JP2007512991A - 車両用走行動特性制御システム - Google Patents
車両用走行動特性制御システム Download PDFInfo
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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
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/66—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for continuously variable gearings
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- 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
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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
- 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
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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
- 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
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
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- 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
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- 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
- B62D6/003—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 in order to control vehicle yaw movement, i.e. around a vertical axis
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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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
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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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/06—Active Suspension System
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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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/08—Coordination of integrated systems
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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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/09—Complex systems; Conjoint control of two or more vehicle active control systems
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- 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
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- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- 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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- 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
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
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- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
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- 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
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0044—In digital systems
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- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0297—Control Giving priority to different actuators or systems
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Vehicle Body Suspensions (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
・統合化実現形態では、様々なサブシステム又はインテリジェント・アクチュエーターは、閉じた制御アルゴリズムによって駆動される。そのため、個々のインテリジェント・アクチュエーターの調和したチームワークが、構造的に保証される。個々のインテリジェント・アクチュエーターが、多変数制御実現形態に対応して、互いに不利に誘導されることがないので、この走行状態の制御が保証される。
・中央走行動特性制御部を新しいインテリジェント・アクチュエーターに拡張する方策は、複雑さの増加が僅かであるため、簡単である。
・制御に関する実現形態において、インテリジェント・アクチュエーターを互いに考慮することは、アプリケーションの負担を低減させる結果となる(スタンドアロン形のサブシステムの場合、これらのアプリケーションは、走行試験によって、相互間で保護されなければならない)。スタンドアロン形サブシステム網を拡張する場合、複雑さが大幅に増大して、そのことは、特にアプリケーションの負担を著しく増加させることとなる。
・制御に関する実現形態において、個々のインテリジェント・アクチュエーターを中央と接続することは、バスの負荷を低減するとともに、中央処理装置とインテリジェント・アクチュエーター間の物理的なインタフェースを軽減する結果となる。スタンドアロン形サブシステムが、「ネットワーク化」された場合、スタンドアロン形サブシステム間の通信の発生を制御可能及びサポート可能とすることは難しい。
・サブシステムのすべての制御機能、走行状態検出部、運転者翻訳部を一つの中央制御装置に移行するとともに、結合又は統合することは、コストを削減することとなる。個々のインテリジェント・アクチュエーターは、その基本機能(制御)を実行するのに必要な計算能力が小さくなる。そのため、インテリジェント・アクチュエーターには、物理メモリ要求がより小さく、より安価で、より低性能の演算ユニットを使用することができる。
・スタンドアロン形サブシステムで必要であった、各サブシステムに特有の制御アルゴリズム、走行状態検出部、運転者要求検出部が、もはや不要となるので、車両に有るソフトウェア全部に対して拡張及びサポートするための負担が低減される。統合化実現形態により、制御アルゴリズム、走行状態検出部、運転者要求検出部を、一度に集中的に拡張、サポートすることができる。
・基本機能(制御)と走行動特性制御機能との明確かつ一義的な分離(例えば、ヨーレイト、横加速度、横滑り角などの走行動特性に関連するパラメータをフィードバックすることによる走行状態パラメータの調整)。
12 車両
13 運転者
14 周囲環境
15 走行状態検出部
16 制御パラメータ分配部又は中央走行状態制御部
17 アクティブ操縦部
18 アクティブシャーシ
19 アクティブブレーキ
20 アクティブ駆動系統
Claims (7)
- 車両データと、周囲環境データと、運転者要求に関するデータとを入力データとして供給される少なくとも一つの信号分配部、並びに運転者に依存せずに調節可能な操縦部、運転者に依存せずに調節可能なシャーシ、運転者に依存せずに調節可能なブレーキ、運転者に依存せずに調節可能な駆動系統などの、車両の動特性を修正する複数の制御又は調節可能なサブシステムを有する、車両用の走行動特性制御システムにおいて、
これらのデータは、中央演算ユニット(走行状態検出部、運転者要求検出部)の信号分配部に供給されることと、
この中央演算ユニットは、この信号分配部のデータから、中心的な制御目標を計算して、この中心的な制御目標に関するデータは、中央制御パラメータ分配部又は中央走行状態制御部に供給されて、この中央制御パラメータ分配部又は中央走行状態制御部は、これらのサブシステムとの対話形式による通信により、これらのサブシステムを駆動して、これらのサブシステムが、この制御目標を、車両向けに変換することを特徴とする走行動特性制御システム。 - 当該の制御目標のサブシステムへの分配が、当該のサブシステムのその時点の制御余力及びその時点の制御目標に関して可能な貢献度に従って行われることを特徴とする請求項1に記載の走行動特性制御システム。
- 当該の制御目標のサブシステムへの分配が、更に当該のサブシステムのその時点の状態に従って行われることを特徴とする請求項1又は2に記載の走行動特性制御システム。
- 当該の制御目標のサブシステムへの分配が、更に車両のその時点の走行状態に従って行われることを特徴とする請求項1から3までのいずれか一つに記載の走行動特性制御システム。
- 当該の中心的な制御目標が、当該の中央走行状態検出部(15)内で計算されて、当該の中央走行状態制御部(プサイ制御部、ベータ制御部)又は制御パラメータ分配部(16)から、当該のサブシステムに分配されることを特徴とする請求項1から3までのいずれか一つに記載の走行動特性制御システム。
- 当該の制御目標のサブシステムへの分配が、当該の中央走行状態制御部又は制御パラメータ分配部に与えられた制御器の設計思想又は制御器のアルゴリズム、或いは当該の走行状態制御部又は制御パラメータ分配部(16)に与えられた品質基準又は最適化基準に従って行われるか、或いは調整可能な重み係数を用いて行われることを特徴とする請求項1から4までのいずれか一つに記載の走行動特性制御システム。
- 当該の重み付けが、当該のサブシステムの影響力及び起動順序に応じて行われることを特徴とする請求項6に記載の走行動特性制御システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE10321645 | 2003-05-13 | ||
DE10341412A DE10341412A1 (de) | 2003-05-13 | 2003-09-05 | Fahrdynamikregelsystem für Fahrzeuge |
PCT/EP2004/050735 WO2004101337A1 (de) | 2003-05-13 | 2004-05-07 | Fahrdynamikregelsystem für fahrzeuge |
Publications (2)
Publication Number | Publication Date |
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JP2007512991A true JP2007512991A (ja) | 2007-05-24 |
JP4611987B2 JP4611987B2 (ja) | 2011-01-12 |
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Application Number | Title | Priority Date | Filing Date |
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JP2006530178A Expired - Lifetime JP4611987B2 (ja) | 2003-05-13 | 2004-05-07 | 車両用走行動特性制御システム |
Country Status (7)
Country | Link |
---|---|
US (1) | US8204634B2 (ja) |
EP (1) | EP1628864B1 (ja) |
JP (1) | JP4611987B2 (ja) |
KR (1) | KR101195011B1 (ja) |
BR (1) | BRPI0410220A (ja) |
RU (1) | RU2005137540A (ja) |
WO (1) | WO2004101337A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20110084258A (ko) * | 2008-10-17 | 2011-07-21 | 콘티넨탈 테베스 아게 운트 코. 오하게 | 차량을 위한 구동 역학 제어 시스템 |
US9085216B2 (en) | 2010-12-27 | 2015-07-21 | Denso Corporation | On-vehicle control system equipped with actuator driven based on target value |
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DE102005026477A1 (de) * | 2005-06-09 | 2006-12-14 | Zf Friedrichshafen Ag | Signalverarbeitungssystem mit schneller Signalverarbeitung |
US10056008B1 (en) | 2006-06-20 | 2018-08-21 | Zonar Systems, Inc. | Using telematics data including position data and vehicle analytics to train drivers to improve efficiency of vehicle use |
US7970512B2 (en) * | 2006-08-30 | 2011-06-28 | Ford Global Technologies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system with pitch information |
EP1936656A1 (en) * | 2006-12-21 | 2008-06-25 | Nederlandse Organisatie voor Toegepast-Natuuurwetenschappelijk Onderzoek TNO | Plasma generator and method for cleaning an object |
DE102010038846A1 (de) | 2009-08-05 | 2011-02-10 | Advics Co., Ltd, Kariya-city | Bewegungssteuervorrichtung für ein Fahrzeug |
DE102009049635A1 (de) | 2009-10-15 | 2011-04-21 | Continental Teves Ag & Co. Ohg | Fahrdynamikregelsystem für Fahrzeuge |
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Also Published As
Publication number | Publication date |
---|---|
RU2005137540A (ru) | 2006-04-27 |
WO2004101337A1 (de) | 2004-11-25 |
EP1628864A1 (de) | 2006-03-01 |
JP4611987B2 (ja) | 2011-01-12 |
US8204634B2 (en) | 2012-06-19 |
EP1628864B1 (de) | 2015-03-25 |
KR101195011B1 (ko) | 2012-10-31 |
KR20070066819A (ko) | 2007-06-27 |
BRPI0410220A (pt) | 2006-05-09 |
US20070150116A1 (en) | 2007-06-28 |
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