CN111263714B - 设有电致动和电后备的、用于车辆的线控制动式制动系统 - Google Patents
设有电致动和电后备的、用于车辆的线控制动式制动系统 Download PDFInfo
- Publication number
- CN111263714B CN111263714B CN201880061304.5A CN201880061304A CN111263714B CN 111263714 B CN111263714 B CN 111263714B CN 201880061304 A CN201880061304 A CN 201880061304A CN 111263714 B CN111263714 B CN 111263714B
- Authority
- CN
- China
- Prior art keywords
- braking
- brake
- group
- control unit
- vehicle
- 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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Classifications
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- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
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- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/92—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means automatically taking corrective action
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- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
- B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/3255—Systems in which the braking action is dependent on brake pedal data
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/36—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/30—ESP control system
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/402—Back-up
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/404—Brake-by-wire or X-by-wire failsafe
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/82—Brake-by-Wire, EHB
-
- 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
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
-
- 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
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/08—Brake-action initiating means for personal initiation hand actuated
- B60T7/085—Brake-action initiating means for personal initiation hand actuated by electrical means, e.g. travel, force sensors
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Fluid Mechanics (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
- Regulating Braking Force (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT102017000105896 | 2017-09-21 | ||
| IT102017000105896A IT201700105896A1 (it) | 2017-09-21 | 2017-09-21 | Impianto frenante per veicoli di tipo brake by wire munito di azionamento elettrico e di back-up elettrico |
| PCT/IB2018/056863 WO2019058204A1 (en) | 2017-09-21 | 2018-09-10 | ELECTRIC WIRE BRAKING SYSTEM FOR VEHICLES HAVING ELECTRICAL ACTUATION AND ELECTRICAL SAFETY |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111263714A CN111263714A (zh) | 2020-06-09 |
| CN111263714B true CN111263714B (zh) | 2023-06-30 |
Family
ID=61006210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880061304.5A Active CN111263714B (zh) | 2017-09-21 | 2018-09-10 | 设有电致动和电后备的、用于车辆的线控制动式制动系统 |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US12145565B2 (enExample) |
| EP (1) | EP3684661B1 (enExample) |
| JP (1) | JP7230009B2 (enExample) |
| CN (1) | CN111263714B (enExample) |
| IT (1) | IT201700105896A1 (enExample) |
| WO (1) | WO2019058204A1 (enExample) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT201900005254A1 (it) * | 2019-04-05 | 2020-10-05 | Freni Brembo Spa | Impianto frenante per veicoli di tipo brake by wire munito di azionamento elettrico e di back-up elettrico |
| DE102020103660A1 (de) | 2020-02-12 | 2021-08-12 | Ipgate Ag | Fahrdynamiksystem, E-Fahrzeug mit zentraler Steuerung (M-ECU) |
| IT202000027071A1 (it) * | 2020-11-12 | 2022-05-12 | Brembo Spa | Assieme frenante di stazionamento |
| KR20220108250A (ko) * | 2021-01-25 | 2022-08-03 | 현대자동차주식회사 | 환경차의 고장 제어 시스템 |
| DE102021108523A1 (de) | 2021-04-06 | 2022-10-06 | Audi Aktiengesellschaft | Bremssystem für ein autonomes Fahrzeug |
| EP4209399A1 (en) * | 2022-01-05 | 2023-07-12 | Volvo Car Corporation | Brake control system for controlling a brake system, vehicle and method for operating a brake control system |
| EP4592150A4 (en) * | 2022-09-30 | 2025-12-03 | Shenzhen Yinwang Intelligent Technology Co Ltd | BRAKING SYSTEM AND CONTROL METHOD AND DEVICE |
| JP2024064114A (ja) * | 2022-10-27 | 2024-05-14 | 株式会社アドヴィックス | ブレーキシステム |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1695886A1 (en) * | 2005-02-28 | 2006-08-30 | Delphi Technologies, Inc. | Fault-tolerant node architecture for distributed systems |
| CN103448559A (zh) * | 2013-08-20 | 2013-12-18 | 联合汽车电子有限公司 | 纯电动汽车用电机制动控制系统 |
Family Cites Families (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60169358A (ja) | 1984-02-13 | 1985-09-02 | Nissan Motor Co Ltd | アンチスキツド制御装置 |
| US20020167218A1 (en) * | 2001-05-09 | 2002-11-14 | Chubb Erik Christopher | Use of steering control to produce deceleration in a vehicle while remaining on a straight ground path |
| JP2004236424A (ja) * | 2003-01-30 | 2004-08-19 | Toyota Motor Corp | 動力出力装置、モータ駆動方法およびモータの駆動制御をコンピュータに実行させるためのプログラムを記録したコンピュータ読取り可能な記録媒体 |
| US6923510B2 (en) * | 2003-09-17 | 2005-08-02 | Delphi Technologies, Inc. | Control of brake-and steer-by-wire systems during brake failure |
| US7437231B2 (en) * | 2005-02-14 | 2008-10-14 | Honeywell International Inc. | Brake system providing at least one enable signal to brake controllers and method of using same |
| JP4754390B2 (ja) * | 2006-04-03 | 2011-08-24 | 日立オートモティブシステムズ株式会社 | 電動ブレーキ装置 |
| DE102007029632A1 (de) * | 2006-06-27 | 2008-01-10 | Continental Teves Ag & Co. Ohg | Feststellbremsanlage für Kraftfahrzeuge |
| US7739014B2 (en) * | 2006-08-30 | 2010-06-15 | Ford Global Technolgies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine a final linear lateral velocity |
| US7837278B2 (en) * | 2007-05-30 | 2010-11-23 | Haldex Brake Products Ab | Redundant brake actuators for fail safe brake system |
| DE102007036259A1 (de) * | 2007-08-02 | 2009-02-05 | Robert Bosch Gmbh | Bremssystem für ein Fahrzeug und ein Verfahren zum Betreiben eines Bremssystems für ein Fahrzeug |
| DE102007036261A1 (de) * | 2007-08-02 | 2009-02-19 | Robert Bosch Gmbh | Bremssystem für ein Fahrzeug und Verfahren zum Betreiben eines Bremssystems für ein Fahrzeug |
| DE102009041449A1 (de) * | 2008-09-27 | 2010-04-01 | Continental Teves Ag & Co. Ohg | Kombinierte Fahrzeugbremsanlage mit hydraulisch und elektromechanisch betätigbaren Radbremsen |
| US8682559B2 (en) * | 2010-12-14 | 2014-03-25 | Nxp B.V. | Distributed electrical brake circuit and system |
| JP5944718B2 (ja) * | 2012-04-04 | 2016-07-05 | Ntn株式会社 | 電動ブレーキ装置 |
| DE102014013756C5 (de) * | 2014-09-22 | 2018-04-26 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Elektrische Ausrüstung eines Fahrzeugs mit einer wenigstens teilweise elektrischen Brems- und Lenkeinrichtung mit hoher Verfügbarkeit |
| JP6589416B2 (ja) * | 2015-07-02 | 2019-10-16 | 三菱自動車工業株式会社 | 電動ブレーキ装置 |
| JP6575175B2 (ja) * | 2015-07-02 | 2019-09-18 | 三菱自動車工業株式会社 | 電動ブレーキ装置 |
| DE102016213169A1 (de) * | 2015-07-30 | 2017-02-02 | Ford Global Technologies, Llc | Verfahren zur Steuerung einer elektrischen Feststellbremse sowie Steuervorrichtung |
| ITUB20152710A1 (it) * | 2015-07-31 | 2017-01-31 | Freni Brembo Spa | Impianto frenante per veicoli, in particolare cicli e motocicli, e metodo di attuazione di un impianto frenante per veicoli |
| US10525957B2 (en) * | 2016-08-31 | 2020-01-07 | GM Global Technology Operations LLC | Brake-by-wire system |
| DE102017002716A1 (de) * | 2017-03-21 | 2018-09-27 | Wabco Gmbh | Elektronisch steuerbares Bremssystem sowie Verfahren zum Steuern des elektronisch steuerbaren Bremssystems |
-
2017
- 2017-09-21 IT IT102017000105896A patent/IT201700105896A1/it unknown
-
2018
- 2018-09-10 WO PCT/IB2018/056863 patent/WO2019058204A1/en not_active Ceased
- 2018-09-10 CN CN201880061304.5A patent/CN111263714B/zh active Active
- 2018-09-10 JP JP2020516426A patent/JP7230009B2/ja active Active
- 2018-09-10 US US16/647,725 patent/US12145565B2/en active Active
- 2018-09-10 EP EP18783571.5A patent/EP3684661B1/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1695886A1 (en) * | 2005-02-28 | 2006-08-30 | Delphi Technologies, Inc. | Fault-tolerant node architecture for distributed systems |
| CN103448559A (zh) * | 2013-08-20 | 2013-12-18 | 联合汽车电子有限公司 | 纯电动汽车用电机制动控制系统 |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2020534206A (ja) | 2020-11-26 |
| CN111263714A (zh) | 2020-06-09 |
| EP3684661B1 (en) | 2021-09-22 |
| JP7230009B2 (ja) | 2023-02-28 |
| WO2019058204A1 (en) | 2019-03-28 |
| EP3684661A1 (en) | 2020-07-29 |
| US20200254988A1 (en) | 2020-08-13 |
| US12145565B2 (en) | 2024-11-19 |
| IT201700105896A1 (it) | 2019-03-21 |
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