DE102010003673A1 - Verfahren zum Betreiben eines Fahrzeugs - Google Patents

Verfahren zum Betreiben eines Fahrzeugs Download PDF

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Publication number
DE102010003673A1
DE102010003673A1 DE102010003673A DE102010003673A DE102010003673A1 DE 102010003673 A1 DE102010003673 A1 DE 102010003673A1 DE 102010003673 A DE102010003673 A DE 102010003673A DE 102010003673 A DE102010003673 A DE 102010003673A DE 102010003673 A1 DE102010003673 A1 DE 102010003673A1
Authority
DE
Germany
Prior art keywords
speed
gear
vehicle
drive motor
accelerator pedal
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.)
Withdrawn
Application number
DE102010003673A
Other languages
German (de)
English (en)
Inventor
Georg Mallebrein
Thomas Matschke
Guo-Chang Goh
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE102010003673A priority Critical patent/DE102010003673A1/de
Priority to CN201110085040.7A priority patent/CN102211578B/zh
Priority to FR1152983A priority patent/FR2958613A1/fr
Priority to JP2011085668A priority patent/JP6071170B2/ja
Publication of DE102010003673A1 publication Critical patent/DE102010003673A1/de
Withdrawn legal-status Critical Current

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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
    • 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
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18072—Coasting
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/02—Control by fluid pressure
    • F16D48/04—Control by fluid pressure providing power assistance
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F16H61/0403—Synchronisation before shifting
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18072—Coasting
    • B60W2030/1809—Without torque flow between driveshaft and engine, e.g. with clutch disengaged or transmission in neutral
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0644—Engine 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—Change speed gearings
    • B60W2710/1005—Transmission ratio engaged
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/506—Relating the transmission
    • F16D2500/50676—Optimising drive-train operating point, e.g. selecting gear ratio giving maximum fuel economy, best performance
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/508—Relating driving conditions
    • F16D2500/5085—Coasting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
    • F16H63/42—Ratio indicator devices
    • F16H2063/426—Ratio indicator devices with means for advising the driver for proper shift action, e.g. prompting the driver with allowable selection range of ratios
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H2306/00—Shifting
    • F16H2306/40—Shifting activities
    • F16H2306/54—Synchronizing engine speed to transmission input speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
    • F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Control Of Transmission Device (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
DE102010003673A 2010-04-07 2010-04-07 Verfahren zum Betreiben eines Fahrzeugs Withdrawn DE102010003673A1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE102010003673A DE102010003673A1 (de) 2010-04-07 2010-04-07 Verfahren zum Betreiben eines Fahrzeugs
CN201110085040.7A CN102211578B (zh) 2010-04-07 2011-04-06 汽车运行方法
FR1152983A FR2958613A1 (fr) 2010-04-07 2011-04-06 Procede de gestion d'un vehicule et dispositif pour sa mise en oeuvre
JP2011085668A JP6071170B2 (ja) 2010-04-07 2011-04-07 車両の作動方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010003673A DE102010003673A1 (de) 2010-04-07 2010-04-07 Verfahren zum Betreiben eines Fahrzeugs

Publications (1)

Publication Number Publication Date
DE102010003673A1 true DE102010003673A1 (de) 2011-10-13

Family

ID=44657898

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102010003673A Withdrawn DE102010003673A1 (de) 2010-04-07 2010-04-07 Verfahren zum Betreiben eines Fahrzeugs

Country Status (4)

Country Link
JP (1) JP6071170B2 (zh)
CN (1) CN102211578B (zh)
DE (1) DE102010003673A1 (zh)
FR (1) FR2958613A1 (zh)

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WO2012138263A1 (en) * 2011-04-05 2012-10-11 Volvo Lastavagnar Ab System and method for operating an engine of a vehicle
DE102012201113A1 (de) 2012-01-26 2013-05-29 Robert Bosch Gmbh Verfahren zum Betreiben eines Verbrennungsmotors
DE102012008632A1 (de) * 2012-04-27 2013-10-31 Audi Ag Verfahren zum Betreiben eines Antriebsstrangs eines Kraftfahrzeugs mit Freilauf-Motor-Aus-Funktion, sowie Steuergerät und Kraftfahrzeug
WO2014015864A1 (de) * 2012-07-24 2014-01-30 Schaeffler Technologies AG & Co. KG Kraftfahrzeug
DE102013001059A1 (de) * 2013-01-22 2014-07-24 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Verfahren zum Ab- und Anschalten eines Verbrennungsmotors während eines Fahrbetriebs eines Kraftfahrzeugs
DE102013207620A1 (de) * 2013-04-26 2014-10-30 Schaeffler Technologies Gmbh & Co. Kg Zweiradantrieb mit Segelbetrieb
US20150012194A1 (en) * 2011-12-17 2015-01-08 Audi Ag Method for operating a manual transmission in a motor vehicle
GB2516703A (en) * 2013-07-30 2015-02-04 Ford Global Tech Llc Operation of a driver-controlled vehicle
DE102013215101A1 (de) 2013-08-01 2015-02-05 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ankupplung eines Verbrennungsmotors bei einem Verzögerungsvorgang
WO2015068857A1 (en) * 2013-11-08 2015-05-14 Toyota Jidosha Kabushiki Kaisha Controller of vehicle for inertia driving control
DE102014012757A1 (de) * 2014-08-27 2016-03-03 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Steuern einer Kraftfahrzeugbrennkraftmaschine
WO2016034281A1 (de) * 2014-09-05 2016-03-10 Audi Ag Verfahren und vorrichtung zur schaltassistenz
EP2894316A4 (en) * 2012-09-03 2016-05-11 Toyota Motor Co Ltd DEVICE FOR CONTROLLING VEHICLE MOVEMENT
WO2016071077A1 (de) * 2014-11-03 2016-05-12 Robert Bosch Gmbh Verfahren zum steuern oder regeln eines fahrzeug-getriebes während coasting-vorgängen des fahrzeugs
DE102015204542A1 (de) 2015-03-13 2016-09-15 Robert Bosch Gmbh Verfahren und Anordnung zum Betreiben eines Antriebsstrangs
GB2539283A (en) * 2015-08-10 2016-12-14 Gm Global Tech Operations Llc Operating a device arrangement of a vehicle in sailing mode
EP2792563A4 (en) * 2011-12-15 2016-12-28 Toyota Motor Co Ltd CONTROL DEVICE FOR A HYBRID VEHICLE
DE102016206426A1 (de) * 2016-04-15 2017-10-19 Robert Bosch Gmbh Verfahren zum Ansteuern einer Kupplung
US10071801B2 (en) 2013-08-13 2018-09-11 The United States Of America As Represented By The Administrator Of Nasa Tri-rotor aircraft capable of vertical takeoff and landing and transitioning to forward flight
DE102015212891B4 (de) 2014-07-15 2019-09-19 Denso Corporation Fahrzeugsteuervorrichtung
DE102015121146B4 (de) 2015-01-16 2021-08-26 Toyota Jidosha Kabushiki Kaisha Fahrzeugsteuersystem
DE102014113627B4 (de) 2013-09-26 2022-04-14 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Verfahren zum Steuern eines Antriebsstrangs
DE102016200113B4 (de) 2015-01-13 2022-10-13 Denso Corporation Fahrzeugsteuersystem

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CN104379958B (zh) * 2012-06-20 2018-04-24 丰田自动车株式会社 车辆的控制装置
JP6107824B2 (ja) 2012-08-08 2017-04-05 トヨタ自動車株式会社 車両の走行制御装置
CN103591278A (zh) * 2012-08-17 2014-02-19 比亚迪股份有限公司 一种汽车换挡提示系统及方法
DE102013200946A1 (de) * 2013-01-22 2014-07-24 Robert Bosch Gmbh Verfahren zum Betreiben eines Kraftfahrzeugs
DE102013207015A1 (de) 2013-04-18 2014-10-23 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Betreiben eines Antriebsstrangs eines Kraftfahrzeugs
JP6115978B2 (ja) 2014-03-20 2017-04-19 日産自動車株式会社 ハイブリッド車両の制御装置
JP6331807B2 (ja) 2014-07-17 2018-05-30 株式会社デンソー 車両制御装置
JP6350318B2 (ja) * 2015-02-05 2018-07-04 株式会社デンソー 電子制御装置
JP6565699B2 (ja) 2015-02-25 2019-08-28 株式会社デンソー 車両制御装置
EP3954917B1 (en) 2015-02-25 2023-05-03 Denso Corporation Vehicle control device for controlling inertia operation of vehicle
JP2017150392A (ja) 2016-02-24 2017-08-31 株式会社デンソー 車両制御装置
FR3051421B1 (fr) * 2016-05-19 2020-12-18 Renault Sas Procede et dispositif de determination d'un rapport de reprise de couple
JP6617652B2 (ja) 2016-07-12 2019-12-11 株式会社デンソー 車両制御装置
GB2553532B (en) * 2016-09-07 2020-03-11 Jaguar Land Rover Ltd A controller for controlling an engine of a vehicle
JP2018065435A (ja) 2016-10-18 2018-04-26 トヨタ自動車株式会社 車両の表示装置
CN110645993B (zh) * 2018-06-27 2021-08-10 合肥杰发科技有限公司 一种车辆导航定位方法、装置、系统及存储介质
CN110816536B (zh) * 2018-08-08 2021-07-20 宝沃汽车（中国）有限公司 车辆控制方法、装置及车辆
KR102142632B1 (ko) * 2018-11-21 2020-08-10 현대오트론 주식회사 수동 변속기 차량의 엔진 아이들 회전수 제어 시스템 및 방법
KR20210048069A (ko) * 2019-10-23 2021-05-03 현대자동차주식회사 차량 및 그 제어 방법
EP3982010B1 (en) 2020-10-07 2024-02-21 Ningbo Geely Automobile Research & Development Co., Ltd. A method for avoiding activation of a sailing functionality, a transmission system and a vehicle comprising a transmission system

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Cited By (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012138263A1 (en) * 2011-04-05 2012-10-11 Volvo Lastavagnar Ab System and method for operating an engine of a vehicle
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CN102211578A (zh) 2011-10-12
JP6071170B2 (ja) 2017-02-01

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