JP4922062B2 - 自動車用電子的安定性プログラム - Google Patents
自動車用電子的安定性プログラム Download PDFInfo
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control 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
- 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
- B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0513—Yaw angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0523—Yaw rate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/02—Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/12—Sampling or average detecting; Addition or substraction
- B60G2600/124—Error signal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/70—Computer memory; Data storage, e.g. maps for adaptive control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/016—Yawing condition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/164—Heaving; Squatting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/21—Traction, slip, skid or slide control
- B60G2800/212—Transversal; Side-slip during cornering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
- B60G2800/702—Improving accuracy of a sensor signal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/92—ABS - Brake Control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/93—Skid or slide control [ASR]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/94—Electronic Stability Program (ESP, i.e. ABS+ASC+EMS)
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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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/06—Active Suspension System
-
- 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
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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
-
- 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
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension 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
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/20—Sideslip angle
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
Description
−極端な状態で車輪を回転させること、
−限定された使用範囲での車両の方向安定性、
−路面上のタイヤのグリップ状態の使用、
において、運転者を支援し、或いは運転者の制御を補完するのに使用することができる。
しかしながら、ESPシステムは、運転者が、ブレーキに働きかけること無しには車両の状況を矯正できない絶対的な必要性がある場合にのみ、介入するものでなければならない。従って、標準的な種類の運転者に対して、ESP介入閾値を適切に定義する必要がある。
・段階a:異なる速度に対する電子的安定性プログラムESP用の基準作動閾値(又は基準閾値)(Sv)を有するESPシステムを、車両に装備する段階と、
・段階b:即時に、走行状態(ローリング状態又は横揺れ状態)の前記車両における、様々なモーメントでの、設定値ヨー角を取得する段階と、
・段階c:即時に、走行状態における、同一のモーメントでの、車両で計測されたヨー角を取得する段階と、
・段階d:これら様々なモーメントにおけるESPの起動閾値(St)を計測する段階と、
・段階e:計測されたヨー角と設定値ヨー角との差に対する、計測された起動閾値を表す消費値の曲線を、時間の関数として確立する段階と、
・段階f:基準閾値を、消費値に比例する割合で修正する段階と、
を含んでいる。
本発明によれば、この方法は、好都合にも、車両の懸架装置を調整する方法でもある。
本発明の様々な目的及び特徴は、以下の詳細な説明と添付図面から明らかになるであろう。
従って、以下のようなものが装備されている:
−車輪速センサー(CVR1〜CVR4)
−横方向加速度センサーCAL
−ヨーセンサーCL
−操舵軸回転センサーLWS
−等々。
電子的安定性プログラムは、主としてエンジン制御コンピュータCAN又は油圧制御ユニット(HCU)を含む車両の各種ユニットに送られる命令を生成するため、処理を実行する。
最上部は、車両を象徴的に表しているブロックであり、以下のものが含まれている:
−エンジン制御を作り出す車両のエンジン管理システム
−油圧システム、特に制動システムのための管理システム
−車両の車輪の回転及び制動に連接されている各種の被制御ユニット。
−ハンドル角度
−ヨー速度(車両の垂直軸回りの回転速度)。
−車両センサーCVR1〜CVR4、CAL、CL、LWS等によって記録される各種の量(数量)を受け取り、車両に働く各種の力を各瞬間に計算する比較器
−設定値ヨー速度ヨー値とドリフト角値を、運転者によって供給される命令(加速度、ハンドルロック角度、等)に従って計算するための回路
−比較器によって供給される量と計算された設定値の値とに基づいて許容可能なヨーモーメントを計算する調整器回路
−最後に、ブレーキのロックトルクとタイヤのスキッド(滑り)設定値の値を計算し、アンチロック制動システムABS、アンチスリップ調整システムASR、及びモーター速度調整器システムMSRに適切な命令を供給する回路。
ヨーセンサーCLが所定の値(ESP閾値)より大きなヨー速度を供給する場合、電子的安定性プログラムは、介入して車両の経路を修正しなければならない。ESPが取り得る手段の1つは、当技術では既知のように、1つ又はそれ以上の車輪を制動することである。
この走行試験の間、各瞬間に以下のものが計測される:
−ハンドル制御によって供給される設定値ヨー角LC
−(単数又は複数の)ヨーセンサーCLを使って車両上で計測される実測ヨー角LM
−常に基準閾値に設定されるESPシステムに対するESPの起動閾値St。
Cesp=(LM−LC)/St。
St:ESPの起動閾値
CVR:車輪速センサー
LWS:操舵軸回転センサー
LC:設定値ヨー角
LM:実測ヨー角
Claims (4)
- 自動車用電子的安定性プログラムを調整する方法において、
・段階a:異なる既知の速度で、ESPシステムを起動するための、基準閾値(Sv)を有するESPシステムを、車両に装備する段階と、
・段階b:即時に、走行状態の前記車両における、様々なモーメントでの、設定値ヨー角(LC)を取得する段階と、
・段階c:即時に、走行状態における、前記同一のモーメントでの、前記車両で計測されたヨー角(LM)を取得する段階と、
・段階d:前記様々なモーメントにおける、ESPの起動閾値(St)を計測する段階と、
・段階e:前記計測されたヨー角と前記設定値ヨー角との差(dCM=LM−LC)に対する前記計測された起動閾値(St)を表す消費値(Cesp)の曲線を、時間の関数として確立する段階と、
・段階f:前記基準閾値(Sv)を、前記消費値(Cesp)に比例する割合で修正する段階と、から成る、ことを特徴とする方法。 - 車両のタイヤ特性を選択する方法において、
・段階a:異なる既知の速度で、ESPシステムを起動するための、基準閾値(Sv)を有するESPシステムを、車両に装備する段階と、
・段階b:即時に、走行状態の前記車両における、様々なモーメントでの、設定値ヨー角(LC)を取得する段階と、
・段階c:即時に、走行状態における、前記同一のモーメントでの、前記車両で計測されたヨー角(LM)を取得する段階と、
・段階d:前記様々なモーメントにおける、ESPの起動閾値(St)を計測する段階と、
・段階e:前記計測されたヨー角と前記設定値ヨー角との差(dCM=LM−LC)に対する前記計測された起動閾値(St)を表す消費値(Cesp)の曲線を、時間の関数として確立する段階と、
・段階f:前記基準閾値(Sv)を、前記消費値(Cesp)に比例する割合で修正する段階と、から成る、ことを特徴とする方法。 - 車両の懸架装置を調整する方法において、
・段階a:異なる既知の速度で、ESPシステムを起動するための、基準閾値(Sv)を有するESPシステムを、車両に装備する段階と、
・段階b:即時に、走行状態の前記車両における、様々なモーメントでの、設定値ヨー角(LC)を取得する段階と、
・段階c:即時に、走行状態における、前記同一のモーメントでの、前記車両で計測されたヨー角(LM)を取得する段階と、
・段階d:前記様々なモーメントにおける、ESPの起動閾値(St)を計測する段階と、
・段階e:前記計測されたヨー角と前記設定値ヨー角との差(dCM=LM−LC)に対する前記計測された起動閾値(St)を表す消費値(Cesp)の曲線を、時間の関数として確立する段階と、
・段階f:前記基準閾値(Sv)を、前記消費値(Cesp)に比例する割合で修正する段階と、から成る、ことを特徴とする方法。 - 請求項1に記載の方法であって、
前記方法は、車両の電子的安定性プログラム(ESP)を、動的に調整しかつ欠陥を取り除く方法である、ことを特徴とする方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0604316 | 2006-05-10 | ||
FR0604316A FR2900893B1 (fr) | 2006-05-10 | 2006-05-10 | Procede de reglage d'un systeme de controle dynamique de trajectoire pour vehicule automobile. |
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Publication Number | Publication Date |
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JP2007326562A JP2007326562A (ja) | 2007-12-20 |
JP4922062B2 true JP4922062B2 (ja) | 2012-04-25 |
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Application Number | Title | Priority Date | Filing Date |
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JP2007125167A Expired - Fee Related JP4922062B2 (ja) | 2006-05-10 | 2007-05-10 | 自動車用電子的安定性プログラム |
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Country | Link |
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US (2) | US7418333B2 (ja) |
EP (1) | EP1854689B1 (ja) |
JP (1) | JP4922062B2 (ja) |
AT (1) | ATE457252T1 (ja) |
DE (1) | DE602007004687D1 (ja) |
ES (1) | ES2338268T3 (ja) |
FR (1) | FR2900893B1 (ja) |
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Publication number | Priority date | Publication date | Assignee | Title |
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FR2900893B1 (fr) * | 2006-05-10 | 2008-06-20 | Bosch Gmbh Robert | Procede de reglage d'un systeme de controle dynamique de trajectoire pour vehicule automobile. |
US8577579B2 (en) * | 2010-02-01 | 2013-11-05 | Bendix Commercial Vehicle Systems Llc | Engine control request from adaptive control with braking controller |
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-
2006
- 2006-05-10 FR FR0604316A patent/FR2900893B1/fr not_active Expired - Fee Related
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- 2007-04-27 DE DE602007004687T patent/DE602007004687D1/de active Active
- 2007-04-27 AT AT07107146T patent/ATE457252T1/de not_active IP Right Cessation
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EP1854689B1 (fr) | 2010-02-10 |
ES2338268T3 (es) | 2010-05-05 |
FR2900893B1 (fr) | 2008-06-20 |
US20070265737A1 (en) | 2007-11-15 |
US7418333B2 (en) | 2008-08-26 |
FR2900893A1 (fr) | 2007-11-16 |
ATE457252T1 (de) | 2010-02-15 |
DE602007004687D1 (de) | 2010-03-25 |
EP1854689A1 (fr) | 2007-11-14 |
US20080288139A1 (en) | 2008-11-20 |
US7542838B2 (en) | 2009-06-02 |
JP2007326562A (ja) | 2007-12-20 |
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