IT201900023259A1 - Metodo di assistenza per migliorare le prestazioni di un guidatore tramite suggerimenti di azioni correttive - Google Patents

Metodo di assistenza per migliorare le prestazioni di un guidatore tramite suggerimenti di azioni correttive

Info

Publication number
IT201900023259A1
IT201900023259A1 IT102019000023259A IT201900023259A IT201900023259A1 IT 201900023259 A1 IT201900023259 A1 IT 201900023259A1 IT 102019000023259 A IT102019000023259 A IT 102019000023259A IT 201900023259 A IT201900023259 A IT 201900023259A IT 201900023259 A1 IT201900023259 A1 IT 201900023259A1
Authority
IT
Italy
Prior art keywords
driver
improving
performance
corrective action
assistance method
Prior art date
Application number
IT102019000023259A
Other languages
English (en)
Inventor
Andrea Secondi
Original Assignee
Ferrari Spa
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 Ferrari Spa filed Critical Ferrari Spa
Priority to IT102019000023259A priority Critical patent/IT201900023259A1/it
Priority to US17/112,315 priority patent/US11945458B2/en
Priority to EP20211769.3A priority patent/EP3831678A1/en
Publication of IT201900023259A1 publication Critical patent/IT201900023259A1/it

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0013—Optimal controllers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0022—Gains, weighting coefficients or weighting functions
    • B60W2050/0025—Transfer function weighting factor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/30—Driving style
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/103—Speed profile
IT102019000023259A 2019-12-06 2019-12-06 Metodo di assistenza per migliorare le prestazioni di un guidatore tramite suggerimenti di azioni correttive IT201900023259A1 (it)

Priority Applications (3)

Application Number Priority Date Filing Date Title
IT102019000023259A IT201900023259A1 (it) 2019-12-06 2019-12-06 Metodo di assistenza per migliorare le prestazioni di un guidatore tramite suggerimenti di azioni correttive
US17/112,315 US11945458B2 (en) 2019-12-06 2020-12-04 Assistance method to improve the performance of a driver by means of corrective actions hints
EP20211769.3A EP3831678A1 (en) 2019-12-06 2020-12-04 Assistance method to improve drivers' performances through suggestions of corrective actions

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102019000023259A IT201900023259A1 (it) 2019-12-06 2019-12-06 Metodo di assistenza per migliorare le prestazioni di un guidatore tramite suggerimenti di azioni correttive

Publications (1)

Publication Number Publication Date
IT201900023259A1 true IT201900023259A1 (it) 2021-06-06

Family

ID=70009281

Family Applications (1)

Application Number Title Priority Date Filing Date
IT102019000023259A IT201900023259A1 (it) 2019-12-06 2019-12-06 Metodo di assistenza per migliorare le prestazioni di un guidatore tramite suggerimenti di azioni correttive

Country Status (3)

Country Link
US (1) US11945458B2 (it)
EP (1) EP3831678A1 (it)
IT (1) IT201900023259A1 (it)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4242035A1 (en) 2022-03-10 2023-09-13 FERRARI S.p.A. Automotive competition method for road vehicle, relative apparatus and relative road vehicle

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201900023244A1 (it) * 2019-12-06 2021-06-06 Ferrari Spa Metodo di assistenza per migliorare le prestazioni di un guidatore valutando la sua abilita' e filtrando le informazioni da fornire sulla base del valore ottenuto
DE102021208097A1 (de) * 2021-07-27 2023-02-02 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Klassifizierung eines Fahrers in einem Fahrzeug
DE102021132144A1 (de) 2021-12-07 2023-06-07 Audi Aktiengesellschaft Verfahren zum Betrieb eines Fahrerassistenzsystems eines Kraftfahrzeugs und Kraftfahrzeug
DE102022207194A1 (de) 2022-07-14 2024-01-25 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben eines Fahrzeugs, Vorrichtung und Fahrzeug

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EP1790946A2 (de) * 2005-11-23 2007-05-30 Robert Bosch Gmbh Fahrerassistenzsystem für Kraftfahrzeuge
EP2199171A1 (en) * 2008-12-22 2010-06-23 FERRARI S.p.A. Assistance method for performance driving of a vehicle
EP2340976A1 (de) * 2010-01-04 2011-07-06 Audi AG Verfahren zum Betrieb eines Fahrerassistenzsystems eines Kraftfahrzeugs und Kraftfahrzeug
EP2594447A1 (en) * 2011-11-16 2013-05-22 C.R.F. Società Consortile per Azioni Fuel saving-aimed motor vehicle driving style evaluation
DE102011121487A1 (de) * 2011-12-16 2013-06-20 Audi Ag Vorrichtung und Verfahren zum Betreiben zumindest eines Fahrerassistenzsystems eines Kraftwagens
DE102015203727A1 (de) * 2015-03-03 2016-09-08 Volkswagen Aktiengesellschaft Verfahren zum Optimieren eines Befahrens einer Fahrstrecke
WO2019174932A1 (de) * 2018-03-15 2019-09-19 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenzverfahren für ein fahrzeug, fahrerassistenzsystem und fahrzeug mit einem derartigen fahrerassistenzsystem

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JP3654048B2 (ja) * 1999-05-20 2005-06-02 日産自動車株式会社 ハイブリッド車両の駆動制御装置
US8521411B2 (en) * 2004-06-03 2013-08-27 Making Virtual Solid, L.L.C. En-route navigation display method and apparatus using head-up display
JP5830533B2 (ja) * 2011-05-31 2015-12-09 株式会社日立製作所 自律移動システム
US9688288B1 (en) * 2016-03-08 2017-06-27 VOLKSWAGEN AG et al. Geofencing for auto drive route planning
TWI674984B (zh) * 2018-11-15 2019-10-21 財團法人車輛研究測試中心 自動駕駛車輛之行駛軌跡規劃系統及方法
US11710421B2 (en) * 2018-12-05 2023-07-25 Garmin Switzerland Gmbh Driving analysis and instruction device
DE102018009927A1 (de) * 2018-12-17 2020-06-18 Trw Automotive Gmbh Steuerungssystem und Steuerungsverfahren für einen hybriden Ansatz zum Ermitteln einer möglichen Trajektorie für ein Kraftfahrzeug
KR20190084916A (ko) * 2019-06-28 2019-07-17 엘지전자 주식회사 주차 위치 알림 장치 및 방법

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1790946A2 (de) * 2005-11-23 2007-05-30 Robert Bosch Gmbh Fahrerassistenzsystem für Kraftfahrzeuge
EP2199171A1 (en) * 2008-12-22 2010-06-23 FERRARI S.p.A. Assistance method for performance driving of a vehicle
EP2340976A1 (de) * 2010-01-04 2011-07-06 Audi AG Verfahren zum Betrieb eines Fahrerassistenzsystems eines Kraftfahrzeugs und Kraftfahrzeug
EP2594447A1 (en) * 2011-11-16 2013-05-22 C.R.F. Società Consortile per Azioni Fuel saving-aimed motor vehicle driving style evaluation
DE102011121487A1 (de) * 2011-12-16 2013-06-20 Audi Ag Vorrichtung und Verfahren zum Betreiben zumindest eines Fahrerassistenzsystems eines Kraftwagens
DE102015203727A1 (de) * 2015-03-03 2016-09-08 Volkswagen Aktiengesellschaft Verfahren zum Optimieren eines Befahrens einer Fahrstrecke
WO2019174932A1 (de) * 2018-03-15 2019-09-19 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenzverfahren für ein fahrzeug, fahrerassistenzsystem und fahrzeug mit einem derartigen fahrerassistenzsystem

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4242035A1 (en) 2022-03-10 2023-09-13 FERRARI S.p.A. Automotive competition method for road vehicle, relative apparatus and relative road vehicle

Also Published As

Publication number Publication date
US11945458B2 (en) 2024-04-02
EP3831678A1 (en) 2021-06-09
US20210188303A1 (en) 2021-06-24

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