JPWO2020137734A1 - 電動ブレーキ装置 - Google Patents
電動ブレーキ装置 Download PDFInfo
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- JPWO2020137734A1 JPWO2020137734A1 JP2020563131A JP2020563131A JPWO2020137734A1 JP WO2020137734 A1 JPWO2020137734 A1 JP WO2020137734A1 JP 2020563131 A JP2020563131 A JP 2020563131A JP 2020563131 A JP2020563131 A JP 2020563131A JP WO2020137734 A1 JPWO2020137734 A1 JP WO2020137734A1
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- 230000008859 change Effects 0.000 claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 230000033001 locomotion Effects 0.000 claims abstract description 37
- 238000003825 pressing Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 description 48
- 230000008569 process Effects 0.000 description 48
- 238000001514 detection method Methods 0.000 description 13
- 239000012530 fluid Substances 0.000 description 13
- 230000006870 function Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 230000007812 deficiency Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000004043 responsiveness Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Images
Classifications
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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
- B60T13/741—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 an ultimate actuator
-
- 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
-
- 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
-
- 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
- B60T13/746—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 and mechanical transmission of the braking action
-
- 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
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
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- 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
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
- F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
- F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
-
- 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
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
- F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
- F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
- F16D65/183—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes with force-transmitting members arranged side by side acting on a spot type force-applying member
-
- 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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/02—Details of stopping control
- H02P3/04—Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake
-
- 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
- B60T2201/02—Active or adaptive cruise control system; Distance control
-
- 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
-
- 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
-
- 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
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/24—Electric or magnetic using motors
-
- 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
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/20—Mechanical mechanisms converting rotation to linear movement or vice versa
- F16D2125/34—Mechanical mechanisms converting rotation to linear movement or vice versa acting in the direction of the axis of rotation
- F16D2125/40—Screw-and-nut
-
- 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
- F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
- F16D55/02—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
- F16D55/22—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads
- F16D55/224—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members
- F16D55/225—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members the braking members being brake pads
- F16D55/226—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members the braking members being brake pads in which the common actuating member is moved axially, e.g. floating caliper disc brakes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
- Braking Systems And Boosters (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
Claims (4)
- 電動ブレーキ装置であって、
電動モータで駆動される回転直動機構により推進されるピストンが、制動部材を被制動部材に押圧し、前記電動モータの停止により前記制動部材を押圧位置で保持する電動ブレーキ機構と、
前記電動モータを制御する制御部と、を備え、
前記制御部は、前記制動部材の保持要求があった場合に、前記電動モータの電流値の変化傾向に基づき、前記電動モータの停止可否を判定する判定時期を決定し、前記判定時期に達したときに、前記電動モータの停止可否の判定を行う電動ブレーキ装置。 - 請求項1に記載の電動ブレーキ装置であって、
前記制御部は、前記判定時期に達したときに、前記電動モータの電流値が所定値以上である場合に、前記電動モータを停止可能と判定する電動ブレーキ装置。 - 請求項1または2に記載の電動ブレーキ装置であって、
前記制御部は、前記電動モータの駆動を開始してから所定時間経過後に電流値の増加があったときに、前記電動モータの電流値の変化傾向に基づき、前記電動モータの停止可否を判定する判定時期を決定する電動ブレーキ装置。 - 電動ブレーキ装置であって、
電動モータで駆動される回転直動機構により推進されるピストンが、制動部材を被制動部材に押圧し、前記電動モータの停止により前記制動部材を押圧位置で保持する電動ブレーキ機構と、
前記電動モータを制御する制御部と、を備え、
前記制御部は、前記制動部材の保持要求があった場合に、前記電動モータの電流値の変化傾向に基づき、前記電動モータの回転位置が前記制動部材の保持完了となる位置に到達したか否かを判定する判定時期を決定し、前記判定時期に達したときに、前記制動部材の保持完了の判定を行う電動ブレーキ装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018242708 | 2018-12-26 | ||
JP2018242708 | 2018-12-26 | ||
PCT/JP2019/049568 WO2020137734A1 (ja) | 2018-12-26 | 2019-12-18 | 電動ブレーキ装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2020137734A1 true JPWO2020137734A1 (ja) | 2021-10-14 |
JP7153743B2 JP7153743B2 (ja) | 2022-10-14 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020563131A Active JP7153743B2 (ja) | 2018-12-26 | 2019-12-18 | 電動ブレーキ装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220073038A1 (ja) |
JP (1) | JP7153743B2 (ja) |
KR (1) | KR102535553B1 (ja) |
CN (1) | CN113242823A (ja) |
DE (1) | DE112019006461T5 (ja) |
WO (1) | WO2020137734A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7056301B2 (ja) * | 2018-03-26 | 2022-04-19 | 株式会社アドヴィックス | 制動制御装置 |
WO2020246868A1 (ko) * | 2019-06-07 | 2020-12-10 | 주식회사 만도 | 브레이크 시스템의 제어장치 구조 |
JP2020203654A (ja) * | 2019-06-19 | 2020-12-24 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 制御装置及び制御方法 |
US11760317B2 (en) * | 2020-08-21 | 2023-09-19 | Ford Global Technologies, Llc | System and method for controlling an electronic parking brake |
KR20220120230A (ko) * | 2021-02-23 | 2022-08-30 | 현대모비스 주식회사 | 통합 전자제동장치 및 그 제어방법 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2010500511A (ja) * | 2006-08-07 | 2010-01-07 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | 電気機械式パーキングブレーキ及びその動作方法 |
JP2013159269A (ja) * | 2012-02-07 | 2013-08-19 | Akebono Brake Ind Co Ltd | 電動パーキングブレーキの制御装置、制御方法、制御プログラム、およびブレーキシステム |
JP2016084035A (ja) * | 2014-10-27 | 2016-05-19 | 株式会社ハイレックスコーポレーション | 押圧駆動装置及び電動パーキングブレーキ駆動装置 |
JP2018523610A (ja) * | 2015-08-25 | 2018-08-23 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 運転者支援のための方法および装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5320931B2 (ja) * | 2008-09-24 | 2013-10-23 | 株式会社アドヴィックス | 駐車ブレーキ制御装置 |
US10293800B2 (en) * | 2014-01-31 | 2019-05-21 | Hitachi Automotive Systems, Ltd. | Brake system |
JP6457260B2 (ja) | 2014-12-27 | 2019-01-23 | 日立オートモティブシステムズ株式会社 | ブレーキ装置 |
IT201700086468A1 (it) * | 2017-07-27 | 2019-01-27 | Freni Brembo Spa | Metodo di stima di una forza frenante esercitabile tra pastiglia e disco freno da un sistema elettrico di frenatura di stazionamento di un veicolo e sistema elettrico di frenatura di stazionamento di un veicolo implementante tale metodo |
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2019
- 2019-12-18 US US17/417,476 patent/US20220073038A1/en active Pending
- 2019-12-18 CN CN201980083281.2A patent/CN113242823A/zh active Pending
- 2019-12-18 WO PCT/JP2019/049568 patent/WO2020137734A1/ja active Application Filing
- 2019-12-18 JP JP2020563131A patent/JP7153743B2/ja active Active
- 2019-12-18 DE DE112019006461.4T patent/DE112019006461T5/de active Pending
- 2019-12-18 KR KR1020217013850A patent/KR102535553B1/ko active IP Right Grant
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010500511A (ja) * | 2006-08-07 | 2010-01-07 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | 電気機械式パーキングブレーキ及びその動作方法 |
JP2013159269A (ja) * | 2012-02-07 | 2013-08-19 | Akebono Brake Ind Co Ltd | 電動パーキングブレーキの制御装置、制御方法、制御プログラム、およびブレーキシステム |
JP2016084035A (ja) * | 2014-10-27 | 2016-05-19 | 株式会社ハイレックスコーポレーション | 押圧駆動装置及び電動パーキングブレーキ駆動装置 |
JP2018523610A (ja) * | 2015-08-25 | 2018-08-23 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 運転者支援のための方法および装置 |
Also Published As
Publication number | Publication date |
---|---|
DE112019006461T5 (de) | 2021-09-02 |
US20220073038A1 (en) | 2022-03-10 |
CN113242823A (zh) | 2021-08-10 |
WO2020137734A1 (ja) | 2020-07-02 |
JP7153743B2 (ja) | 2022-10-14 |
KR102535553B1 (ko) | 2023-05-26 |
KR20210060621A (ko) | 2021-05-26 |
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