KR970006013A - 차량용 제동 및 조향장치 - Google Patents

차량용 제동 및 조향장치 Download PDF

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KR970006013A
KR970006013A KR1019960028676A KR19960028676A KR970006013A KR 970006013 A KR970006013 A KR 970006013A KR 1019960028676 A KR1019960028676 A KR 1019960028676A KR 19960028676 A KR19960028676 A KR 19960028676A KR 970006013 A KR970006013 A KR 970006013A
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steering
braking
function
wheel
numerical processing
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KR1019960028676A
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KR100222019B1 (ko
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토마스 보겔
토마스 터너
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비터너 발터·다멘 토니
다임러-벤츠 아크티엔게젤샤프트
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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
    • 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
    • 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
    • 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
    • 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
    • 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
    • B60T8/321—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 deceleration
    • 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
    • B60T8/88—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 with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/885—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 with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/003—Backup systems, e.g. for manual steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/005—Emergency systems using brakes for steering
    • 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
    • B60T2260/02—Active Steering, Steer-by-Wire
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/402—Back-up
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/413—Plausibility monitoring, cross check, redundancy
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/82—Brake-by-Wire, EHB

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mathematical Physics (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Regulating Braking Force (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

본 발명은 차량용 제동장치 및 조향장치에 관한 것이다. 본 발명의 목적은 적어도 차량용 제동기능 및 조향장치의 페일세이프 장치를 제공하고, 상기 페일세이프 장치내에는 운전자의 운전대와 조향되는 바퀴 사이에 연속구조의 기계식 연결장치, 또는 운전자가 작동하는 브레이크 페달 및 바퀴의 서비스 브레이크(Service brake)사이에 연속구조의 기계식 및 또는 유압식 연결장치가 구성되어 있지 않다. 적어도 두 개의 액슬로 구성되는 차량에 있어서, 각각의 바퀴에 대한 제동기능은 각각의 액슬에 대해 이루어지고, 조향기능은 적어도 하나의 액슬에 대해 이루어지고, 상기 차량은 결합방지기능의 선호적으로 충분한 수치유니트로 구성된다. 수치유니트내에서, 소요제동효과가 적어도 각각의 바퀴에 대해 이루어지고, 소요조향효과가 조향기능을 가진 각각의 바퀴에 대해 이루어지며, 각각의 경우 센서신호에 대해 이루어진다. 바퀴에 대한 제동기능 및 조향기능은 기결정된 소요제동효과 및 소요조향효과를 기초로 조정시스템에 의해 제어된다. 이 경우 제동기능을 담당하는 조정시스템은 서비스 브레이크를 포함하여 조향기능을 담당하는 조정시스템은 조향조절기를 포함한다. 실함방지 장치가 수치유니트에 조정시스템에 연관된다. 수치유니트 및 조정시스템의 에너지원은 실함방지장치에 관련하여 설계된다.

Description

차량용 제동 및 조향장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도에서 제1e도는 전류구동차량에 있어서 제동기능용 조정시스템의 배열 및 조향조정기의 배열의 서로 다른 예를 보여준다. 제2도는 제동시스템 및 조향시스템의 개략도를 나타낸다. 제3도는 바퀴를 담당하고 상기 바퀴를 위한 조정시스템을 구성하는 모듈의 개략도를 나타낸다.

Claims (25)

  1. 차량이 적어도 두 개의 차축들(A1, A2)로 구성되고, 제동기능이 각각의 차륜에 대해 각각의 차축에 작용하고, 조향기능이 적어도 하나의 차축에 작용하는 차량용 제동 및 조향시스템에 있어서, 적어도 하나의 이상기능대응작용과 선호적으로 여유장치 기능을 가진 수치처리유니트(3)이 구성되고, 상기 수치처리유니트(3)내에 소요 제동효과가 각각의 차륜에 대해 결정되고, 소요조향효과가 조향기능을 가진 각각의 차륜에 대해 결정되며 상기 소요제동효과 및 소요조향효과는 센서신호(Sb, Sg, V, Wi,α,β)에 따라 작용하고, 제동기능 및 조향기능이 소요제동효과 및 소요조향효과를 기초로 조정시스템에 의해 조절 또는 제어되며, 제동기능용 조정시스템은 브레이크(11)를 포함하는 것을 특징으로 하고, 조향조정기(15, 16)를 부가적으로 포함하는 조향기능에 대해, 조정시스템이 이상기능대응통신장치(2)에 의해 수치처리유니트(3)에 연결되며 차량은 조정시스템 및 수치처리유니트(3)에 대한 이상기능대응작용의 에너지원으로 구성되는 것을 특징으로 하는 차량용 제동 및 조향시스템.
  2. 제1항에 있어서, 차축(A1, A2)들중의 적어도 하나의 차축상에 구성된 각각의 차륜에는 조향기능이 작용하고, 상기 차륜이, 각각의 경우에 다른 조향 조정기들에 대해 독립적으로 작동하는 조향조정기(Lr1, Lr2, Lr3, Lr4, Lr5, Lr6, Lr7, Lr8, Lr9, Lr10)에 작동가능하게 연결되는 것을 특징으로 하는 제동 및 조향시스템.
  3. 제1항 또는 제2항에 있어서, 조향기능이 이루어지고, 차축들(A1, A2)중의 적어도 하나의 차축상에 구성된 차륜들이 공통의 조향조정기(La1, La2, La3)에 작동가능하게 연결되는 것을 특징으로 하는 제동 및 조향시스템.
  4. 제1항, 제2항 또는 제3항 중의 한 항에 있어서, 차량은 서로에 대해 독립적으로 작동하고, 다양한 차량에 작동가능하게 연결되는 적어도 두 개의 조향조정기들로 구성되는 것을 특징으로 하는 제동 및 조향시스템.
  5. 제1항에서 제4항 중 어느 한 항에 있어서, 차축들(A1, A2) 중의 적어도 하나의 차축으로 구성되는 차륜들이, 각각의 경우에, 다른 브레이크에 대해 독립적으로 작동하는 브레이크(Br1, Br2, Br3, Br4, Br5, Br6) 사이에 기능적 관계, 특히 공통의 제동압력원이 존재하는 것을 특징으로 하는 제동 및 조향시스템.
  6. 내용 없음.
  7. 제1항에서 제6항 중의 한 항에 있어서, 차량은 서로에 대해 독립적으로 작동하고 다양한 차축의 차륜에 작동가능하게 연결되는 것을 특징으로 하는 제동 및 조향시스템.
  8. 제5항에 있어서, 조향기능이 이루어지는 차축들(A1, A2)의 차륜들이 다른 브레이크와 독립적으로 작동하는 브레이크(Br1, Br2, Br3, Br4, Br5, Br6, Br7, Br8)에 작동가능하게 연결되는 것을 특징으로 하는 제동 및 조향시스템.
  9. 제8항에 있어서, 조향기능이 작용하지 않는 차축들의 차륜들이 서로에 대해 기능적 관계를 이루고 특히 공통의 제동압력원에 연결되는 브레이크들(Br1, Br2, Br3, Br4, Br5, Br6)에 작동가능하게 연결되는 것을 특징으로 하는 제동 및 조향시스템.
  10. 제1항에 있어서, 차량대의 이상기능대응작용의 에너지원이 축전기(1) 및 적어도 하나의 다른 에너지 저장장치(8)로 구성되고, 조정시스템들은 각각의 차륜을 담당하며 상기 각각의 차륜이 서로에 대해 독립되게 작동하는 적어도 두개의 에너지 저장장치에 의해 공급되는 것을 특징으로 하는 제동 및 조향시스템.
  11. 제10항에 있어서, 제동기능을 위한 각각의 조정시스템(Br1, Br2, Br3, Br4, Br5, Br6, Br7, Br8, Ba1, Ba2, Ba3, Ba4, Ba5, Ba6)가 다른 에너지 저장장치와 독립적으로 작동하는 에너지 저장장치(8)을 담당하는 것을 특징으로 하는 제동 및 조향시스템.
  12. 제11항에 있어서, 차륜(A1, A2)의 특정 차륜의 제동기능을 위한 조정시스템을 제공하고 조향기능이 수행되는 에너지 저장장치(8)가 또한 조정시스템이 상기 특정차륜을 담당하는 조향기능을 위해 조향시스템(Lr1, Lr2, Lr3, Lr4, Lr5, Lr6, Lr7, Lr8, Lr9, Lr10, La1, La2, La3)을 제공하는 것을 특징으로 하는 제동 및 조향시스템.
  13. 제10항에서 제12항 중의 한 항에 있어서, 각각의 차륜을 담당하는 에너지 저장장치(8)가 해당차륜의 운동에너지로부터 제동작용이 발생하는 동안 전기에너지로 적어도 부분적으로 충전되는 것을 특징으로 하는 제동 및 조향시스템.
  14. 제10항에서 제12항 중의 한 항에 있어서, 적어도 하나의 에너지 저장장치(8)가 차륜의 운동에너지로부터 충전가능한 것을 특징으로 하는 제동 및 조향시스템.
  15. 제1항에 있어서, 능동현가기능이 특히 완전 또는 부분 능동현가장치에 의해 각각의 차륜에 대해 작용하며, 소요 스프링행정이 센서 신호에 응답하여 신호처리유니트내에서 각각의 차륜에 대해 결정되며, 능동현가기능이 기정의 소요 스프링행정을 기초로 스프링조정기(13)에 의해 조절되거나 제어되는 것을 특징으로 하는 제동 및 조향시스템.
  16. 제1항에 있어서, 구동기능이 차축(A1, A2) 하나의 적어도 차륜들에 대해 특히 전기구동장치(19)에 의해 작용하고, 소요구동효과가 구동기능을 가지는 차륜들에 대해 수치처리유니트(7)내에서 결정되며, 구동기능은 기정된 소요구동효과를 기초로 제어되거나 조절되는 것을 특징으로 하는 제동 및 조향시스템.
  17. 제16항에 있어서, 다른 구동장치와 독립적으로 작동하는 구동장치(19)가 구동기능을 가지는 차축들(A1, A2) 중의 적어도 하나의 차축상의 각각의 차륜에 대해 구성되는 것을 특징으로 하는 제동 및 조향시스템.
  18. 제16항 또는 제17항에 있어서, 차축의 양차륜상에 균등하게 작용하는 구동력이 구동기능을 가지는 차축들(A1, A2) 중의 적어도 하나의 차축상에 구성되는 것을 특징으로 하는 제동 및 조향시스템.
  19. 제1항에서 제18항 중의 한 항에 있어서, 특정 차륜 및 관련 제어장치(7)을 담당하고 상기 특정차륜에 유일하게 제공되는 다른 에너지 저장장치(8)을 담당하는 조정시스템들이 모듈(M1, M2, M3, M4)을 형성하도록 결합되는 것을 특징으로 하는 제동 및 조향시스템.
  20. 제1항에서 제18항 중의 한 항에 있어서, 특정차륜(A1, A2) 및 관련제어장치 및 상기 특정차륜에 유일하게 제공되는 다른 에너지 저장장치를 담당하는 조정시스템들이 모듈을 형성하도록 결합되는 것을 특징으로 하는 제동 및 조향시스템.
  21. 제1항에서 제20항 중의 한 항에 있어서, 이상기능대응 통신시스템이 데이터버스(Data bus)인 것을 특징으로 하는 제동 및 조향시스템.
  22. 제21항에 있어서, 데이터버스가 여유장치기능을 가지도록 설계되는 것을 특징으로 하는 제동 및 조향시스템.
  23. 제21항에 있어서, 데이터버스가 링 또는 별모양으로서 설계되는 것을 특징으로 하는 제동 및 조향시스템.
  24. 제1항에서 제24항 중의 한 항에 있어서, 이상기능대응작용의 수치처리유니트(3)은 서로에 대해 독립적으로 작용하고, 적어도 소요제동효과 및 소요조향효과가 모든 수치처리장치들(4, 5, 6)에 입력되는 소스신호에 응답하여 서로에 대해 독립적으로 결정되는 적어도 세 개의 동일한 수치처리장치들(4, 5, 6)으로 구성되는 것을 특징으로 하는 제동 및 조향시스템.
  25. 제1항에서 제23항 중의 한 항에 있어서, 이상기능대응작용의 수치처리유니트(3)은 서로에 대해 독립적으로 작용하는 적어도 두개의 수치처리장치들(4, 5, 6)로 구성되고, 수치처리장치들(4, 5, 6)의 각각이 신호차단기능을 가지며, 적어도 소요제동효과 및 소요조향효과가 모든 수치처리장치들(4, 5, 6)에 입력되는 센서신호들에 응답하여 각각의 수치처리장치들(4, 5, 6)내에서 서로에 대해 독립적으로 결정되는 것을 특징으로 하는 제동 및 조향시스템.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019960028676A 1995-07-18 1996-07-16 차량용 제동 및 조향장치 KR100222019B1 (ko)

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EP0999117A3 (de) 2002-12-04
DE19526250A1 (de) 1997-01-23
EP0999117A2 (de) 2000-05-10
DE59606743D1 (de) 2001-05-17
JPH0958458A (ja) 1997-03-04
ES2158194T3 (es) 2001-09-01
DE19526250B4 (de) 2005-02-17
JP3313979B2 (ja) 2002-08-12
US6015193A (en) 2000-01-18
EP0754611B1 (de) 2001-04-11
EP0754611A1 (de) 1997-01-22
KR100222019B1 (ko) 1999-10-01

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