CN102398586B - The method of clamping force, adjusting apparatus controller in other words and the parking brake applied by parking brake for regulation - Google Patents
The method of clamping force, adjusting apparatus controller in other words and the parking brake applied by parking brake for regulation Download PDFInfo
- Publication number
- CN102398586B CN102398586B CN201110267216.0A CN201110267216A CN102398586B CN 102398586 B CN102398586 B CN 102398586B CN 201110267216 A CN201110267216 A CN 201110267216A CN 102398586 B CN102398586 B CN 102398586B
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- CN
- China
- Prior art keywords
- hydraulic pressure
- brake
- precompression
- brake unit
- clamping force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 239000004615 ingredient Substances 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000004913 activation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/741—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on an ultimate actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Braking Systems And Boosters (AREA)
Abstract
A kind of method that the present invention relates to clamping force applied for regulation by parking brake, described clamping force is applied by the brake unit of electronic brake unit and hydraulic pressure.For the method, try to achieve in precompression present in the brake unit of described hydraulic pressure and the clamping force that provided hydraulic pressure for described precompression exceedes this situation of threshold value by described precompression.
Description
Technical field
The present invention relates to a kind of method for regulating the clamping force applied by parking brake in a motor vehicle.
Background technology
Parking brake in already known motor vehicles parking brake in other words, when handling it continuously through the generation of lasting clamping force to make motor vehicles parking in dead ship condition.Parking brake can include that electric brake motor, the regulation of described electric brake motor move through and such as be configured to the brake piston that the drive mechanism of main shaft driving device directly acts on the wheel drag of hydraulic pressure.It is so designed that the size of described electric brake motor, thus until specific slopes degree can make motor vehicles stop only by the braking action of described brake motor.If slopes degree over-limit condition, that is handled the wheel braking device of the hydraulic pressure in motor vehicles the most extraly, for so improving described clamping force, thus ensures the reliable parking of motor vehicles.
Summary of the invention
The task of the present invention is, provides thrust clamping force in other words in an economical manner and reduce the load of described parking brake simultaneously in the parking brake of motor vehicles.
This task is had been resolved by a kind of method for regulating the clamping force applied by parking brake by the present invention.In the method for the clamping force applied by parking brake for regulation, described parking brake has the electronic brake unit including electric brake motor and the brake unit including hydraulic pressure, it is characterized in that, before handling the brake unit of described hydraulic pressure, try to achieve precompression present in the brake unit of described hydraulic pressure, and the clamping force of hydraulic pressure is provided by the precompression in the brake unit of described hydraulic pressure for described precompression this situation of overpressure threshold value.
Can regulate the parking brake in motor vehicles described in utilization in the present inventive method, described parking brake has the electronic brake unit being provided with electric brake motor and the brake unit in addition with hydraulic pressure.By the two brake unit, a share of total clamping force can be produced respectively, wherein corresponding share be sized to variable adjustment between zero and maximum.According to one preferred embodiment, required clamping force is applied as far as possible by described electronic brake unit, the brake unit of wherein said hydraulic pressure is the most addedly handled for this situation, i.e. cannot produce targeted grip power only by described electric brake unit.Correspondingly, it should the clamping force share applied by the brake unit of described hydraulic pressure fluctuation between zero and maximum.
For described in the present inventive method for, can be used for producing clamping force by there is precompression in the brake unit of described hydraulic pressure.Described precompression is a kind of pressure, and driver applies by means of brake pedal and directly measures this pressure after main braking cylinder.Before described precompression is present in the manipulation of described parking brake in time, it is preferred from the previous and/or braking procedure produced by pilot control of existing continuous.Especially in the case of the brake unit of the hydraulic pressure of described parking brake is identical with usual wheel drag, in the loading by brake pedal and/or by driver assistance system such as speed adjusting device (Adaptive Cruise Control-ACC), ESP (ESP) or deceleration device (Controlled Deceleration in the brakes of described hydraulic pressure
With Parking Brake-CDP) produce brake pressure when being braked manipulation, described brake pressure may be used for described parking brake when stopping motor vehicles.Driver's typically brake activation pedal and turn off engine subsequently and/or handle parking brake etc. and the most automatically handle parking brake when motor vehicles is parked on the road of inclination.Due to the braking maneuver carried out by driver just pass by, there is the precompression of hydraulic pressure in brakes, the precompression of this hydraulic pressure may be used for producing clamping force in the present inventive method in described parking brake.
By the present invention, for the precompression this situation of overpressure threshold value in the brake unit of described hydraulic pressure, provide hydraulic pressure, that supplement or unique clamping force only by described precompression, and in the case of there is no the brake unit handling described hydraulic pressure of extra active, provide described clamping force or rather.Advantageously, produce clamping force by described electric brake motor so that total clamping force should be made up of owing to the share of described precompression the share of described electric brake motor and the brake unit of described hydraulic pressure simultaneously.
As the premise of other the clamping force for producing the hydraulic pressure owing to described precompression, can extraly the slopes degree that must exceed gradient threshold value be taken in.The clamping force that described motor produces advantageously is restricted to corresponding numerical value at this, produces this numerical value for corresponding to the slopes degree of described gradient threshold value；This is typically the nominal value of the described clamping force that can produce with motor.
Owing to this processing mode ensure that the method for operation of economy, because extra merit need not be made for situation sufficiently high for precompression in the brake unit of described hydraulic pressure for additionally producing hydraulic pressure.The dump energy being included in hydraulic system is for applying clamping force.
Described precompression is used for producing in the case of exceeding described pressure threshold the clamping force of hydraulic pressure when exceeding gradient threshold value, and described gradient threshold value is exemplarily about 20%.The pressure threshold mentioned in the same breath with described precompression is such as 50bar.
As long as exceeding gradient threshold value, but described precompression being also not reaching to pressure threshold, that the most advantageously handles the brake unit of described hydraulic pressure, for producing the brake pressure of additional hydraulic pressure, in order to produce additional clamping force.In this case, it is impossible to provide described additional clamping force with enough reliabilities only by the precompression in the brake unit of described hydraulic pressure.Therefore the brake unit of described hydraulic pressure is handled, for producing required additional clamping force with the method for hydraulic pressure, in order to reach required targeted grip power.
According to another kind of advantageous embodiment, when less than described gradient threshold value to the precompression in the brake unit of described hydraulic pressure without a moment's thought.In this case, provide described clamping force only by described electronic brake unit, be so designed that the size of described electronic brake unit at this so that motor vehicles is until described gradient threshold value can reliably parking.
According to another kind of advantageous embodiment, from the precompression of the brakes of described hydraulic pressure, try to achieve being mutually related effective pressure with described precompression on the wheel drag of the hydraulic pressure forming described parking brake.The generally wheel drag on rear axle forms described parking brake, thus measures the precompression of brakes and therefrom determine the precompression on the wheel drag of described rear axle.Pressure on front axle and rear axle is among association, the most such as also can produce pressure differential by the brake force distribution of the electronics between the wheel drag of different axletrees.For in view of such pressure differential, for security reasons deducting pressure tolerances on the wheel drag forming described parking brake, method is to deduct pressure tolerances from the precompression tried to achieve of brakes in other words in view of the factor of safety less than 1.Described tolerance or factor of safety are such as 50%, thus only estimate the precompression on the wheel drag of described hydraulic pressure with 50% of the precompression measured by described brakes, and the wheel drag of wherein said hydraulic pressure is the ingredient of parking brake.
Described running in controller in other words regulating for regulating the method for parking brake by the present invention, described adjusting apparatus controller in other words is that the ingredient assembly with described parking brake in other words of the parking brake in described motor vehicles communicates.It may be advantageous that it is described by the function of the present invention to consider to use ESP controller (ESP) to realize as additional function on ESP controller in other words as adjusting apparatus controller in other words.
Accompanying drawing explanation
Other advantage and advantageous embodiment can illustrate from accompanying drawing and know accompanying drawing, wherein:
Accompanying drawing 1 is the flow chart for implementing the method for being adjusted the clamping force applied by parking brake.
Detailed description of the invention
Flow chart shown in Figure 1 relates to a kind of method of clamping force applied for regulation by parking brake, on the one hand wherein said parking brake includes the electronic brake unit with electric brake motor and on the other hand includes the brake unit of hydraulic pressure, the wheel drag of the hydraulic pressure that the brake unit of this hydraulic pressure is configured on the rear axle of motor vehicles.The brake unit of described hydraulic pressure is the ingredient of the motor vehicle brake of usual hydraulic pressure.Described electric brake motor is placed on the caliper of wheel drag and to the brake piston loading of hydraulic pressure.
In first method step 1, first measure the slopes degree on road surface, should be by motor vehicle parking on described road surface at this.Inquiring in next method step 2, whether described slopes degree exceedes the gradient threshold value of such as 20%.So long as not this situation, that is just followed no-branch (" N ") and proceeds to next method step 3, step 3 targeted grip power F in the methodNManipulation only by the electric brake motor in described electronic brake unit produces.After unclamping parking brake, again can be from above implementing whole method according to method step 1.
If the inquiry in step 2 shows, described slopes degree exceedes attached troops to a unit threshold value, that just follow be-branch (" Y ") proceeds to next method step 4.Trying to achieve the precompression in the brake unit of described hydraulic pressure in method step 4, the brake unit of wherein said hydraulic pressure is the ingredient of parking brake.The described brake unit as the hydraulic pressure of the ingredient of parking brake is the wheel drag of the hydraulic pressure on the rear axle of motor vehicles.Described precompression is may determine that in brakes, but described precompression such as due to the intervention that carried out by the brake force distribution apparatus of electronics and not must be identical with the brake pressure on rear axle, at this by being distributed brake force between the brake force distribution apparatus of described electronics wheel drag on front axle and rear axle.Precompression p produced by the brake pedal owing to being carried out should be tried to achieve by driver at thish,vor.And equally should estimate with precompressed force value for foundation equally owing to the brake pressure of the intervention of driver assistance system.
For trying to achieve the pressure p on the wheel drag of rear axleh,Ha, first measure precompression by means of pressure transducer.In order in view of the possible deviation between the pressure on system pressure and rear axle, and this point is not reflected in security loss aspect, by from measured precompression ph,vorIn deduct this mode of pressure tolerances to the pressure p on the wheel drag trying to achieve rear axleh,Ha.Described pressure tolerances is such as 50%, thus supposes the precompression estimated on the wheel drag of the formation parking brake of rear axle with the numerical value of the half of measured precompression.
Try to achieve the precompression p of described brakesh,vorAfterwards, checking in next method step, whether described precompression exceedes the pressure threshold of such as 50bar.If this point is not suitable for, that is just followed no-branch and proceeds to method step 6 and the most only up to regulate electronic brake force F of maximum possibleN,elFront control described in electronic brake unit and also handle the brake unit of described hydraulic pressure, addedly produce additional brake pressure p by the brake unit of described hydraulic pressureh,zus, for providing clamping force F of hydraulic pressureN,h。
Precompression p if the inquiry in opposite approach step 5 shows, in the brakes of described hydraulic pressureh,vorOverpressure threshold value, that just follow be-branch proceeds to method step 7.According to method step 7, produced electronic clamping force F of the nominal in other words of maximum by described electronic brake unitN,el, in addition only by the precompression p in the brake unit of described hydraulic pressureh,vorThe additional clamping force F of hydraulic pressure is providedN,h, it is used for reaching required targeted grip power.
After terminating described method after method step 6 in other words 7, return to again the beginning of method flow i.e. step 1 and again implement whole method when again handling parking brake.
Claims (11)
1. clamping force (the F applied by parking brake for regulationN) method, wherein said parking brake has the electronic brake unit including electric brake motor and the brake unit including hydraulic pressure, it is characterized in that, before handling the brake unit of described hydraulic pressure, try to achieve precompression (p present in the brake unit of described hydraulic pressureh,vor), and for described precompression (ph,vor) for this situation of overpressure threshold value by the precompression (p in the brake unit of described hydraulic pressureh,vor) clamping force (F of hydraulic pressure is providedN,h).
2. the method as described in claim 1, it is characterised in that by the precompression (p in the brake unit of described hydraulic pressure for slopes degree exceedes this situation of gradient threshold valueh,vor) clamping force (F of hydraulic pressure is providedN,h).
3. the method as described in claim 2, it is characterised in that the clamping force (F produced in described electronic brake unitN,el) it is limited to corresponding numerical value, for corresponding to the slopes degree of gradient threshold value, produce this numerical value.
4. the method as described in claim 1, it is characterised in that for described precompression (ph,vor) less than pressure threshold and for simultaneously slopes degree exceedes this situation of gradient threshold value, the brake unit of described hydraulic pressure generates extra brake pressure (ph,zus), it is used for producing additional clamping force (FN,h).
5. the method as described in claim 2 or 4, it is characterised in that to the precompression (p in the brake unit of described hydraulic pressure when less than described gradient threshold valueh,vor) do not consider and provide the described clamping force (F applied by parking brake only by described electronic brake unitN).
6. the method as described in claim 1, it is characterised in that the precompression (p from the brake unit of described hydraulic pressureh,vorPressure (the p on the wheel drag forming parking brake is tried to achieve in)h,Ha).
7. the method as described in claim 6, it is characterised in that the precompression (p in the brake unit of the hydraulic pressure of measuring machine motor-carh,vor) and therefrom determine the pressure (p on the wheel drag of the formation parking brake on rear axleh,Ha).
8. the method as described in claim 6 or 7, it is characterised in that formed the pressure (p on the wheel drag of described formation parking brake on the basis of the known precompression in the brake unit of described hydraulic pressure by estimationh,Ha).
9. the method as described in claim 8, it is characterised in that form the pressure (p on the wheel drag of the described formation parking brake formed by estimation by deducting this mode of pressure tolerances in the known precompression from the brake unit of described hydraulic pressureh,Ha).
10. adjusting apparatus controller in other words, for implementing the method as according to any one of claim 1 to 9.
Parking brake in 11. motor vehicles, has the controller in other words of the adjusting apparatus as described in claim 10.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010040570.1 | 2010-09-10 | ||
| DE102010040570A DE102010040570A1 (en) | 2010-09-10 | 2010-09-10 | Method for adjusting the clamping force exerted by a parking brake |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102398586A CN102398586A (en) | 2012-04-04 |
| CN102398586B true CN102398586B (en) | 2016-08-24 |
Family
ID=44908366
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110267216.0A Active CN102398586B (en) | 2010-09-10 | 2011-09-09 | The method of clamping force, adjusting apparatus controller in other words and the parking brake applied by parking brake for regulation |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN102398586B (en) |
| DE (1) | DE102010040570A1 (en) |
| FR (1) | FR2964630A1 (en) |
| GB (1) | GB2483565A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107237848B (en) * | 2017-07-03 | 2019-01-25 | 同济大学 | Brake torque based on intelligent driver regulates and controls method |
| CN114715096B (en) * | 2022-05-18 | 2023-04-11 | 中国第一汽车股份有限公司 | Vehicle control method, device, electronic device and storage medium |
| CN115339429A (en) * | 2022-09-05 | 2022-11-15 | 北京汽车集团越野车有限公司 | Vehicle, and vehicle parking control method and device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1479681A (en) * | 2000-12-18 | 2004-03-03 | 3 | Method and system for controlling brake device which can be activated when motor vehicle is stationary |
| DE10345485A1 (en) * | 2003-09-30 | 2005-04-21 | Volkswagen Ag | Brake device for motor vehicle, comprises a hydraulic pressure generator and an electric unit for additional tensioning of brake device |
| CN1874918A (en) * | 2003-10-31 | 2006-12-06 | 卢卡斯汽车股份有限公司 | Method for stabilizing a motor vehicle whose speed is reduced to a standstill and brake system for carrying out said method |
| CN1942353A (en) * | 2004-01-30 | 2007-04-04 | 卢卡斯汽车股份有限公司 | Method for operating the brake gear of a vehicle |
| CN201415674Y (en) * | 2009-04-13 | 2010-03-03 | 浙江亚太机电股份有限公司 | Manual electrical-controlled parking and auxiliary starting control system for variable-speed automobile |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4664749B2 (en) * | 2005-06-28 | 2011-04-06 | 本田技研工業株式会社 | Brake device for vehicle |
| JP2007100723A (en) * | 2005-09-30 | 2007-04-19 | Hitachi Ltd | Disc brake |
| JP2008143386A (en) * | 2006-12-11 | 2008-06-26 | Toyota Motor Corp | Brake control system |
| JP5141911B2 (en) * | 2009-01-28 | 2013-02-13 | 日立オートモティブシステムズ株式会社 | Disc brake |
-
2010
- 2010-09-10 DE DE102010040570A patent/DE102010040570A1/en not_active Ceased
-
2011
- 2011-09-02 FR FR1157791A patent/FR2964630A1/en not_active Withdrawn
- 2011-09-09 GB GB1115664.3A patent/GB2483565A/en not_active Withdrawn
- 2011-09-09 CN CN201110267216.0A patent/CN102398586B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1479681A (en) * | 2000-12-18 | 2004-03-03 | 3 | Method and system for controlling brake device which can be activated when motor vehicle is stationary |
| DE10345485A1 (en) * | 2003-09-30 | 2005-04-21 | Volkswagen Ag | Brake device for motor vehicle, comprises a hydraulic pressure generator and an electric unit for additional tensioning of brake device |
| CN1874918A (en) * | 2003-10-31 | 2006-12-06 | 卢卡斯汽车股份有限公司 | Method for stabilizing a motor vehicle whose speed is reduced to a standstill and brake system for carrying out said method |
| CN1942353A (en) * | 2004-01-30 | 2007-04-04 | 卢卡斯汽车股份有限公司 | Method for operating the brake gear of a vehicle |
| CN201415674Y (en) * | 2009-04-13 | 2010-03-03 | 浙江亚太机电股份有限公司 | Manual electrical-controlled parking and auxiliary starting control system for variable-speed automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102010040570A1 (en) | 2012-03-15 |
| GB2483565A (en) | 2012-03-14 |
| FR2964630A1 (en) | 2012-03-16 |
| GB201115664D0 (en) | 2011-10-26 |
| CN102398586A (en) | 2012-04-04 |
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