KR100259898B1 - A braking method of electric vehicle by using resurrection braking - Google Patents

A braking method of electric vehicle by using resurrection braking Download PDF

Info

Publication number
KR100259898B1
KR100259898B1 KR1019950059213A KR19950059213A KR100259898B1 KR 100259898 B1 KR100259898 B1 KR 100259898B1 KR 1019950059213 A KR1019950059213 A KR 1019950059213A KR 19950059213 A KR19950059213 A KR 19950059213A KR 100259898 B1 KR100259898 B1 KR 100259898B1
Authority
KR
South Korea
Prior art keywords
braking
regenerative braking
resurrection
brake pedal
vehicle
Prior art date
Application number
KR1019950059213A
Other languages
Korean (ko)
Other versions
KR970036328A (en
Inventor
정유석
Original Assignee
류정열
기아자동차주식회사
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 류정열, 기아자동차주식회사 filed Critical 류정열
Priority to KR1019950059213A priority Critical patent/KR100259898B1/en
Publication of KR970036328A publication Critical patent/KR970036328A/en
Application granted granted Critical
Publication of KR100259898B1 publication Critical patent/KR100259898B1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

PURPOSE: A braking method of an electric vehicle by using resurrection braking is provided to be capable of performing the resurrection braking in accordance with the pushed status of a brake pedal and the running velocity of the vehicle. CONSTITUTION: In a resurrection braking calculating step(100), the pushed status of a brake pedal is consistently detected, and the pushed amount of the brake pedal of the running velocity of the vehicle are detected to compare the pushed status of the brake pedal previously input to a memory and the data table for the resurrection braking if it is determined that the pedal is pushed, thereby calculating an initial resurrection braking. In a resurrection braking step(200), the resurrection braking is performed using the calculated resurrection braking. In a resurrection braking incrementing step(300), it is returned to the resurrection braking calculating step(100) if the pushed status of the brake pedal is released, and the resurrection braking is gradually incremented with a predetermined ratio until the vehicle is stopped if not.

Description

회생제동량을 이용한 전기자동차의 제동방법{A BRAKING METHOD OF ELECTRIC VEHICLE BY USING RESURRECTION BRAKING}Braking method of electric vehicle using regenerative braking quantity {A BRAKING METHOD OF ELECTRIC VEHICLE BY USING RESURRECTION BRAKING}

제1도는 본 발명에 따른 회생제동량을 이용한 전기자동차의 제동방법을 나타낸 제어흐름도이다.1 is a control flowchart illustrating a braking method of an electric vehicle using the regenerative braking amount according to the present invention.

〈도면의 주요부분에 대한 부호의 설명〉<Explanation of symbols for main parts of drawing>

100 : 회생제동량 산출단계 200 : 회생제동 실시단계100: regenerative braking amount calculation step 200: regenerative braking step

300 : 회생제동량 증가단계300: step of increasing regenerative braking

[발명의 목적][Purpose of invention]

[명이 속하는 기술분야 및 그 분야의 종래기술][Technical field to which the person belongs and the prior art in that field]

본 발명은 전기자동차의 제동방법에 관한 것으로, 특히 브레이크 페달의 가압상태와 차량의 주행속도를 검출하여, 상기 검출된 브레이크 페달의 가압상태와 주행 속도에 따른 회생제동을 실시하여, 그 회생제동량을 점차적으로 증가시킴으로써 보다 정확한 제동을 할 수 있는 회생제동량을 이용한 전기자동차의 제동방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a braking method of an electric vehicle, and in particular, detects a pressurized state of a brake pedal and a traveling speed of a vehicle, performs regenerative braking according to the detected pressurized state and a traveling speed of the brake pedal, and the regenerative braking amount thereof. The present invention relates to a braking method of an electric vehicle using the regenerative braking amount capable of more precise braking by gradually increasing.

일반적으로 전기자동차에서 구동모터를 정지시킬 시(특히, 브레이크 페달을 가압시)에는, 상기 구동모터에 공급되는 배터리를 차단하고, 관성력에 의해 회전하는 구동모터에서 발생하는 역기전력을, 상기 구동모터가 진행방향에 대한 역으로 회전하게끔 구동모터에 인가하므로써 그 제동력을 실행하도록 되어 있다.In general, when the driving motor is stopped in an electric vehicle (particularly, when the brake pedal is pressed), the driving motor is disconnected from the battery supplied to the driving motor and the counter-electromotive force generated by the driving motor rotating by inertial force is applied. It applies the braking force by applying it to the drive motor so as to rotate in the reverse direction to the traveling direction.

다시말해, 전기자동차가 진행 중에 브레이크 페달을 밟게 되면, 구동모터에 공급되던 전원을 차단하고, 차량의 진행 관성력 의해 회전하는 구동모터의 전원인가 단자에서 역으로 발생하는 역기전력을, 다시 구동모터에 인가하여 진행방향에 대해 구동모터가 역으로 회전하게끔 함으로써 제동력이 발생되어지는데, 이러한 제동력 발생을 회생제동이라 한다.In other words, when the electric vehicle presses the brake pedal while the vehicle is in progress, the electric power supplied to the driving motor is cut off, and the reverse electromotive force generated from the power supply terminal of the driving motor rotating by the inertia force of the vehicle is applied to the driving motor again. Therefore, the braking force is generated by causing the drive motor to rotate in the reverse direction with respect to the traveling direction. This braking force is called regenerative braking.

즉, 모터의 축을 회전시킬 시, 플레밍의 법칙에 의해 발생하는 기전력을 이용하여 구동모터를 진행방향에 대한 반대되는 방향으로 회전시킴으로써 제동력을 향상시키는 방법으로, 주지하다시피 이를 유압브레이크와 조합하여 사용하므로써 차량의 제동력 및 제동특성을 향상시켰다. 이때, 회생제동비율은 0% ~ 100%의 범위까지 설정할 수 있는 것으로 모터의 최대 정격을 고려하여 적정한 어느 값으로 선택하여 사용하였다.That is, when rotating the shaft of the motor, by using the electromotive force generated by the law of Fleming by rotating the drive motor in a direction opposite to the traveling direction to improve the braking force, as is known in combination with a hydraulic brake This improved the braking force and braking characteristics of the vehicle. At this time, the regenerative braking ratio can be set in the range of 0% to 100%, and was selected and used as an appropriate value in consideration of the maximum rating of the motor.

[발명이 이루고자 하는 기술적 과제][Technical problem to be achieved]

그러나, 상기와 같은 종래의 회생제동장치에 있어서는, 회생제동비율이 고정되어 있어 급제동이 이루어져서 운전자에게 충격을 준다는 문제점이 있으며, 또한 상기 회생제동비율에 해당하는 제동력만 발생하므로 인해 자동차를 제동시키기까지 상당한 시간이 필요하게 된다는 문제점 등이 있었다.However, in the conventional regenerative braking device as described above, there is a problem that the regenerative braking ratio is fixed, so that a rapid braking is performed to shock the driver, and since only the braking force corresponding to the regenerative braking ratio is generated, the vehicle is braked. There was a problem that a considerable time is required.

이에 본 발명은 상기와 같은 종래의 문제점을 해결하기 위하여 발명된 것으로, 레이크 페달의 가압상태와 차량의 주행속도를 검출하여, 상기 검출된 브레이크페달의 가압상태와 주행속도에 따라 회생제동을 실시할 수 있는 회생제동량을 이용한 전기자동차의 제동방법을 제공하는데 그 목적이 있다.Accordingly, the present invention has been invented to solve the above conventional problems, and detects the pressurized state of the rake pedal and the traveling speed of the vehicle, and performs regenerative braking according to the detected pressurized state and the running speed of the brake pedal. The purpose of the present invention is to provide a braking method for an electric vehicle using the regenerative braking amount.

[발명의 구성 및 작용][Configuration and Function of Invention]

상기와 같은 목적을 달성하기 위하여 본 발명은 브레이크 페달의 가압되었는지의 여부를 지속적으로 검출하여, 브레이크 페달이 가압된 것으로 판단될 경우에는, 브레이크 페달의 가압정도와 자동차의 주행속도를 검출하여, 메모리(MEMORY)에 기입력된, 브레이크 페달의 가압정도와, 주행속도와, 회생제동량에 대한 데이타 테이블(DATA TABLE)과 비교하므로써 초기의 회생제동량을 산출하는 회생제동량 산출단계(100)와: 상기 회생제동량 산출단계(100)를 수행하여 산출한 회생제동량으로 회생제동을 실시하는 회생제동 실시단계(200) 및; 상기 회생제동 실시단계(200)를 수행한 후, 브레이크 페달의 가압상태가 해제되었는지의 여부를 검출하여, 브레이크 페달의 가압상태가 해제되었을 경우에는 상기 회생제동량 산출단계(100)로 복귀하고, 그렇지 않을 경우에는 자동차가 정지할때에는 회생제동량을 소정의 비율로 점차적으로 증가시키는 회생제동량 증가단계(300)로 이루어져 있다.In order to achieve the above object, the present invention continuously detects whether or not the brake pedal is pressed, and when it is determined that the brake pedal is pressed, the pressure of the brake pedal and the driving speed of the vehicle are detected, and the memory The regenerative braking amount calculating step 100 for calculating the initial regenerative braking amount by comparing the brake pedal pressure, the traveling speed, and the regenerative braking amount to a data table previously inputted to MEMORY; A regenerative braking step (200) of performing regenerative braking with the regenerative braking amount calculated by performing the regenerative braking amount calculating step (100); After performing the regenerative braking step 200, it is detected whether the pressurized state of the brake pedal is released. When the pressurized state of the brake pedal is released, the regenerative braking amount calculating step 100 is returned. Otherwise, when the vehicle is stopped, the regenerative braking amount increasing step 300 gradually increases the regenerative braking amount at a predetermined ratio.

여기서 상기 회생제동량 증가단계(300)의 회생제동량 증가비율은 기하급수적으로 증가하도록 구성함을 특징으로 한다.Here, the regenerative braking amount increase rate of the regenerative braking amount increasing step 300 is configured to increase exponentially.

이하, 본 발명은 첨부된 예시도면을 참고로 상세히 설명한다.Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

먼저, ECU(ELECTRIN CONTROL UNIT)의 메모리에 브레이크 페달의 가압정도와 주행속도 및 회생제동량에 대한 데이터 테이블을 입력시킨다.First, a data table for the degree of pressurization of the brake pedal, the driving speed, and the regenerative braking amount is input to the memory of the ECU (ELECTRIN CONTROL UNIT).

여기서 상기 데이터 테이블은 브레이크 페달의 가압정도와 주행속도에 맞추어 공지된 방식으로 회생제동량을 산정하는 방식으로 처리하여 얻어진 데이터로 되어 있다.The data table is data obtained by processing the regenerative braking amount in a known manner in accordance with the pressurization degree and the traveling speed of the brake pedal.

이후 상기 회생제동량 산출단계(100)를 수행하여, 브레이크 페달이 가압되었는지의 여부를 지속적으로 검출하여, 이 브레이크 페달이 가압된 것으로 판단될 경우에는 브레이크 페달의 가압정도와 자동차의 주행속도를 검출하여, 메모리에 기 입력된 브레이크 페달의 가압정도와 주행속도 및, 회생제동량에 대한 데이터 테이블과 비교함으로써 초기의 회생제동량을 산출하게 된다.Thereafter, the regenerative braking amount calculating step 100 is performed to continuously detect whether the brake pedal is pressed, and if it is determined that the brake pedal is pressed, the degree of pressurization of the brake pedal and the driving speed of the vehicle are detected. Thus, the initial regenerative braking amount is calculated by comparing the pressurization degree, traveling speed, and regenerative braking amount of the brake pedal previously input to the memory.

그리고, 브레이크 페달의 가압정도와 자동차의 주행속도를 회생제동량 산출의 변수로 채택한 이유는 자동차의 제동력이 자동차의 주행속도에 따라 변화되며, 또한 제동의 정도가 브레이크 페달의 가압정도에 따라 달라지기 때문이다.In addition, the reason why the brake pedal pressure and the driving speed of the vehicle are adopted as variables of the regenerative braking amount calculation is that the braking force of the vehicle is changed according to the driving speed of the vehicle, and the degree of braking is dependent on the pressure of the brake pedal. Because.

한편, 상기 회생제동량 산출단계(100)를 수행한 후에는, 상기 회생제동량 산출단계(100)에서 산출된 회생제동량으로 회생제동을 실시하는 상기 회생제동 실시단계(200)를 수행하여 자동차를 제동시키게 된다.On the other hand, after performing the regenerative braking amount calculating step 100, by performing the regenerative braking step 200 to perform the regenerative braking with the regenerative braking amount calculated in the regenerative braking amount calculating step 100 Will brake.

또한, 상기 회생제동 실시단계(200)를 수행하여 자동차를 초기제동한 후에는 브레이크 페달의 가압상태가 해제 되었는지의 여부를 검출하고, 브레이크 페달의 가압상태가 해제되었을 경우에는 상기 회생제동량 산출단계(100)로 복귀하며, 그렇지 않을 경우에는 자동차가 정지할 때까지 회생제동량을 점차적으로 증가시키는 상기 회생제동량 증가단계(300)를 수행하여 자동차를 정지시키도록 되어 있다.In addition, after performing the regenerative braking step 200, the vehicle is initially braked to detect whether the brake pedal is in a depressed state, and when the brake pedal is depressed, calculating the regenerative braking amount. Returning to (100), if not, perform the regenerative braking amount increasing step 300 to gradually increase the regenerative braking amount until the vehicle is stopped to stop the vehicle.

여기서, 상기 회생제동량은 가하급수적으로 신속하게 증가시킴으로써 급브레이크의 경우 차량이 보다 빠르게 정지할 수 있도록 한다.In this case, the regenerative braking amount is increased rapidly in a descending order so that the vehicle can stop more quickly in case of a sudden brake.

따라서, 별도의 브레이크 장치없이, 필요에 따라 종래의 브레이크 장치와 병행하여 자동차를 정확하게 제동시킬 수 있게 되는 것이다.Therefore, without a separate brake device, it is possible to accurately brake the vehicle in parallel with the conventional brake device as needed.

이상에서 살펴본 바와 같이 본 발명에 따른 회생제동량을 이용한 전기자동차의 제동방법은 특히, 브레이크 페달의 가압상태와 차량의 주행속도를 검출하여, 상기 검출된 브레이크 페달의 가압상태와 주행속도에 따라 회생제동을 실시하고, 그 회생제동량을 점차적으로 높이거나 줄임으로써 정확한 제동력을 얻을 수 있도록 되어 있다.As described above, the braking method of the electric vehicle using the regenerative braking amount according to the present invention particularly detects the pressurized state of the brake pedal and the traveling speed of the vehicle, and regenerates according to the detected pressurized state and the running speed of the brake pedal. Braking is performed, and accurate braking force can be obtained by gradually increasing or decreasing the regenerative braking amount.

Claims (1)

브레이크페달의 가압되었는지의 여부를 지속적으로 검출하여, 브레이크 페달이 가압된 것으로 파단될 경우에는, 브레이크 페달의 가압정도와 자동차의 주행속도를 검출하여, 메모리에 기 입력된 브레이크 페달의 가압정도와 주행속도 및 회생 제동량에 대한 데이터 테이블과 비교하므로써 초기의 회생제동량을 산출하는 회생 제동량 산출단계(100)와; 상기 회생제동량 산출단계(100)를 수행하여 산출한 회생 제동량으로 회생제동을 실시하는 회생제동 실시단계(200); 및 상기 회생제동 실시 단계(200)를 수행한 후, 브레이크 페달이 가압상태가 해제 되었는지의 여부를 검출하여 브레이크 페달의 가압상태가 해제되었을 경우에는 상기 회생제동량 산출단계(100)로 복귀하고, 그렇지 않을 경우에는 자동차가 정지할때까지 회생제동량을 소정의 비율로 점차적으로 증가시키는 회생제동량 증가단계(300)를 포함하여 구성되는 회생제동량을 이용한 전기자동차의 제동방법.Continuously detects whether the brake pedal is pressurized, and when the brake pedal is broken, the degree of pressurization of the brake pedal and the driving speed of the vehicle are detected. A regenerative braking amount calculating step 100 for calculating an initial regenerative braking amount by comparing with a data table for speed and regenerative braking amount; A regenerative braking step (200) of performing regenerative braking with the regenerative braking amount calculated by performing the regenerative braking amount calculating step (100); After performing the regenerative braking step 200, the brake pedal detects whether the pressurized state is released and returns to the regenerative braking amount calculating step 100 when the pressurized state of the brake pedal is released. Otherwise, the braking method of the electric vehicle using the regenerative braking amount comprising the step of regenerative braking increase step 300 to gradually increase the regenerative braking amount by a predetermined ratio until the vehicle is stopped.
KR1019950059213A 1995-12-27 1995-12-27 A braking method of electric vehicle by using resurrection braking KR100259898B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019950059213A KR100259898B1 (en) 1995-12-27 1995-12-27 A braking method of electric vehicle by using resurrection braking

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019950059213A KR100259898B1 (en) 1995-12-27 1995-12-27 A braking method of electric vehicle by using resurrection braking

Publications (2)

Publication Number Publication Date
KR970036328A KR970036328A (en) 1997-07-22
KR100259898B1 true KR100259898B1 (en) 2000-06-15

Family

ID=19445167

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019950059213A KR100259898B1 (en) 1995-12-27 1995-12-27 A braking method of electric vehicle by using resurrection braking

Country Status (1)

Country Link
KR (1) KR100259898B1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20040003278A (en) * 2002-07-02 2004-01-13 현대자동차주식회사 Regenerative braking method of a hybrid vehicle
KR100957309B1 (en) 2008-06-19 2010-05-12 현대자동차주식회사 Method for control regenerative braking of hybrid electric vehicle
KR20190051135A (en) * 2017-11-06 2019-05-15 현대자동차주식회사 Regenerative braking control device, vehicle having the regenerative braking control device, and method for controlling the vehicle
KR102294158B1 (en) 2020-10-27 2021-08-25 숭실대학교 산학협력단 Regenerative braking control method based on driving perception of xEV vehicles

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20020054800A (en) * 2000-12-28 2002-07-08 이계안 Method for controlling revival braking of a hybrid electric vehicle

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20040003278A (en) * 2002-07-02 2004-01-13 현대자동차주식회사 Regenerative braking method of a hybrid vehicle
KR100957309B1 (en) 2008-06-19 2010-05-12 현대자동차주식회사 Method for control regenerative braking of hybrid electric vehicle
KR20190051135A (en) * 2017-11-06 2019-05-15 현대자동차주식회사 Regenerative braking control device, vehicle having the regenerative braking control device, and method for controlling the vehicle
KR102448100B1 (en) 2017-11-06 2022-09-28 현대자동차주식회사 Regenerative braking control device, vehicle having the regenerative braking control device, and method for controlling the vehicle
KR102294158B1 (en) 2020-10-27 2021-08-25 숭실대학교 산학협력단 Regenerative braking control method based on driving perception of xEV vehicles

Also Published As

Publication number Publication date
KR970036328A (en) 1997-07-22

Similar Documents

Publication Publication Date Title
EP1136310B1 (en) Control method for a coordinated regenerative brake system
US9902377B2 (en) Method for controlling braking force of brake according to velocity
US6199670B1 (en) Electric brake apparatus for controlling a current provided to a brake motor
JPH1134855A (en) Method and device for controlling braking device of vehicle provided with electric drive device
JP2001239929A (en) Brake device
KR880004971A (en) Vehicle Spin Control
CA2247185A1 (en) Running stabilizing apparatus to be mounted on vehicle
CN112373455B (en) Automobile motor braking method, device, equipment and storage medium
KR970074434A (en) Antilock Brake Control
KR970069717A (en) Vehicle behavior control
KR100259898B1 (en) A braking method of electric vehicle by using resurrection braking
CN113580948A (en) Brake control method, device, equipment and storage medium for electric automobile
KR960010425A (en) Traction control system
KR970074436A (en) Antilock Brake Control
JP2002178946A (en) Electric power steering device
CA2120227A1 (en) Anti-Lock Brake System Wherein Brake Pressure for Higher-Speed Rear Wheel is Made Than That for Lower-Speed Rear Wheel
CA2350350A1 (en) Braking force control-type behavior control apparatus and method of motor vehicle
JP3951597B2 (en) Braking device
JP2020503212A (en) Control device and method for operating an electromechanical brake booster of a vehicle brake system
JPH06253406A (en) Brake device for electric railcar
JPH04243655A (en) Abnormality detecting method for liquid pressure generating device
JP3262068B2 (en) Travel speed control device for industrial vehicles
EP4385794A1 (en) Braking method for a vehicle and electro-mechanical braking system
KR101440176B1 (en) Brake control method for electric vehicle and hybrid vehicle
JP3508335B2 (en) Brake for electric vehicles

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20100302

Year of fee payment: 11

LAPS Lapse due to unpaid annual fee