JP6776611B2 - 車両のバッテリ制御装置 - Google Patents
車両のバッテリ制御装置 Download PDFInfo
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- JP6776611B2 JP6776611B2 JP2016097685A JP2016097685A JP6776611B2 JP 6776611 B2 JP6776611 B2 JP 6776611B2 JP 2016097685 A JP2016097685 A JP 2016097685A JP 2016097685 A JP2016097685 A JP 2016097685A JP 6776611 B2 JP6776611 B2 JP 6776611B2
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/48—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte
- H01M10/486—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte for measuring temperature
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- 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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
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- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/24—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries
- B60L58/25—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries by controlling the electric load
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- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/24—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries
- B60L58/27—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries by heating
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
- H01M10/4257—Smart batteries, e.g. electronic circuits inside the housing of the cells or batteries
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
- H01M10/443—Methods for charging or discharging in response to temperature
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/60—Heating or cooling; Temperature control
- H01M10/61—Types of temperature control
- H01M10/615—Heating or keeping warm
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/60—Heating or cooling; Temperature control
- H01M10/62—Heating or cooling; Temperature control specially adapted for specific applications
- H01M10/625—Vehicles
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/60—Heating or cooling; Temperature control
- H01M10/63—Control systems
- H01M10/637—Control systems characterised by the use of reversible temperature-sensitive devices, e.g. NTC, PTC or bimetal devices; characterised by control of the internal current flowing through the cells, e.g. by switching
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
- H02J7/04—Regulation of charging current or voltage
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- 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
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/545—Temperature
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
- H01M2010/4271—Battery management systems including electronic circuits, e.g. control of current or voltage to keep battery in healthy state, cell balancing
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M2220/00—Batteries for particular applications
- H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/10—The network having a local or delimited stationary reach
- H02J2310/18—The network being internal to a power source or plant
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/40—The network being an on-board power network, i.e. within a vehicle
- H02J2310/48—The network being an on-board power network, i.e. within a vehicle for electric vehicles [EV] or hybrid vehicles [HEV]
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
-
- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- General Chemical & Material Sciences (AREA)
- Electrochemistry (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Chemical & Material Sciences (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Energy (AREA)
- Sustainable Development (AREA)
- Automation & Control Theory (AREA)
- Secondary Cells (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
充電コネクタ31が外部電源6に接続され、充電容量(SOC)が所定容量以下であり、バッテリ温度が所定温度より低いため、外部電源6の充電量電力2kWにより第1の時間T1の間充電が行なわれる。この充電によりSOCは、40%程度まで上昇し、バッテリ2の温度も上昇する。この充電による内部発熱は、内部抵抗3Ωで300Wとなる。
試算条件は、バッテリ2は100個のセルで構成される。セル内部は電解液が50%含まれ、密度と比重は水と同じとする。セル表面から外部への放熱は無視する。セル温度は、暖機開始時は0℃、目標バッテリ温度は25℃とする。
0.0002m3×電解液50%×100個=0.01m3 ...(式1)
T秒=(体積×密度×比熱×昇温)/内部損失=1400秒 ...(式2)
すなわち、約23分でバッテリ2を0℃から25℃に加温できる。
2 バッテリ
3 充電器
4 電気負荷
5 ECU(制御部)
6 外部電源
21 電圧センサ
22 温度センサ
23 電流センサ
Claims (3)
- 外部電源の電力によって充電可能であり、かつ車両の電気負荷に電力を供給可能なバッテリを備えた車両のバッテリ制御装置であって、
前記外部電源が接続されている場合に、前記バッテリの暖機が必要であると判定したとき、前記外部電源からの充電と、前記外部電源の電力より大きな電力を消費する前記電気負荷への放電とを交互に行なわせ、前記バッテリから前記電気負荷へ放電される電力は前記外部電源から前記バッテリへ充電される電力よりも大きくなるように前記充電と前記放電とを実行する制御部を備え、前記バッテリと前記電気負荷は前記外部電源と前記バッテリとの経路外で接続される車両のバッテリ制御装置。 - 前記制御部は、前記バッテリの暖機が必要であると判定したとき、第1の時間の間、前記外部電源からの充電を行なわせ、前記第1の時間より短い第2の時間の間、前記電気負荷への放電を行なわせる請求項1に記載の車両のバッテリ制御装置。
- 前記制御部は、前記バッテリの充電容量が所定容量以下である場合に、前記外部電源からの充電と、前記電気負荷への放電とを交互に行なわせる請求項1または2に記載の車両のバッテリ制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016097685A JP6776611B2 (ja) | 2016-05-16 | 2016-05-16 | 車両のバッテリ制御装置 |
DE102017206334.3A DE102017206334A1 (de) | 2016-05-16 | 2017-04-12 | Fahrzeug-batteriemanagementsystem |
CN201710318574.7A CN107394284B (zh) | 2016-05-16 | 2017-05-08 | 车辆的电池控制装置 |
FR1754224A FR3051155B1 (fr) | 2016-05-16 | 2017-05-15 | Systeme de gestion de batterie de vehicule |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016097685A JP6776611B2 (ja) | 2016-05-16 | 2016-05-16 | 車両のバッテリ制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017208875A JP2017208875A (ja) | 2017-11-24 |
JP6776611B2 true JP6776611B2 (ja) | 2020-10-28 |
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ID=59325478
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016097685A Active JP6776611B2 (ja) | 2016-05-16 | 2016-05-16 | 車両のバッテリ制御装置 |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP6776611B2 (ja) |
CN (1) | CN107394284B (ja) |
DE (1) | DE102017206334A1 (ja) |
FR (1) | FR3051155B1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102018201472A1 (de) * | 2018-01-31 | 2019-08-01 | Bayerische Motoren Werke Aktiengesellschaft | Steuereinheit und Verfahren zur Konditionierung eines Energiespeichers eines Fahrzeugs |
CN108306078A (zh) * | 2018-03-07 | 2018-07-20 | 苏州汇川联合动力***有限公司 | 动力电池加热***及方法 |
CN108878996B (zh) * | 2018-05-22 | 2021-03-23 | 宁德时代新能源科技股份有限公司 | 电池组***及其控制方法、管理设备 |
JP7095512B2 (ja) * | 2018-09-13 | 2022-07-05 | トヨタ自動車株式会社 | ハイブリッド車両の冷却システム |
US20210354591A1 (en) * | 2018-10-22 | 2021-11-18 | Panasonic Intellectual Property Management Co., Ltd. | Control device for temperature adjustment device |
CN112193126B (zh) * | 2019-07-08 | 2022-09-16 | 郑州宇通集团有限公司 | 一种电动汽车充电控制方法及*** |
CN110429695B (zh) * | 2019-09-05 | 2024-06-07 | 浙江源创普贝特尔曼科技有限公司 | 一种动态互助交换式充发电设备及其运行方法 |
EP4064413A4 (en) * | 2021-01-28 | 2023-03-29 | Contemporary Amperex Technology Co., Limited | CHARGING METHOD, BATTERY MANAGEMENT SYSTEM FOR TRACTION BATTERY AND CHARGING STACK |
DE102022128835A1 (de) | 2022-10-31 | 2024-05-02 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Regelung einer Temperatur einer Energiespeichervorrichtung eines Kraftfahrzeugs, Computerprogramm und/oder computerlesbares Medium, Datenverarbeitungsvorrichtung, Batteriesteuergerät und Kraftfahrzeug |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000040536A (ja) * | 1998-07-23 | 2000-02-08 | Toyota Motor Corp | バッテリ暖機装置 |
JP2003274565A (ja) * | 2002-03-13 | 2003-09-26 | Nissan Motor Co Ltd | 蓄電装置 |
JP3876979B2 (ja) * | 2002-03-18 | 2007-02-07 | 三菱自動車工業株式会社 | バッテリ制御装置 |
JP2006174597A (ja) | 2004-12-15 | 2006-06-29 | Fuji Heavy Ind Ltd | ハイブリッド車のバッテリウォームアップ制御装置 |
DE102009029093A1 (de) * | 2009-09-02 | 2011-03-03 | Robert Bosch Gmbh | Verfahren zum Erwärmen eines Akkumulators, Ladegerät und Zusatzelement |
JP5454701B2 (ja) * | 2010-10-28 | 2014-03-26 | トヨタ自動車株式会社 | 電動車両の電源装置およびその制御方法ならびに電動車両 |
CN102479983B (zh) * | 2010-11-30 | 2016-03-02 | 比亚迪股份有限公司 | 用于电动汽车动力电池的充电控制方法及装置 |
JP5626294B2 (ja) * | 2012-08-29 | 2014-11-19 | トヨタ自動車株式会社 | 蓄電システム |
JP5849917B2 (ja) * | 2012-09-28 | 2016-02-03 | 株式会社豊田自動織機 | 電気自動車におけるバッテリ昇温制御装置 |
JP2014090639A (ja) * | 2012-10-31 | 2014-05-15 | Daihatsu Motor Co Ltd | 車両用充電制御システム |
CN103117421A (zh) * | 2013-03-07 | 2013-05-22 | 清华大学 | 一种电池低温充电方法 |
CN105388426A (zh) * | 2015-12-10 | 2016-03-09 | 东软集团股份有限公司 | 估计电池健康寿命soh的方法和装置 |
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2016
- 2016-05-16 JP JP2016097685A patent/JP6776611B2/ja active Active
-
2017
- 2017-04-12 DE DE102017206334.3A patent/DE102017206334A1/de active Pending
- 2017-05-08 CN CN201710318574.7A patent/CN107394284B/zh active Active
- 2017-05-15 FR FR1754224A patent/FR3051155B1/fr active Active
Also Published As
Publication number | Publication date |
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DE102017206334A1 (de) | 2017-11-16 |
FR3051155A1 (fr) | 2017-11-17 |
JP2017208875A (ja) | 2017-11-24 |
CN107394284A (zh) | 2017-11-24 |
FR3051155B1 (fr) | 2020-10-02 |
CN107394284B (zh) | 2020-06-30 |
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