ES2099218T3 - Metodo y sistema de estimacion de la velocidad de un vehiculo. - Google Patents
Metodo y sistema de estimacion de la velocidad de un vehiculo.Info
- Publication number
- ES2099218T3 ES2099218T3 ES92309205T ES92309205T ES2099218T3 ES 2099218 T3 ES2099218 T3 ES 2099218T3 ES 92309205 T ES92309205 T ES 92309205T ES 92309205 T ES92309205 T ES 92309205T ES 2099218 T3 ES2099218 T3 ES 2099218T3
- Authority
- ES
- Spain
- Prior art keywords
- speed
- vehicle
- vref
- cycle
- vwf
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Lifetime
Links
Classifications
-
- 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
- B60T8/174—Using electrical or electronic regulation means to control braking characterised by using special control logic, e.g. fuzzy logic, neural computing
-
- 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
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
-
- 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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
- B60T8/17616—Microprocessor-based 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
- 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
- B60T8/3225—Systems specially adapted for single-track vehicles, e.g. motorcycles
-
- 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
- B60T8/34—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 having a fluid pressure regulator responsive to a speed condition
- B60T8/42—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 having a fluid pressure regulator responsive to a speed condition having expanding chambers for controlling pressure, i.e. closed systems
- B60T8/4208—Debooster systems
- B60T8/4266—Debooster systems having an electro-mechanically actuated expansion unit, e.g. solenoid, electric motor, piezo stack
-
- 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
- B60T8/34—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 having a fluid pressure regulator responsive to a speed condition
- B60T8/50—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 having a fluid pressure regulator responsive to a speed condition having means for controlling the rate at which pressure is reapplied to or released from the 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
- 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
- B60T8/34—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 having a fluid pressure regulator responsive to a speed condition
- B60T8/50—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 having a fluid pressure regulator responsive to a speed condition having means for controlling the rate at which pressure is reapplied to or released from the brake
- B60T8/5018—Pressure reapplication using restrictions
- B60T8/5025—Pressure reapplication using restrictions in hydraulic brake systems
- B60T8/5037—Pressure reapplication using restrictions in hydraulic brake systems closed systems
- B60T8/5043—Pressure reapplication using restrictions in hydraulic brake systems closed systems debooster systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Theoretical Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Regulating Braking Force (AREA)
Abstract
Un método de estimar la velocidad de un vehículo (Vref ), que es adecuado para ser utilizado en un vehículo, incluyendo dicho método: un primer paso de determinar la velocidad (VWR, VWF) de al menos una rueda motriz y una rueda seguidora de dicho vehículo; un segundo paso de seleccionar la más rápida (VWM) de las velocidades (VWR, VWF) determinadas en dicho primer paso; y un tercer paso de estimar la velocidad (Vref ) del vehículo en base a la velocidad de rueda más rápida (VWM) seleccionada en el segundo paso; ejecutándose repetidas veces el ciclo de los pasos primero a tercero a intervalos de tiempo dados; caracterizándose el método por el paso de: comparar la velocidad de rueda seguidora (VWF(n) determinada en un ciclo presente con la velocidad del vehículo (Vref(n-1) estimada en el ciclo ejecutado anteriormente, estableciéndose la velocidad estimada del vehículo (Vref(n)) del ciclo presente a la velocidad estimada del vehículo (Vref(n-1)) del ciclo anterior cuando la velocidad estimadadel vehículo (Vref(n-1)) del ciclo anterior es mayor que la velocidad de rueda seguidora (VWF(n)) del ciclo presente.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP26085391A JPH0597024A (ja) | 1991-10-08 | 1991-10-08 | ブレーキ制御方法 |
JP26793991A JPH05105052A (ja) | 1991-10-16 | 1991-10-16 | アンチロツク制動用モジユレータの制御方法 |
JP27806291A JP3194763B2 (ja) | 1991-10-24 | 1991-10-24 | 車両における車体速度推定方法および装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
ES2099218T3 true ES2099218T3 (es) | 1997-05-16 |
Family
ID=27334974
Family Applications (5)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES99115077T Expired - Lifetime ES2256987T3 (es) | 1991-10-08 | 1992-10-08 | Metodo para controlar frenos. |
ES99115075T Expired - Lifetime ES2244127T3 (es) | 1991-10-08 | 1992-10-08 | Metodo para el control de los frenos. |
ES95201604T Expired - Lifetime ES2145209T3 (es) | 1991-10-08 | 1992-10-08 | Metodo para el control de frenos. |
ES92309205T Expired - Lifetime ES2099218T3 (es) | 1991-10-08 | 1992-10-08 | Metodo y sistema de estimacion de la velocidad de un vehiculo. |
ES99115078T Expired - Lifetime ES2244128T3 (es) | 1991-10-08 | 1992-10-08 | Metodo para el control de los frenos. |
Family Applications Before (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES99115077T Expired - Lifetime ES2256987T3 (es) | 1991-10-08 | 1992-10-08 | Metodo para controlar frenos. |
ES99115075T Expired - Lifetime ES2244127T3 (es) | 1991-10-08 | 1992-10-08 | Metodo para el control de los frenos. |
ES95201604T Expired - Lifetime ES2145209T3 (es) | 1991-10-08 | 1992-10-08 | Metodo para el control de frenos. |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES99115078T Expired - Lifetime ES2244128T3 (es) | 1991-10-08 | 1992-10-08 | Metodo para el control de los frenos. |
Country Status (5)
Country | Link |
---|---|
US (3) | US5365444A (es) |
EP (5) | EP0678431B1 (es) |
CA (1) | CA2080112C (es) |
DE (5) | DE69233525T2 (es) |
ES (5) | ES2256987T3 (es) |
Families Citing this family (31)
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CA2080112C (en) * | 1991-10-08 | 1998-07-28 | Osamu Suzuki | Method of estimating vehicle velocity and method of and system for controlling brakes |
JP3052034B2 (ja) * | 1993-09-07 | 2000-06-12 | 本田技研工業株式会社 | 車両のトラクション制御装置 |
US5883105A (en) * | 1996-04-03 | 1999-03-16 | Merck & Co., Inc. | Inhibitors of farnesyl-protein transferase |
JP3456835B2 (ja) * | 1996-06-10 | 2003-10-14 | 日信工業株式会社 | 車両のアンチロックブレーキ制御装置 |
JP3592444B2 (ja) * | 1996-06-11 | 2004-11-24 | 株式会社ホンダエレシス | 車両用アンチロックブレーキ制御装置 |
US6357291B1 (en) * | 1999-12-22 | 2002-03-19 | Ford Global Technologies, Inc. | Apparatus and method for measuring brake bias |
JP3992174B2 (ja) * | 2000-03-29 | 2007-10-17 | 本田技研工業株式会社 | アンチロックブレーキシステムの制御装置 |
JP2001278024A (ja) * | 2000-03-29 | 2001-10-10 | Honda Motor Co Ltd | アンチロックブレーキシステムの制御装置 |
EP1328427B1 (de) * | 2000-10-17 | 2012-08-22 | Continental Teves AG & Co. oHG | Verfahren zur Erkennung eines stabilen oder instabilen Raddrehverhaltens für ein Antriebsschlupfregelungssystem |
JP3881553B2 (ja) * | 2002-01-11 | 2007-02-14 | トヨタ自動車株式会社 | 走行制御装置 |
US6915193B2 (en) * | 2003-02-26 | 2005-07-05 | Ford Global Technologies, Llc | Method for determining a longitudinal vehicle velocity by compensating individual wheel speeds using pitch attitude |
DE102004004804B4 (de) * | 2003-02-26 | 2009-12-24 | Ford Global Technologies, LLC, Dearborn | Einrichtung zum Berechnen der Momentan-Längsgeschwindigkeit eines Kraftfahrzeugs unter Verwendung von dessen Nicklage |
US6842684B1 (en) * | 2003-09-17 | 2005-01-11 | General Motors Corporation | Methods and apparatus for controlling a brake system |
JP4363143B2 (ja) * | 2003-09-24 | 2009-11-11 | 株式会社アドヴィックス | トラクション制御装置 |
US7237302B2 (en) * | 2004-01-13 | 2007-07-03 | Bushey Richard D | Wrap around furniture guide |
JP4361385B2 (ja) * | 2004-01-30 | 2009-11-11 | 本田技研工業株式会社 | 自動二輪車のブレーキ装置 |
JP4503305B2 (ja) * | 2004-01-30 | 2010-07-14 | 本田技研工業株式会社 | 自動二輪車の連動ブレーキ装置 |
DE102004033487B4 (de) * | 2004-07-10 | 2006-03-16 | Bayerische Motoren Werke Ag | Vorrichtung zur Erzeugung eines haptischen Signals bei einem Fahrzeug |
CA2528903C (en) * | 2004-12-20 | 2008-01-15 | Honda Motor Co., Ltd. | Braking device for motorcycle |
EP1674360B1 (en) * | 2004-12-24 | 2012-01-18 | Honda Motor Co., Ltd. | Vehicle braking apparatus and related control method |
JP4622729B2 (ja) * | 2005-08-04 | 2011-02-02 | 株式会社アドヴィックス | 車体速度演算装置 |
US7266437B2 (en) * | 2005-08-05 | 2007-09-04 | Ford Global Technologies, Llc | Temperature dependent trigger control for a traction control system |
FR2896467B1 (fr) | 2006-01-20 | 2008-03-07 | Renault Sas | Procede d'estimation de la vitesse longitudinale d'un vehicule automobile |
EP1916166B1 (de) | 2006-10-27 | 2011-12-14 | Ford Global Technologies, LLC | Verfahren und Vorrichtung zur Abschätzung der Fahrzeuglängsgeschwindigkeit eines Kraftfahrzeugs |
DE102006060759A1 (de) * | 2006-12-21 | 2008-06-26 | Siemens Ag | Adaption der Bremscharakeristik |
BR112012021677B1 (pt) * | 2010-03-02 | 2019-07-09 | Toyota Jidosha Kabushiki Kaisha | Dispositivo de controle de veículo. |
JP2018024324A (ja) * | 2016-08-10 | 2018-02-15 | 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 | モータサイクルのブレーキシステムに生じさせるブレーキ力の制御装置及び制御方法 |
CN108801660B (zh) * | 2017-04-27 | 2020-06-19 | 南京理工大学 | 一种高速列车紧急制动性能的实验室检测装置及方法 |
JP2020203655A (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 |
US11230294B2 (en) | 2020-03-19 | 2022-01-25 | Toyota Motor Engineering & Manufacturing North America, Inc. | Vehicle speed estimation system |
DE102021213696A1 (de) | 2021-12-02 | 2023-06-07 | Continental Automotive Technologies GmbH | Verfahren zur genauen Odometrie bei Bremsschlupf |
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JPS62227842A (ja) * | 1986-03-28 | 1987-10-06 | Honda Motor Co Ltd | 車両速度推定方法 |
JPS62231860A (ja) * | 1986-04-02 | 1987-10-12 | Nissan Motor Co Ltd | アンチスキツド制御装置の擬似車速発生装置 |
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JP2627432B2 (ja) * | 1988-07-18 | 1997-07-09 | 本田技研工業株式会社 | 四輪自動車の車体速度の推定方法 |
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JPH02303964A (ja) * | 1989-05-18 | 1990-12-17 | Sumitomo Electric Ind Ltd | 2輪車用アンチロックブレーキ制御装置 |
JPH02310162A (ja) * | 1989-05-24 | 1990-12-25 | Mitsubishi Electric Corp | アンチスキッド制御装置 |
JPH0367770A (ja) * | 1989-08-08 | 1991-03-22 | Akebono Brake Res & Dev Center Ltd | 車両のアンチロック制御方法 |
JP2775481B2 (ja) * | 1989-08-31 | 1998-07-16 | 株式会社曙ブレーキ中央技術研究所 | 車両のアンチロック制御方法 |
US5185702A (en) * | 1989-09-08 | 1993-02-09 | Akebono Research And Development Centre Ltd. | Vehicle anti-lock control apparatus and method |
JPH03197264A (ja) * | 1989-12-27 | 1991-08-28 | Akebono Brake Res & Dev Center Ltd | 車両のアンチロック制御方法 |
JP2835760B2 (ja) * | 1990-02-16 | 1998-12-14 | 株式会社曙ブレーキ中央技術研究所 | 車両のアンチロック制御方法 |
JPH03258650A (ja) * | 1990-03-09 | 1991-11-18 | Toyota Motor Corp | 路面摩擦係数検出装置 |
JPH03292247A (ja) * | 1990-04-10 | 1991-12-24 | Mazda Motor Corp | 車両の制動制御装置 |
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CA2080112C (en) * | 1991-10-08 | 1998-07-28 | Osamu Suzuki | Method of estimating vehicle velocity and method of and system for controlling brakes |
JP3086509B2 (ja) * | 1991-10-14 | 2000-09-11 | 本田技研工業株式会社 | ブレーキ制御方法 |
-
1992
- 1992-10-07 CA CA002080112A patent/CA2080112C/en not_active Expired - Fee Related
- 1992-10-08 US US07/958,166 patent/US5365444A/en not_active Expired - Lifetime
- 1992-10-08 DE DE69233525T patent/DE69233525T2/de not_active Expired - Fee Related
- 1992-10-08 EP EP95201604A patent/EP0678431B1/en not_active Expired - Lifetime
- 1992-10-08 ES ES99115077T patent/ES2256987T3/es not_active Expired - Lifetime
- 1992-10-08 EP EP92309205A patent/EP0539060B1/en not_active Expired - Lifetime
- 1992-10-08 ES ES99115075T patent/ES2244127T3/es not_active Expired - Lifetime
- 1992-10-08 DE DE69230836T patent/DE69230836T2/de not_active Expired - Fee Related
- 1992-10-08 EP EP99115075A patent/EP0950590B1/en not_active Expired - Lifetime
- 1992-10-08 DE DE69233594T patent/DE69233594T2/de not_active Expired - Fee Related
- 1992-10-08 EP EP99115077A patent/EP0950591B1/en not_active Expired - Lifetime
- 1992-10-08 ES ES95201604T patent/ES2145209T3/es not_active Expired - Lifetime
- 1992-10-08 ES ES92309205T patent/ES2099218T3/es not_active Expired - Lifetime
- 1992-10-08 DE DE69233524T patent/DE69233524T2/de not_active Expired - Fee Related
- 1992-10-08 EP EP99115078A patent/EP0950592B1/en not_active Expired - Lifetime
- 1992-10-08 ES ES99115078T patent/ES2244128T3/es not_active Expired - Lifetime
- 1992-10-08 DE DE69216986T patent/DE69216986T2/de not_active Expired - Fee Related
-
1994
- 1994-07-28 US US08/281,559 patent/US5577816A/en not_active Expired - Lifetime
-
1995
- 1995-05-22 US US08/447,230 patent/US5573313A/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP0539060A2 (en) | 1993-04-28 |
EP0950590A3 (en) | 2000-04-19 |
EP0950591A2 (en) | 1999-10-20 |
EP0678431B1 (en) | 2000-03-22 |
DE69233525T2 (de) | 2005-11-10 |
US5573313A (en) | 1996-11-12 |
EP0539060A3 (en) | 1993-06-30 |
DE69230836T2 (de) | 2000-11-30 |
DE69233524D1 (de) | 2005-07-14 |
ES2145209T3 (es) | 2000-07-01 |
DE69233524T2 (de) | 2005-11-03 |
EP0950591A3 (en) | 2000-03-15 |
EP0678431A2 (en) | 1995-10-25 |
DE69216986D1 (de) | 1997-03-06 |
ES2244127T3 (es) | 2005-12-01 |
DE69233594T2 (de) | 2006-07-06 |
EP0950592A2 (en) | 1999-10-20 |
EP0539060B1 (en) | 1997-01-22 |
EP0950590B1 (en) | 2005-06-08 |
EP0950590A2 (en) | 1999-10-20 |
US5577816A (en) | 1996-11-26 |
EP0950592B1 (en) | 2005-06-08 |
DE69233525D1 (de) | 2005-07-14 |
DE69216986T2 (de) | 1997-05-15 |
ES2244128T3 (es) | 2005-12-01 |
US5365444A (en) | 1994-11-15 |
DE69233594D1 (de) | 2006-03-30 |
CA2080112A1 (en) | 1993-04-09 |
EP0950591B1 (en) | 2006-01-04 |
ES2256987T3 (es) | 2006-07-16 |
EP0678431A3 (es) | 1995-11-08 |
EP0950592A3 (en) | 2000-03-15 |
DE69230836D1 (de) | 2000-04-27 |
CA2080112C (en) | 1998-07-28 |
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