JP2018043536A - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- 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
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- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17555—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
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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
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
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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
- B60T13/12—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
- B60T13/16—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 using pumps directly, i.e. without interposition of accumulators or reservoirs
- B60T13/161—Systems with master cylinder
- B60T13/167—In combination with distributor valve
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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
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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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
- B60T13/74—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
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
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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
- B60T8/34—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
- B60T8/3615—Electromagnetic valves specially adapted for anti-lock brake and traction control systems
- B60T8/363—Electromagnetic valves specially adapted for anti-lock brake and traction control systems in hydraulic systems
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- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
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- 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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
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- 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
- B60W30/10—Path keeping
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/083—Lane monitoring; Lane Keeping Systems using active brake actuation
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- 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
- B60W2520/06—Direction of travel
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- 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
- B60W2520/14—Yaw
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- 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
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
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- Engineering & Computer Science (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
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- Electromagnetism (AREA)
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- Regulating Braking Force (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
【解決手段】車両制御装置(17)は、車両を一の方向に回転運動させるべく、(i)複数の車輪のうち左右一方の側の車輪に係る第1制動液圧を、複数の車輪のうち左右他方の側の車輪に係る第2制動液圧より高くした後、車両を一の方向とは異なる他の方向に回転運動させるべく、(ii)第1制動液圧及び第2制動液圧の液圧差を用いて第2制動液圧を昇圧し、(iii)第2制動液圧を保持しつつ、第1制動液圧を第2制動液圧より低くする制御手段(173)を備える。
【選択図】図6
Description
車両1の構成について、図1を参照して説明する。図1は、実施形態に係る車両1の構成を示すブロック図である。
左前輪121FLのホイールシリンダ122FLと、右前輪121FRのホイールシリンダ122FRとを含む油圧系統と、左後輪121RLのホイールシリンダ122RLと、右後輪121RRのホイールシリンダ122RRとを含む油圧系統と、を有する所謂前後系統式の構成にも適用可能である。
次に、本実施形態に係る車線逸脱抑制動作について、図3及び図4のフローチャートを参照して説明する。
ECU17のLDA制御部172は、データ取得部171が取得した検出データ(即ち、車速センサ151、車輪速センサ152、ヨーレートセンサ153及び加速度センサ154各々の検出結果を示すデータ)と、カメラ155により撮像された画像データとに基づいて、車両1が、現在走行している走行車線から逸脱する可能性があるか否かを判定する。
図3において、先ず、データ取得部171は、車速センサ151、車輪速センサ152、ヨーレートセンサ153及び加速度センサ154各々の検出結果を示す検出データ、及びカメラ155が撮像した画像を示す画像データを取得する(ステップS101)。
図4に示す処理が行われることによる車両1の軌跡の一具体例について、図5を参照して説明する。図5は、車線逸脱抑制動作の実施時に車両に付与される制動力及び車両の走行軌跡の一例を示す概念図である。図5における網かけ矢印は、車両1に付与される制動力を表している。ただし、図5は概念図であるため、例えば制動力の大小関係等は、実際と必ずしも一致しない。また、図5における符号T0、T1、T3及びT5は、夫々時刻を示しており、後述する図6における符号T0、T1、T3及びT5に対応している。
本実施形態に係る車線逸脱抑制動作によれば、車両1が走行車線から逸脱する可能性がある場合には、第一の目標ヨーモーメント(即ち、抑制ヨーモーメント)が車両1に付与される。このため、車両1の走行車線からの逸脱を抑制することができる。
ここで、比較例に係る車線逸脱抑制動作について、図7のタイミングチャートを参照して説明する。
上述した実施形態では、車線逸脱抑制動作(即ち、ブレーキLDA)により車両1に第一の目標ヨーモーメント及び第二の目標ヨーモーメントが付与される場合を挙げた。本発明は、ブレーキLDAに限らず、左右制動力差を利用して車両1にヨーモーメントを付与する横風制御や緊急回避動作にも適用可能である。
Claims (4)
- 複数の車輪各々に制動液圧に応じた制動力を付与する制動装置を備える車両における車両制御装置であって、
前記車両を一の方向に回転運動させるべく、(i)前記複数の車輪のうち左右一方の側の車輪に係る第1制動液圧を、前記複数の車輪のうち左右他方の側の車輪に係る第2制動液圧より高くした後、前記車両を前記一の方向とは異なる他の方向に回転運動させるべく、(ii)前記第1制動液圧及び前記第2制動液圧の液圧差を用いて前記第2制動液圧を昇圧し、(iii)前記第2制動液圧を保持しつつ、前記第1制動液圧を前記第2制動液圧より低くする制御手段を備える
ことを特徴とする車両制御装置。 - 前記制御手段が、前記液圧差を用いて前記第2制動液圧を昇圧させる期間は、前記第1制動液圧が所定液圧に達した後の減圧開始時点から所定期間であることを特徴とする請求項1に記載の車両制御装置。
- 前記制動装置は、制動液圧を発生するポンプと、前記左右一方の側の車輪に前記第1制動液圧に応じた制動力を付与する第1制動機構と、前記左右他方の側の車輪に前記第2制動液圧に応じた制動力を付与する第2制動機構と、開状態の場合に前記ポンプの吐出口及び前記第1制動機構間を連通する第1保持ソレノイドバルブと、開状態の場合に前記吐出口及び前記第2制動機構間を連通する第2保持ソレノイドバルブと、前記第1保持ソレノイドバルブの前記吐出口側と前記第2保持ソレノイドバルブの前記吐出口側とを結ぶ第1液路と、前記ポンプの吸入口と前記第1液路とを結ぶ第2液路に配置されたマスタシリンダカットソレノイドバルブと、を有し、
前記制御手段は、(i)前記第1制動液圧を前記第2制動液圧より高くする期間において、前記第1保持ソレノイドバルブを開状態にすると共に、前記第2保持ソレノイドバルブ及び前記マスタシリンダカットソレノイドバルブを閉状態にし、(ii)前記液圧差を用いて前記第2制動液圧を昇圧させる期間において、前記第1保持ソレノイドバルブ及び前記第2保持ソレノイドバルブを開状態にして、前記第1液路を介して前記第1制動機構及び前記第2制動機構間を連通すると共に、前記マスタシリンダカットソレノイドバルブを閉状態にし、(iii)前記第1制動液圧を前記第2制動液圧より低くする期間において、前記第2保持ソレノイドバルブを閉状態にすると共に、前記第1保持ソレノイドバルブ及び前記マスタシリンダカットソレノイドバルブを開状態にして、前記第1制動機構及び前記吸入口を連通する
ことを特徴とする請求項1又は2に記載の車両制御装置。 - 前記制御装置は、前記車両が現在走行している走行車線から逸脱する可能性がある場合に、前記車両の逸脱を回避すべく、前記一の方向のヨーモーメントが発生するように前記第1制動液圧を前記第2制動液圧より高くすることを特徴とする請求項1乃至3のいずれか一項に記載の車両制御装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016177626A JP6520874B2 (ja) | 2016-09-12 | 2016-09-12 | 車両制御装置 |
US15/647,994 US10597019B2 (en) | 2016-09-12 | 2017-07-12 | Vehicle control apparatus |
EP17181930.3A EP3293066B1 (en) | 2016-09-12 | 2017-07-18 | Vehicle control apparatus |
KR1020170096164A KR101960829B1 (ko) | 2016-09-12 | 2017-07-28 | 차량 제어 장치 |
CN201710766143.7A CN107813822B (zh) | 2016-09-12 | 2017-08-30 | 车辆控制装置 |
RU2017131407A RU2674643C1 (ru) | 2016-09-12 | 2017-09-07 | Устройство управления транспортным средством |
BR102017019347-0A BR102017019347A2 (pt) | 2016-09-12 | 2017-09-11 | Aparelho de controle de veículo |
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JP2016177626A JP6520874B2 (ja) | 2016-09-12 | 2016-09-12 | 車両制御装置 |
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JP2018043536A true JP2018043536A (ja) | 2018-03-22 |
JP6520874B2 JP6520874B2 (ja) | 2019-05-29 |
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JP6834657B2 (ja) * | 2017-03-23 | 2021-02-24 | いすゞ自動車株式会社 | 車線逸脱警報装置の制御装置、車両および車線逸脱警報制御方法 |
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EP3293066B1 (en) | 2019-03-27 |
CN107813822B (zh) | 2020-07-28 |
EP3293066A1 (en) | 2018-03-14 |
BR102017019347A2 (pt) | 2018-05-02 |
CN107813822A (zh) | 2018-03-20 |
KR20180029847A (ko) | 2018-03-21 |
EP3293066A8 (en) | 2018-09-12 |
US20180072298A1 (en) | 2018-03-15 |
KR101960829B1 (ko) | 2019-03-21 |
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JP6520874B2 (ja) | 2019-05-29 |
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