-09 | Método de controle de força de frenagem/acionamento e dispositivo de controle de força de frenagem/acionamento |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US10220848B2 (pt) |
| EP (1) | EP3375679B1 (pt) |
| JP (1) | JP6458877B2 (pt) |
| KR (1) | KR101964026B1 (pt) |
| CN (1) | CN108349493B (pt) |
| BR (1) | BR112018009409B1 (pt) |
| CA (1) | CA3004535C (pt) |
| MX (1) | MX369188B (pt) |
| MY (1) | MY183379A (pt) |
| RU (1) | RU2693424C1 (pt) |
| WO (1) | WO2017081713A1 (pt) |
Families Citing this family (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6165378B1 (ja) * | 2015-10-26 | 2017-07-19 | 三菱電機株式会社 | 車速制御装置 |
| KR101986472B1 (ko) * | 2015-11-09 | 2019-06-05 | 닛산 지도우샤 가부시키가이샤 | 제구동력 제어 방법 및 제구동력 제어 장치 |
| CN107813805A (zh) * | 2016-09-09 | 2018-03-20 | 比亚迪股份有限公司 | 陡坡缓降系统及其控制方法 |
| KR20190072311A (ko) * | 2017-12-15 | 2019-06-25 | 현대자동차주식회사 | 차량의 속도 제한 장치 및 그 방법 |
| GB2576480B (en) * | 2018-03-26 | 2021-02-10 | Tata Motors European Technical Ct Plc | Control system and method |
| DE102018207810B4 (de) * | 2018-05-17 | 2021-03-25 | Bayerische Motoren Werke Aktiengesellschaft | Übersteuerung von Streckenevents im automatischen Längsführungsbetrieb |
| JP7464355B2 (ja) * | 2018-08-07 | 2024-04-09 | トヨタ自動車株式会社 | 制動力制御装置、制御装置、マネージャ、方法、プログラム、アクチュエータシステム、および車両 |
| JP7070325B2 (ja) * | 2018-10-23 | 2022-05-18 | トヨタ自動車株式会社 | 車両の制御装置 |
| JP7139875B2 (ja) * | 2018-10-25 | 2022-09-21 | トヨタ自動車株式会社 | 車両の制御装置 |
| KR102545107B1 (ko) * | 2018-12-03 | 2023-06-20 | 현대자동차주식회사 | 친환경 자동차 및 그를 위한 강판 주행 제어 방법 |
| US20200180432A1 (en) * | 2018-12-11 | 2020-06-11 | Atieva, Inc. | Accelerator Pedal Providing Regenerative Brake Feedback |
| JP7295688B2 (ja) * | 2019-04-02 | 2023-06-21 | 株式会社Subaru | 車両の制御装置 |
| JP7234780B2 (ja) * | 2019-04-26 | 2023-03-08 | 株式会社ジェイテクト | 転舵制御装置 |
| JP7331654B2 (ja) * | 2019-11-21 | 2023-08-23 | トヨタ自動車株式会社 | 制動力制御装置 |
| JP6798599B1 (ja) * | 2019-11-29 | 2020-12-09 | 株式会社明電舎 | 車速指令生成装置及び車速指令生成方法 |
| CN112092640B (zh) * | 2019-12-03 | 2022-01-28 | 长城汽车股份有限公司 | 新能源车辆的控制方法和装置 |
| CN112297861B (zh) * | 2020-01-16 | 2022-07-12 | 长城汽车股份有限公司 | 一种停车方法及装置 |
| CN111409450B (zh) * | 2020-03-31 | 2022-03-15 | 东风航盛（武汉）汽车控制系统有限公司 | 一种车辆的单踏板模式控制方法 |
| CN111619575A (zh) * | 2020-06-05 | 2020-09-04 | 江铃汽车股份有限公司 | 车速控制系统、方法和车辆 |
| KR20210152209A (ko) * | 2020-06-08 | 2021-12-15 | 현대자동차주식회사 | 하이브리드 차량의 제어 장치 및 방법 |
| JP7331814B2 (ja) * | 2020-09-28 | 2023-08-23 | トヨタ自動車株式会社 | 車両用制御装置、及び車両用制御プログラム |
| US11560133B2 (en) * | 2020-09-29 | 2023-01-24 | GM Global Technology Operations LLC | Systems and methods for limiting engine torque and controlling a clutch |
| CN112477865B (zh) * | 2020-12-02 | 2022-02-11 | 南京航空航天大学 | 一种基于驾驶员制动行为预测的再生制动控制方法 |
| CN115027280A (zh) * | 2021-03-05 | 2022-09-09 | 台达电子工业股份有限公司 | 用于电动载具中的速度命令产生单元及速度命令产生方法 |
| JP2022146034A (ja) * | 2021-03-22 | 2022-10-05 | 本田技研工業株式会社 | 車両制御装置 |
| JP2022154943A (ja) * | 2021-03-30 | 2022-10-13 | 本田技研工業株式会社 | 車両用制御システム、車両、制御方法 |
| JP7501426B2 (ja) | 2021-03-30 | 2024-06-18 | 株式会社アドヴィックス | 車両の制動制御装置 |
| US11753009B2 (en) | 2021-04-30 | 2023-09-12 | Nissan North America, Inc. | Intelligent pedal lane change assist |
| US11702075B2 (en) * | 2021-04-30 | 2023-07-18 | Nissan North America, Inc. | System and method for proactive lane assist |
| US20230150371A1 (en) * | 2021-11-18 | 2023-05-18 | GM Global Technology Operations LLC | Automated friction brake assisted vehicle stop |
| CN117429422A (zh) * | 2022-07-14 | 2024-01-23 | 睿能创意公司 | 车辆操控方法、车辆及非暂时性计算机可读储存媒体 |
Family Cites Families (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07164917A (ja) * | 1993-12-15 | 1995-06-27 | Aisin Seiki Co Ltd | 車両用定速走行制御装置 |
| JP3794242B2 (ja) | 2000-05-23 | 2006-07-05 | 日産自動車株式会社 | 車速制御装置 |
| JP2003237421A (ja) * | 2002-02-18 | 2003-08-27 | Nissan Motor Co Ltd | 車両の駆動力制御装置 |
| JP2003327013A (ja) * | 2002-05-16 | 2003-11-19 | Nissan Motor Co Ltd | 車両の駆動力制御装置 |
| JP4039184B2 (ja) * | 2002-08-29 | 2008-01-30 | 株式会社アドヴィックス | クリープ走行制御装置 |
| JP4301162B2 (ja) | 2004-12-21 | 2009-07-22 | トヨタ自動車株式会社 | 加減速度制御装置 |
| JP4864655B2 (ja) * | 2006-11-14 | 2012-02-01 | 富士重工業株式会社 | 走行制御装置 |
| JP5007576B2 (ja) * | 2007-02-21 | 2012-08-22 | 株式会社アドヴィックス | 車両挙動制御装置 |
| JP4931714B2 (ja) * | 2007-07-11 | 2012-05-16 | 株式会社デンソー | 車速制御装置及び車速制御プログラム |
| US8596390B2 (en) * | 2007-12-05 | 2013-12-03 | Ford Global Technologies, Llc | Torque control for hybrid electric vehicle speed control operation |
| JP5316171B2 (ja) * | 2008-09-09 | 2013-10-16 | 日産自動車株式会社 | 車両用制動力制御装置 |
| JP4806704B2 (ja) | 2008-12-04 | 2011-11-02 | 本田技研工業株式会社 | 車両用走行制御装置 |
| JP5184406B2 (ja) * | 2009-03-11 | 2013-04-17 | 富士重工業株式会社 | 電気自動車の制御装置 |
| JP4920054B2 (ja) * | 2009-03-30 | 2012-04-18 | 株式会社日立製作所 | 車両運動制御装置 |
| DE112010005663T5 (de) * | 2010-06-15 | 2013-05-29 | Toyota Jidosha Kabushiki Kaisha | Fahrassistenzsystem |
| DE102010061383B4 (de) * | 2010-12-21 | 2019-10-24 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zur Steuerung eines Schubbetriebes eines Kraftfahrzeugs |
| US9002578B2 (en) * | 2011-07-20 | 2015-04-07 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
| JP2014162452A (ja) * | 2013-02-27 | 2014-09-08 | Aisin Seiki Co Ltd | 駆動力制御装置 |
-
2015
- 2015-11-09 US US15/774,418 patent/US10220848B2/en active Active
- 2015-11-09 MY MYPI2018701791A patent/MY183379A/en unknown
- 2015-11-09 MX MX2018005748A patent/MX369188B/es active IP Right Grant
- 2015-11-09 CA CA3004535A patent/CA3004535C/en active Active
- 2015-11-09 EP EP15908237.9A patent/EP3375679B1/en active Active
- 2015-11-09 JP JP2017549870A patent/JP6458877B2/ja active Active
- 2015-11-09 WO PCT/JP2015/005585 patent/WO2017081713A1/ja active Application Filing
- 2015-11-09 KR KR1020187015264A patent/KR101964026B1/ko active IP Right Grant
- 2015-11-09 RU RU2018121285A patent/RU2693424C1/ru active
- 2015-11-09 BR BR112018009409-9A patent/BR112018009409B1/pt active IP Right Grant
- 2015-11-09 CN CN201580084337.8A patent/CN108349493B/zh active Active
Also Published As
| Publication number | Publication date |
|---|---|
| MY183379A (en) | 2021-02-18 |
| CA3004535A1 (en) | 2017-05-18 |
| KR20180077248A (ko) | 2018-07-06 |
| CN108349493A (zh) | 2018-07-31 |
| MX2018005748A (es) | 2018-08-01 |
| MX369188B (es) | 2019-10-31 |
| KR101964026B1 (ko) | 2019-03-29 |
| EP3375679B1 (en) | 2019-08-07 |
| EP3375679A1 (en) | 2018-09-19 |
| US20180319397A1 (en) | 2018-11-08 |
| JP6458877B2 (ja) | 2019-02-06 |
| EP3375679A4 (en) | 2018-11-14 |
| WO2017081713A1 (ja) | 2017-05-18 |
| BR112018009409A2 (pt) | 2018-11-13 |
| JPWO2017081713A1 (ja) | 2018-05-31 |
| CN108349493B (zh) | 2019-06-14 |
| US10220848B2 (en) | 2019-03-05 |
| CA3004535C (en) | 2018-09-18 |
| RU2693424C1 (ru) | 2019-07-02 |
| BR112018009409B1 (pt) | 2022-05-03 |
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