BR112014031116A2 - sistema e método de controle de marcha com o motor desembreado e velocidade de veículo - Google Patents
sistema e método de controle de marcha com o motor desembreado e velocidade de veículoInfo
- Publication number
- BR112014031116A2 BR112014031116A2 BR112014031116A BR112014031116A BR112014031116A2 BR 112014031116 A2 BR112014031116 A2 BR 112014031116A2 BR 112014031116 A BR112014031116 A BR 112014031116A BR 112014031116 A BR112014031116 A BR 112014031116A BR 112014031116 A2 BR112014031116 A2 BR 112014031116A2
- Authority
- BR
- Brazil
- Prior art keywords
- engine
- vehicle
- cruise control
- disengaged
- control system
- Prior art date
Links
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000003247 decreasing effect Effects 0.000 abstract 1
Classifications
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- 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
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
-
- 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
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18072—Coasting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/24—Speed setting methods
- B60K2310/244—Speed setting methods changing target speed or setting a new target speed, e.g. changing algorithms
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18072—Coasting
- B60W2030/18081—With torque flow from driveshaft to engine, i.e. engine being driven by vehicle
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18072—Coasting
- B60W2030/1809—Without torque flow between driveshaft and engine, e.g. with clutch disengaged or transmission in neutral
-
- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/12—Trucks; Load vehicles
- B60W2300/125—Heavy duty trucks
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/84—Data processing systems or methods, management, administration
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Transmission Device (AREA)
Abstract
1/1 resumo sistema e método de controle de marcha com o motor desembreado e velocidade de veículo método e sistema para controlar um controle de cruzeiro e uma transmissão em um veículo durante o curso de uma seção de estrada, em que o veículo, antes da seção de estrada, aplicou marcha com o motor desembreado e utiliza o controle de cruzeiro. de acordo com a presente invenção, uma velocidade de referência vref utilizada no controle de cruzeiro durante marcha com o motor desembreado é diminuída até uma velocidade permitida mais baixa vmin definida para a seção de estrada se a diminuição for considerada aplicável. uma comparação de uma força de acionamento fdd solicitada a partir de um sistema de motor no veículo com um valor limite flim para a força de acionamento também é realizada. marcha com o motor desembreado é então suspensa se a força de acionamento solicitada fdd exceder o valor limite flim para a força de acionamento.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE1200392-7 | 2012-06-27 | ||
SE1200392A SE538648C2 (sv) | 2012-06-27 | 2012-06-27 | Förfarande och system för styrning av en farthållning och aven transmission i ett fordon |
PCT/SE2013/050770 WO2014003654A1 (en) | 2012-06-27 | 2013-06-26 | Vehicle speed and coasting control method and system |
Publications (2)
Publication Number | Publication Date |
---|---|
BR112014031116A2 true BR112014031116A2 (pt) | 2017-06-27 |
BR112014031116B1 BR112014031116B1 (pt) | 2021-12-14 |
Family
ID=49305058
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112014031116-1A BR112014031116B1 (pt) | 2012-06-27 | 2013-06-26 | Sistema e método de controle de marcha livre e velocidade de veículo |
Country Status (7)
Country | Link |
---|---|
US (1) | US9821803B2 (pt) |
EP (1) | EP2867091B1 (pt) |
CN (1) | CN104411561A (pt) |
BR (1) | BR112014031116B1 (pt) |
RU (1) | RU2015102347A (pt) |
SE (1) | SE538648C2 (pt) |
WO (1) | WO2014003654A1 (pt) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE539476C2 (sv) * | 2012-11-12 | 2017-09-26 | Scania Cv Ab | Förfarande och styrsystem för möjliggörande eller förlängning av en högre transmissionsmod i ett fordon |
FR3012771B1 (fr) * | 2013-11-04 | 2016-01-15 | Continental Automotive France | Procede de prevention de calage d'un moteur utilisant une estimation de vitesse de rotation dudit moteur |
SE539479C2 (sv) | 2014-07-07 | 2017-09-26 | Scania Cv Ab | Styrning av en förbränningsmotor i samband med frihjulning |
SE539477C2 (sv) * | 2014-07-07 | 2017-09-26 | Scania Cv Ab | Styrning av en förbränningsmotor i samband med frihjulning |
SE538539C2 (sv) | 2014-07-07 | 2016-09-13 | Scania Cv Ab | Styrning av förberedande åtgärder i ett fordon |
CA2906024C (en) * | 2014-09-24 | 2022-07-26 | Eric Amback | Low speed cruise control for a vehicle |
KR101646369B1 (ko) * | 2014-10-31 | 2016-08-12 | 현대자동차주식회사 | 하이브리드 차량의 타력주행 유도 제어장치 및 방법 |
JP6467888B2 (ja) * | 2014-11-27 | 2019-02-13 | いすゞ自動車株式会社 | 車両の自動走行制御装置及び車両の自動走行方法 |
US9849880B2 (en) * | 2015-04-13 | 2017-12-26 | Ford Global Technologies, Llc | Method and system for vehicle cruise control |
US10124784B2 (en) | 2015-04-13 | 2018-11-13 | Ford Global Technologies, Llc | Method and system for controlling shifting of a vehicle in cruise control |
US9517772B1 (en) * | 2015-05-27 | 2016-12-13 | Caterpillar Inc. | Electronic speed control for locomotives |
DE102015214550A1 (de) * | 2015-07-30 | 2017-02-02 | Schaeffler Technologies AG & Co. KG | Verfahren und Vorrichtung zur Steuerung eines Segelbetriebes eines ein Schaltgetriebe umfassenden Fahrzeuges |
WO2017075578A1 (en) | 2015-10-30 | 2017-05-04 | Cummins, Inc. | Systems and methods for idle coasting management |
US10399569B2 (en) | 2015-11-03 | 2019-09-03 | Cummins Inc. | Systems and methods for idle coasting management of a vehicle having predictive cruise control |
WO2017079569A1 (en) | 2015-11-04 | 2017-05-11 | Cummins, Inc. | Driveline disengagement and coasting management |
KR101836692B1 (ko) * | 2016-09-05 | 2018-03-08 | 현대자동차주식회사 | 하이브리드 차량의 오토 크루즈 제어 방법 |
JP2018065424A (ja) * | 2016-10-18 | 2018-04-26 | トヨタ自動車株式会社 | 車両の制御装置 |
KR20180069286A (ko) * | 2016-12-15 | 2018-06-25 | 현대자동차주식회사 | 차량 및 그 제어 방법 |
US10569651B2 (en) * | 2017-05-15 | 2020-02-25 | Baidu Usa Llc | Speed control and steering control assistant based on pitch status and roll status of autonomous driving vehicle |
CN108944933B (zh) * | 2018-06-12 | 2020-09-11 | 吉利汽车研究院(宁波)有限公司 | 一种发动机智能怠速控制***和方法 |
WO2021093948A1 (en) * | 2019-11-13 | 2021-05-20 | Volvo Truck Corporation | A method for controlling a transmission of a vehicle |
JP6908144B1 (ja) * | 2020-02-06 | 2021-07-21 | 株式会社明電舎 | 自動操縦ロボットの制御装置及び制御方法 |
CN111469856B (zh) * | 2020-04-17 | 2021-11-02 | 湖南三一电控科技有限公司 | 叉车和叉车的速度控制方法 |
CN112158199B (zh) * | 2020-09-25 | 2022-03-18 | 阿波罗智能技术(北京)有限公司 | 巡航控制方法、装置、设备、车辆及介质 |
CN113911114B (zh) * | 2021-08-31 | 2023-01-31 | 吉林大学 | 一种考虑制动的坡路节能车速求解方法 |
US11904880B2 (en) | 2021-09-01 | 2024-02-20 | Delphi Technologies Ip Limited | Systems and methods for vehicle coasting recommendation |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10350778A1 (de) * | 2003-10-30 | 2005-06-02 | Robert Bosch Gmbh | Verfahren zum Betrieb einer Antriebseinheit |
SE0400605L (sv) * | 2004-03-09 | 2005-01-25 | Volvo Lastvagnar Ab | Metod, system och datorprogram för automatisk frihjulning av fordon |
SE530806C2 (sv) * | 2007-01-30 | 2008-09-16 | Scania Cv Abp | Förfarande för reglering av målhastigheten hos ett farthållarsystem, och farthållarsystem |
DE102008023135B4 (de) * | 2008-05-09 | 2016-07-21 | Man Truck & Bus Ag | Verfahren zum Betreiben eines Fahrzeuges, insbesondere eines Nutzfahrzeuges, Steuer- und/oder Auswerteeinrichtung, Fahrerassistenzsystem für ein Nutzfahrzeug sowie Nutzfahrzeug |
DE102009046340A1 (de) | 2009-11-03 | 2011-05-05 | Zf Friedrichshafen Ag | Verfahren zur Steuerung einer Roll- oder Segelfunktion eines Fahrzeugs |
DE102009046341B4 (de) * | 2009-11-03 | 2021-08-26 | Zf Friedrichshafen Ag | Verfahren zur Steuerung einer Roll- oder Segelfunktion eines Fahrzeugs und Getriebesteuergerät |
SE537840C2 (sv) * | 2013-03-21 | 2015-11-03 | Scania Cv Ab | Reglering av en faktisk hastighet för ett fordon |
US20150197247A1 (en) * | 2014-01-14 | 2015-07-16 | Honda Motor Co., Ltd. | Managing vehicle velocity |
-
2012
- 2012-06-27 SE SE1200392A patent/SE538648C2/sv unknown
-
2013
- 2013-06-26 RU RU2015102347A patent/RU2015102347A/ru unknown
- 2013-06-26 EP EP13773877.9A patent/EP2867091B1/en active Active
- 2013-06-26 CN CN201380034350.3A patent/CN104411561A/zh active Pending
- 2013-06-26 WO PCT/SE2013/050770 patent/WO2014003654A1/en active Application Filing
- 2013-06-26 BR BR112014031116-1A patent/BR112014031116B1/pt active IP Right Grant
- 2013-06-26 US US14/410,229 patent/US9821803B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN104411561A (zh) | 2015-03-11 |
RU2015102347A (ru) | 2016-08-20 |
US9821803B2 (en) | 2017-11-21 |
US20150321670A1 (en) | 2015-11-12 |
WO2014003654A1 (en) | 2014-01-03 |
SE538648C2 (sv) | 2016-10-11 |
EP2867091B1 (en) | 2017-10-11 |
BR112014031116B1 (pt) | 2021-12-14 |
SE1200392A1 (sv) | 2013-12-28 |
EP2867091A1 (en) | 2015-05-06 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
B06F | Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette] | ||
B06U | Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette] | ||
B06A | Patent application procedure suspended [chapter 6.1 patent gazette] | ||
B09A | Decision: intention to grant [chapter 9.1 patent gazette] | ||
B16A | Patent or certificate of addition of invention granted [chapter 16.1 patent gazette] |
Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 26/06/2013, OBSERVADAS AS CONDICOES LEGAIS. |