EP3562721A1 - Électronique d'interprétation et procédé pour estimer une pression de maître-cylindre de frein dans un système de freinage d'un véhicule équipé d'un servofrein électromécanique - Google Patents

Électronique d'interprétation et procédé pour estimer une pression de maître-cylindre de frein dans un système de freinage d'un véhicule équipé d'un servofrein électromécanique

Info

Publication number
EP3562721A1
EP3562721A1 EP17826149.1A EP17826149A EP3562721A1 EP 3562721 A1 EP3562721 A1 EP 3562721A1 EP 17826149 A EP17826149 A EP 17826149A EP 3562721 A1 EP3562721 A1 EP 3562721A1
Authority
EP
European Patent Office
Prior art keywords
time
cylinder pressure
master cylinder
brake booster
motor
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Withdrawn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
EP17826149.1A
Other languages
German (de)
English (en)
Inventor
Herbert Vollert
Christian Binder
Manfred Gerdes
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
Publication of EP3562721A1 publication Critical patent/EP3562721A1/fr
Withdrawn legal-status Critical Current

Links

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
    • 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
    • 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
    • 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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P15/00—Arrangements for controlling dynamo-electric brakes or clutches
    • 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
    • B60T2270/88—Pressure measurement in brake systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/81—Braking systems

Definitions

  • the invention relates to an evaluation for a with a
  • electromechanical brake booster equipped braking system of a vehicle and a control device for an electromechanical
  • the invention relates to a method for estimating a master cylinder pressure in a braking system of a vehicle equipped with an electromechanical brake booster and a method for operating an electromechanical brake booster of a brake system of a vehicle.
  • Electro-mechanical brake boosters such as, for example, one disclosed in DE 20 2010 017 605 U1, are known from the prior art
  • electromechanical brake booster known, which in each case a master cylinder of a brake system of a vehicle
  • the invention provides an evaluation for a vehicle equipped with an electromechanical brake booster brake system of a vehicle having the features of claim 1, a control device for an electromechanical brake booster of a brake system of
  • a vehicle having the features of claim 5 a brake system for a vehicle having the features of claim 6, a method of estimating master cylinder pressure in a brake system equipped with an electro-mechanical brake booster of a vehicle having the features of claim 7 and a method of operating a vehicle
  • the present invention provides opportunities for rapid and reliable estimation of master cylinder pressure.
  • the at least one estimated value obtained for the master brake cylinder pressure in this way can also be used without a
  • the at least one by means of
  • the present invention provides a relatively reliable value for master cylinder pressure.
  • the evaluation electronics are designed to determine the correction value as the difference between the initial value of the master brake cylinder pressure estimated for the first time and the measured value of the master brake cylinder pressure measured at the first time.
  • the evaluation electronics are designed to determine the correction value according to a fixed time interval predetermined by the evaluation electronics as the difference between an initial value of the master brake cylinder pressure estimated for a respective time and a measured value of the same at the same time
  • the correction value can thus be continuously optimized with respect to a friction of a transmission of the electromechanical brake booster, which can vary greatly depending on the load case, and with respect to the environmental conditions. This improves a quality of the determination of the at least one estimated value of the master brake cylinder pressure carried out by means of the evaluation electronics.
  • the transmitter can be designed to set the time interval during an antilock control executed in the brake system shorter.
  • anti-lock control ABS control, or ESP control
  • ABS control can be due to the operation of at least one
  • Master cylinder pressure is present in the master cylinder. This can be quickly responded to a potential risk of undesirably high pressure in the master cylinder.
  • the embodiment of the evaluation unit described here thus contributes to the reduction of a risk of damage of brake system components during the
  • electromechanical brake booster by means of the control device, taking into account at least one last estimated value for the master cylinder pressure can be controlled. Especially during one
  • Anti-lock control (ABS control, or ESP control) can at a
  • Holding capacity can thus be eliminated. Damage to the brake system is thus even after a repeated execution of
  • Anti-lock regulations are not to be feared.
  • An equipment of the brake system with the control device described here is thus easily financed by means of saved repair costs.
  • the method can be further developed in accordance with the above-explained embodiments of the evaluation electronics.
  • at least the following steps are performed to estimate the first output value of the master brake cylinder pressure at the first time: setting an engine torque of the motor of the electromechanical brake booster at the first time considering at least the first current strength of the motor current of the motor of the electromechanical brake booster the first time; Establish an angular acceleration of the motor of the electromechanical
  • Brake booster at the first time taking into account at least the first rotational angle of the rotor of the motor of the electromechanical
  • Brake booster at the first time and an inertia of the motor of the electro-mechanical brake booster and determining an assist force exerted by the electromechanical brake booster at the first time considering at least a difference between the engine torque of the motor of the electro-mechanical brake booster at the first time and the product of the angular acceleration of the motor of the electromechanical brake booster at the first time and the inertia of the motor of the electromechanical brake booster, wherein the assisting force exerted by the electromechanical brake booster at the first time is taken into account in estimating the first output value of the master cylinder pressure at the first time.
  • Master cylinder pressure at the first time in addition to the following steps: setting a time derivative or a gradient of the support force exerted by the electro-mechanical brake booster at the first time; Set a translation of a piston of the electromechanical brake booster at the first time under
  • electromechanical brake booster at the first time, wherein the set for the first time quotient in estimating the first output value of the master cylinder pressure at the first time is taken into account.
  • Embodiments of the evaluation and / or the control device blursentbar.
  • FIG. 2 is a flowchart for explaining an embodiment of the present invention
  • Fig. 3 is a schematic representation of an embodiment of
  • FIGS. 1 a to 1 c show flowcharts for explaining an embodiment of the method for estimating a master cylinder pressure in a braking system of a vehicle equipped with an electromechanical brake booster.
  • a feasibility of the method described below is neither on a particular type of brake system with the electromechanical
  • Brake booster is understood to mean a brake booster equipped with an (electric) engine.
  • the electromechanical brake booster is a master cylinder of the brake system upstream so that by means of an operation of the motor of the electromechanical brake booster at least one adjustable piston of the
  • Master brake cylinder is adjustable in the master cylinder is adjusted.
  • a first output value x es timated (t 1) of the master brake cylinder pressure in the master brake cylinder of the brake system is estimated at a first time t 1.
  • Estimating the first output value Xestimated (tl) of the master cylinder pressure at the first time tl takes into consideration at least a first current I (tl) of a motor current of the motor of the electro-mechanical brake booster at the first time tl and a first rotation angle ⁇ (tl) of a rotor of the motor of the electromechanical brake booster at the first time tl.
  • values can be used which are easily estimable or measurable.
  • the first angle of rotation ⁇ (t1) of the rotor of the motor at the first time t1 can be estimated, for example, by means of a rotor position signal.
  • FIG. 1 a shows a possibility for estimating the first output value Xestimated (t 1) of the master brake cylinder pressure at the first time t 1. For this purpose, taking into account the information stored in a block 10
  • the engine torque Mmotor (tl) of the engine of the electromechanical brake booster to the first Time tl causes a dynamic momentum Md yn (tl) a "dynamics of the engine” at the first time tl and a static part M s tat (tl) a "overcome” one at the first time tl the motor of the electromechanical
  • the dynamic component Md yn (tl) at the first time tl may be a product of a
  • Angular acceleration ⁇ ⁇ (tl) of the engine at the first time tl results from a dual time derivative of the first performed in a block 12
  • the static component M s tat (tl) at the first time tl thus results from a difference between the engine torque Mmotor (tl) of the engine of the electromechanical brake booster to the first time tl and the dynamic portion Md yn (tl) at the first time tl.
  • Lastmoment L (tl) are derived.
  • an angular velocity ⁇ (t1) of the motor of the electromechanical one is obtained from the first rotational angle ⁇ (t1) of the rotor of the motor at the first time t1
  • Brake booster at the first time tl is the
  • Gear size r of the transmission of the electromechanical brake booster deposited by means of which the angular velocity ⁇ (tl) of the motor at the first time tl in a translation / translation speed ⁇ (tl) of the transmission downstream piston of the electromechanical Brake booster (eg a boost body or a valve body) is converted to the first time tl.
  • a block 22 is also a time derivative / gradient Fsup * (tl) by means of the electromechanical
  • Translation ⁇ (tl) is calculated at the first time tl, which indicates a load change Ctotai (tl) at the first time tl.
  • the load change C to tai (tl) at the first time t1 can also be described as a stiffness (stiffness) present at the first time t1.
  • the load change Ctotai (tl) at the first time tl is output to a block 26 in which the inertia ⁇ of the motor of the electromechanical brake booster and the gear size r of the transmission of the electromechanical brake booster are stored.
  • a dynamic force Fd yn (tl) exerted by the electromechanical brake booster at the first time tl can be calculated.
  • Brake booster at the first time tl with which the electromechanical brake booster at the first time tl brakes into the master cylinder and increases the master cylinder pressure present therein increases causes calculated.
  • a friction correction may still be carried out in a block 28 for the estimated variable F es timated (t 1) for the "braking force” or "pressure pushing force” at the first time t 1.
  • the correction value Ac is calculated as the difference between the first output value x es timated (tl) of the
  • the measured value used for carrying out this method step is Xmeasured (t1) of the
  • Determining the correction value Ac can be a temporal
  • Delay stage 32 can be used.
  • the time delay stage 32 causes a delay of providing the first output value Xestimated (tl) of the first output value tl estimated for the first time tl
  • the method step outlined in FIG. 1b thus takes into account that for estimating the first output value Xestimated (tl) of the
  • Master cylinder pressure at the first time tl (according to the method step of Fig. La) less time is required, as for forwarding the measured at the first time tl by means of the at least one pressure sensor measured value Xmeasured (tl) over the data bus.
  • a transfer time which is required for forwarding the measured value Xmeasured (t1) measured at the first time t1 by the at least one pressure sensor via the data bus, can be estimated relatively accurately, which facilitates an interpretation of the time delay stage 32.
  • a second output value x es timated (tl + At) of the master cylinder pressure in the master cylinder is estimated at a second time tl + At (after the first time tl). This can be done according to the process step shown schematically by means of FIG. Appreciating the second
  • Output value x es timated (tl + At) of the master cylinder pressure at the second time tl + At therefore also takes into account at least a second current I (tl + At) of the motor current of the motor of the electromechanical brake booster to the second time tl + At and a second Rotation angle ⁇ (tl + At) of the rotor of the electromechanical brake booster at the second time tl + At.
  • Master cylinder pressure at the second time tl + At be defined as the difference between the second output value Xestimated (tl + At) and the correction value Ac.
  • the method step shown schematically by means of FIG. 1c can be carried out relatively quickly. It should be noted in particular that after setting the correction value Ac, the circuits shown in FIGS. 1a and 1c are shown
  • Process steps for each time are faster executable than forwarding the measured at the respective time by means of the at least one pressure sensor measured value via the data bus. Carrying out the method steps of FIGS. 1 a and 1 c thus always makes it possible to provide an estimate for the master cylinder pressure to the current one Time. This estimate of the master cylinder pressure at the current time has a very short latency and is highly dynamic. By using the correction value Ac in the estimation for the
  • Master cylinder pressure at the current time is not only a relatively quick estimate, but also a machine-tolerance-adjusted estimate of master cylinder pressure at the current time.
  • the use of the correction value Ac ensures that tolerances of the signals for the first / a current current I (tl) of the motor of the electromechanical brake booster at the first time tl / a current time, and the first / a current rotation angle ⁇ ( tl) of the rotor of the motor of the electro-mechanical brake booster at the first time tl / the current time does not seem to affect a reliability of the estimate of the master cylinder pressure at the current time. (Tolerances of the measured value Xmeasured (tl) and the calibration procedure are usually negligible.)
  • Main brake cylinder pressure at the current time to a sub-brake or overload in the respective brake system (during a drive of the brake system, taking into account the current estimate of the master cylinder pressure) lead. It is also pointed out that in the method described here for estimating the master brake cylinder pressure, the transfer time, which is required for forwarding the measured value Xmeasured (t1) measured at the first time t1 by means of the at least one pressure sensor via the data bus, scarcely has any influence on the Reliability, quality, or dynamics of the master cylinder pressure estimate at the current time.
  • a low-cost data bus such as a CAN bus, can be used for the data transfer // signal transfer of the measured value Xmeasured (t1) from the at least one pressure sensor to the electronics used to carry out the method described here.
  • a low-cost data bus such as a CAN bus
  • the correction value Ac (according to the method step represented in FIG. 1d) is newly determined after a fixed or predetermined time interval. In both cases, the correction value Ac is calculated as a difference between a value estimated for a respective time
  • the correction value Ac can thus be updated continuously.
  • Anti-skid control such as an ABS control or an ESP control, be set shorter (while the time interval in the unregulated state of the brake system is set longer). As a result, the correction value Ac can be updated more quickly, in particular during anti-lock control.
  • FIG. 2 shows a flowchart for explaining an embodiment of the method for operating an electromechanical brake booster of a brake system of a vehicle.
  • a feasibility of the method described below is neither on a particular brake system type equipped with the electromechanical brake booster brake system nor on a specific type of vehicle / type of motor vehicle equipped with the braking system
  • the electromechanical brake booster equipped with an (electric) engine brake booster.
  • the electromechanical brake booster is a
  • step S1 is during this
  • step S2 a motor of the electromechanical brake booster is actuated taking into account at least one last-established estimated value for the master brake cylinder pressure.
  • a power demanded by the electromechanical brake booster can be reduced as soon as the last-determined estimate of the master brake cylinder pressure is outside a predetermined normal value range.
  • Fig. 3 shows a schematic representation of an embodiment of
  • the evaluation electronics 50 shown schematically in FIG. 3 can be equipped with an electromechanical brake booster 52
  • the transmitter 50 is designed, taking into account at least one at a certain time tl and tl + At to the transmitter 50 provided current I (tl) and I (tl + ⁇ ) of a motor current of a motor of the electro-mechanical brake booster 52 and one at the same time tl and tl + ⁇ provided to the transmitter 50th
  • electromechanical brake booster 52 a respective output value
  • the transmitter can be designed, for example, to carry out the method steps described above.
  • the transmitter 50 is configured to calculate a correction value Ac as the difference between a first estimated for a first time tl
  • Master cylinder pressure and the measured at the first time tl measured value Xmeasured (tl) of the master cylinder pressure can be fixed.
  • the evaluation electronics 50 may be designed with a time delay stage 32 for this purpose.
  • Correction value Ac an estimated value p (tl + ⁇ ) of the master cylinder pressure in the master cylinder at the second time tl + ⁇ can be fixed and output. It is again pointed out that all method steps described above can be executed by means of the evaluation electronics 50.
  • the transmitter 50 thus provides comparatively fast
  • Evaluation electronics 50 ensured. Even in the case of rapidly changing speeds of the engine of the electro-mechanical brake booster 52 or strong temperature fluctuations in the brake system occur no / hardly estimation errors.
  • the electromechanical brake booster 52 is usually followed by a transmission with a high gear ratio and a high friction, the effects of friction, which is highly dependent on the load case and environmental conditions, can be "filtered out" by the evaluation electronics 50 by the use of the correction value Ac Manufacturing tolerances have no / hardly any influence on the quality of the estimate.
  • the transmitter 50 is adapted to the
  • the transmitter 50 may be configured to adjust the time interval during a run in the brake system
  • the evaluation electronics 50 is part of a
  • Control device 54 for the electromechanical brake booster 52 wherein by means of the evaluation 50, an estimate for the
  • the control device 54 (or another control component 56 of the control device 54) is designed to control the motor of the electromechanical brake booster 52 (by means of at least one control signal 58) taking into account at least one last-established estimate of the master brake cylinder pressure.
  • the control device 54 can thus make advantageous use of the pressure information provided by the evaluation electronics 50.
  • the advantages of the evaluation electronics 50, or the control device 54, are also ensured in the brake system equipped therewith, which additionally has at least the master brake cylinder and the electromechanical brake booster. - 17 -

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Braking Systems And Boosters (AREA)
  • Regulating Braking Force (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

L'invention concerne une électronique d'interprétation (50) pour un système de freinage d'un véhicule équipé d'un servofrein électromécanique (52) et un procédé pour estimer une pression de maître-cylindre de frein dans un système de freinage d'un véhicule équipé d'un servofrein électromécanique (52), comprenant les étapes suivantes : estimation d'une première valeur initiale de la pression de maître-cylindre de frein en tenant compte d'au moins une première intensité (I (t1)) d'un courant d'un moteur du servofrein électromécanique (52) au premier instant et d'un premier angle de rotation (φ (t1)) d'un rotor au premier instant, définition d'une valeur de correction (ΔC) en tant que différence entre la première valeur initiale et une valeur mesurée (xmesurée (t1)) de la pression de maître-cylindre de frein, estimation d'une deuxième valeur initiale de la pression de maître-cylindre de frein en tenant compte d'au moins une deuxième intensité (I (t1+Δt)) du courant du moteur au deuxième instant et d'un deuxième angle de rotation (φ (t1+Δt)) du rotor au deuxième instant, puis définition d'une valeur estimée (p (t1+Δt)) de la pression de maître-cylindre de frein dans le maître-cylindre de frein au deuxième instant en tenant compte de la deuxième valeur initiale et de la valeur de correction (ΔC).
EP17826149.1A 2016-12-29 2017-11-30 Électronique d'interprétation et procédé pour estimer une pression de maître-cylindre de frein dans un système de freinage d'un véhicule équipé d'un servofrein électromécanique Withdrawn EP3562721A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016226324.2A DE102016226324A1 (de) 2016-12-29 2016-12-29 Auswerteelektronik und Verfahren zum Schätzen eines Hauptbremszylinderdrucks in einem mit einem elektromechanischen Bremskraftverstärker ausgestatteten Bremssystem eines Fahrzeugs
PCT/EP2017/080980 WO2018121953A1 (fr) 2016-12-29 2017-11-30 Électronique d'interprétation et procédé pour estimer une pression de maître-cylindre de frein dans un système de freinage d'un véhicule équipé d'un servofrein électromécanique

Publications (1)

Publication Number Publication Date
EP3562721A1 true EP3562721A1 (fr) 2019-11-06

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP17826149.1A Withdrawn EP3562721A1 (fr) 2016-12-29 2017-11-30 Électronique d'interprétation et procédé pour estimer une pression de maître-cylindre de frein dans un système de freinage d'un véhicule équipé d'un servofrein électromécanique

Country Status (7)

Country Link
US (1) US11572051B2 (fr)
EP (1) EP3562721A1 (fr)
JP (1) JP6788951B2 (fr)
KR (1) KR102447169B1 (fr)
CN (1) CN110099828B (fr)
DE (1) DE102016226324A1 (fr)
WO (1) WO2018121953A1 (fr)

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DE102019206612B3 (de) * 2019-05-08 2020-07-16 Volkswagen Aktiengesellschaft Verfahren zur Steuerung eines elektromechanischen Bremssystems sowie elektromechanisches Bremssystem
CN110843755B (zh) * 2019-11-19 2021-09-28 奇瑞汽车股份有限公司 一种估测电动汽车制动压力的方法和设备

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Also Published As

Publication number Publication date
CN110099828B (zh) 2021-07-23
KR20190104167A (ko) 2019-09-06
DE102016226324A1 (de) 2018-07-05
JP6788951B2 (ja) 2020-11-25
CN110099828A (zh) 2019-08-06
US20210129821A1 (en) 2021-05-06
JP2020501990A (ja) 2020-01-23
WO2018121953A1 (fr) 2018-07-05
US11572051B2 (en) 2023-02-07
KR102447169B1 (ko) 2022-09-26

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