WO2015190585A1 - 電動パワーステアリング装置の電源電圧診断装置 - Google Patents
電動パワーステアリング装置の電源電圧診断装置 Download PDFInfo
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- WO2015190585A1 WO2015190585A1 PCT/JP2015/066969 JP2015066969W WO2015190585A1 WO 2015190585 A1 WO2015190585 A1 WO 2015190585A1 JP 2015066969 W JP2015066969 W JP 2015066969W WO 2015190585 A1 WO2015190585 A1 WO 2015190585A1
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- WIPO (PCT)
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- diagnosis
- detection circuit
- power supply
- supply voltage
- vbat1
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- 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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- 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
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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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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
Definitions
- the present invention relates to a power supply voltage diagnosis device for an electric power steering device that applies a steering assist force (assist force) to a steering mechanism of a vehicle by a rotational force of a motor.
- An electric power steering apparatus that applies a steering assist force (assist force) to a vehicle steering mechanism by a rotational force of a motor is provided with a steering shaft or a rack shaft by a transmission mechanism such as a gear or a belt via a speed reduction mechanism.
- a steering assist force is applied to the vehicle.
- Such a conventional electric power steering device (EPS) performs feedback control of the motor current in order to accurately generate the torque of the steering assist force.
- the motor applied voltage is adjusted so that the difference between the steering assist command value (current command value) and the motor current detection value is small.
- the adjustment of the motor applied voltage is generally performed by PWM (pulse width). Modulation) is performed by adjusting the duty of the control.
- a column shaft (steering shaft, handle shaft) 2 of the handle 1 is a reduction gear 3 of a reduction mechanism, universal joints 4a and 4b, a pinion rack mechanism 5,
- the tie rods 6a and 6b are connected to the steered wheels 8L and 8R via the hub units 7a and 7b.
- the column shaft 2 is provided with a torque sensor 10 for detecting the steering torque of the handle 1 and a rudder angle sensor 14 for detecting the steering angle ⁇ , and a motor 20 for assisting the steering force of the handle 1 serves as a speed reduction mechanism. It is connected to the column shaft 2 via a reduction gear (gear ratio n) 3.
- the control unit (ECU) 30 that controls the electric power steering apparatus is supplied with electric power from the battery 13 and also receives an ignition key signal via the ignition key 11.
- the control unit 30 calculates a current command value of an assist (steering assistance) command based on the steering torque Th detected by the torque sensor 10 and the vehicle speed Vel detected by the vehicle speed sensor 12, and compensates the current command value.
- the current supplied to the motor 20 is controlled by the voltage control command value Vref subjected to.
- the steering angle sensor 14 is not essential and may not be arranged.
- the control unit 30 is connected to a CAN (Controller Area Network) 50 that transmits and receives various types of vehicle information, and the vehicle speed Vel can also be received from the CAN 50.
- the control unit 30 is also connected to a non-CAN 51 that exchanges communications other than the CAN 50, analog / digital signals, radio waves, and the like.
- Patent Document 1 in the case of a circuit configuration having a current path from a battery to a system power supply unit via a diode, generally, a power supply voltage and a control power supply from a motor power supply circuit are used. There is a possibility that the control voltage from the circuit is greatly deviated from the normal correlation, and it is necessary to relax the diagnosis threshold value in order to prevent erroneous detection.
- the detected value of the motor power supply voltage VR is referred to when calculating the duty, and when the voltage is low, the duty is opened to flow the current. For this reason, if the detection voltage becomes lower than the actual voltage due to the detection failure of the motor power supply voltage VR, there is a possibility of over-assist.
- the conventional technique has a problem of improving the fault detectability of the detection circuit of the motor power supply voltage VR.
- the present invention has been made under the circumstances as described above, and the VR detection circuit is made redundant, and the abnormality diagnosis of the VR detection circuit is accurately performed, thereby leading to an event such as the above-described over assist. It is an object of the present invention to provide a power supply voltage diagnosis device for an electric power steering device that can effectively prevent the above.
- the present invention is a power supply voltage diagnosis apparatus for an electric power steering apparatus that drives a motor by a current command value calculated based on at least steering torque and controls steering assist via a speed reduction mechanism.
- the power supply voltage diagnosis apparatus includes a detection unit (Vbat1 detection circuit) that detects a control voltage from a control power supply circuit and at least two detection circuits (VR detection circuit 1) that detect a power supply voltage from the power supply circuit. , VR detection circuit 2), the output Vbat1 from the control voltage detection unit and the output voltages (VR1, VR2) from the power supply voltage detection circuit (VR detection circuit 1, VR detection circuit 2).
- Vbat1 detection circuit detection circuit
- VR detection circuit 1 the detection circuit 1
- VR detection circuit 1 the output Vbat1 from the control voltage detection unit and the output voltages (VR1, VR2) from the power supply voltage detection circuit
- VR detection circuit 1 the power supply voltage detection circuit 1
- an output Vbat1 from the control voltage detection unit and each output voltage (V 1, it monitors the correlation between VR2) provides a power supply voltage diagnostic device for
- the solution of the above-mentioned problem is that the correlation is monitored by taking a ratio between the output voltage VR1 and the output voltage VR2, and determining whether the magnitude is within a range between the diagnostic thresholds A and B.
- a VR failure location determination is performed. In the VR failure location determination, any of the VR detection circuit 1 and the VR detection circuit 2 is performed.
- the power supply voltage diagnosis apparatus further includes a VR selection unit. In the failure diagnosis, each output voltage (VR1, VR1) from the power supply voltage detection circuit is determined.
- the ratio of VR2) is not in the range (A ⁇ (VR1 / VR2) ⁇ B) that is larger than the diagnostic threshold A and smaller than the diagnostic threshold B, (VR1 / Vbat1) based on the determination thresholds C and D When C or D ⁇ (VR1 / Vbat1), it is determined that there is an abnormality in the VR detection circuit 1.
- the detection circuit for the power supply voltage VR is made redundant so that two systems of detection circuits (VR detection circuit 1 and VR detection circuit 2) can be compared with each other, and VR is not affected by changes in conditions such as temperature changes. It is possible to accurately detect a voltage detection failure. Therefore, highly reliable assistance can be provided.
- the detection circuit of the two systems of VR detection circuits is specified using the correlation with Vbat1, and the failure detection circuit is identified. Using the VR detection value of the VR detection circuit determined to be normal, it is possible to continue providing assistance with high reliability.
- the values of the diagnostic thresholds A and B for detecting the failure from the correlation of the VR detection circuit, or In order to determine which one of the two VR detection circuits is out of order, the value of the determination threshold C or D in the case of determining the correlation with Vbat1 is relaxed, and the failure occurs again. It is also possible to make a diagnosis. Therefore, even if the detectability of a halfway failure is reduced, the assist amount is limited according to the degree of relaxation of the diagnosis threshold value or the determination threshold value (for example, the ratio of the threshold value before and after the relaxation stored in advance). It is possible to prevent over-assist at the time of double failure.
- the power supply voltage VR is also used for initial diagnosis of the power supply relay and the like, it is possible to improve the reliability of all diagnoses using other VR detection values.
- FIGS. Components that are the same as those in FIG. 1 described above will be described using the same symbols.
- FIG. 2 is a diagram showing a basic configuration example of a power supply voltage diagnosis apparatus for an electric power steering apparatus according to the present invention.
- the power supply voltage diagnosis apparatus of the present invention is basically incorporated in the control unit (ECU) 30.
- a fail-safe relay is provided between a battery (13) as a power source and a motor power source (VR voltage) from a motor power circuit, and the battery
- a reverse connection prevention diode (D1) is provided between (13) and the control power supply (Vbat1 voltage).
- the motor power supply (VR voltage) and the control power supply (Vbat1 voltage) are connected via a diode (D2) whose forward direction is the direction from the motor power supply to the control power supply.
- the role of the diode (D2) is that when the diode (D1) normally fails, power can be supplied to the system via the diode (D2). Therefore, the assist is provided until the ignition (11) is turned off.
- the fail-safe relay (R) is closed and stored in the electrolytic capacitor (C2) of the motor power supply (VR voltage).
- the control power supply (Vbat1 voltage) is reduced to a reset voltage of an MCU (Micro Controller Unit) such as the control unit. Has the role of delaying time.
- the motor power supply (VR voltage) detection means the motor power supply (VR voltage) is provided with two systems of a VR detection circuit 1 (64) and a VR detection circuit 2 (66).
- the control power source is provided with one Vbat1 detection circuit (62).
- the output voltage VR1 of the VR detection circuit 1 (64) and the output voltage VR2 of the VR detection circuit 2 (66) are connected to the diagnosis unit (60) and the VR selection unit (68).
- Vbat1 detection circuit and the VR detection circuit or the VR detection circuit 1 and the VR detection circuit 2 preferably have the same circuit configuration.
- the diagnosis unit (60) performs failure diagnosis of each detection circuit, and outputs a VR selection signal to the VR selection unit (68) or a current control unit (33) according to the result. Output an assist (stop / limit) signal.
- the VR selection unit (68) is also connected to a duty control unit (36), and the VR selection unit (68) receives a VR selection signal based on the diagnosis result of the diagnosis unit (60).
- a VR selection signal based on the diagnosis result of the diagnosis unit (60).
- the motor power supply (VR voltage) is connected to a motor drive circuit (37), and the motor drive circuit (37) is controlled in order to adjust the motor applied voltage in the duty control unit (36). This is performed based on the determined duty value.
- the duty control unit (36) is connected to a current limiting unit (33).
- the current limiting unit (33) calculates a current command value based on the steering torque ( ⁇ ) and the vehicle speed (vel).
- the current command value calculated by the unit (not shown) and the assist (stop / limit) signal from the diagnosis unit (68) are input, and the maximum current is limited based on the input current command value and the like.
- the current command value and the like are output to the duty control unit (36).
- control voltage Vbat1 from the control power supply circuit is input to the diagnosis unit (60) via the Vbat1 detection circuit (62) as described above, and also from the motor power supply circuit.
- the motor power supply voltage VR is input to the diagnosis unit (60) through the VR detection circuit 1 (64) and the VR detection circuit 2 (66), respectively.
- the diagnosis unit (60) first performs VR correlation diagnosis (step S1).
- the VR correlation diagnosis more specifically, the ratio between VR1 and VR2 is taken, and it is determined whether the magnitude is within the range between the diagnosis thresholds A and B (step S2).
- the diagnosis unit (60) uses the power supply voltage (VR). Is determined to be normal, an instruction is output from the diagnosis unit (60) to the VR selection unit (68), and VR1 is output from the VR selection unit (68) to the duty control unit (36), so that the duty control is performed. In the section (36), duty calculation is performed using VR1 (step S3).
- VR failure location determination is performed.
- the VR fault location determination is to determine which detection circuit of the VR detection circuit 1 or the VR detection circuit 2 is abnormal.
- step S3 a VR selection signal for selecting VR1 is output from the diagnosis unit (60) to the VR selection unit (68), and VR1 is output from the VR selection unit (68).
- the duty is output based on VR1 output to the control unit (36) and from the VR detection circuit 1 (64).
- step S6 If it is determined in step S5 that there is no abnormality in VR2, the presence or absence of abnormality in the VR detection circuit 1 (64) is subsequently determined (step S6). Whether the VR detection circuit 1 (64) is abnormal or not is determined based on whether the ratio VR1 to Vbat1 (VR1 / Vbat1) is smaller than the determination threshold C, or the ratio VR1 to Vbat1 (VR1 / Vbat1). ) Is greater than the determination threshold D.
- step S7 a VR selection signal for selecting VR2 is output from the diagnosis unit (60) to the VR selection unit (68), and VR2 is output from the VR selection unit (68).
- the output is output to the duty control unit (36), and the duty control unit (36) performs duty calculation using VR2.
- the motor power supply voltage VR is estimated from the motor terminal voltage, the PWM duty, etc. based on the memory data in which the characteristics at the time of failure are stored in advance, and the duty control is performed.
- the limit assist as described above is performed by reducing the maximum current limit and the characteristic gain of the input torque-energized current.
- any one or a plurality of diagnosis threshold values or determination threshold values among the diagnosis threshold values A and B or the determination threshold values C and D are set to a predetermined value. It is also possible to relax the degree and perform the determination again based on the relaxed diagnostic threshold or determination threshold, and use the new VR1 or VR2 obtained thereby for estimation of the motor power supply voltage VR. In that case, it is also possible to perform assist with a limited assist amount according to the degree of the relaxed diagnosis threshold or determination threshold (for example, the ratio of the threshold before and after the relaxation stored in advance). is there.
- the relaxation of the diagnosis threshold or the determination threshold means that the values of the diagnosis threshold A and the determination threshold C are decreased from the previous values, and the diagnosis threshold B and the determination threshold D are To increase the value from the previous value.
- the new diagnosis threshold is Since the steering assist can be continued based on the result of the diagnosis based on the determination threshold, the driver's steering burden can be continuously reduced. If it is determined that there is an abnormality in VR1 and VR2 even after performing diagnosis or determination again as described above, the assist is stopped or the assist amount is further limited and the assist is continued. A configuration is also possible.
- the present invention it is possible to improve the abnormality detectability of the motor drive power supply voltage and to perform continuous assist while limiting the assist amount even when an abnormality is found. Yes, it is possible to reduce the burden on the driver.
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Abstract
Description
2 コラム軸(ステアリングシャフト、ハンドル軸)
4a 4b ユニバーサルジョイント
5 ピニオンラック機構
6a 6b タイロッド
7a 7b ハブユニット
8L 8R 操向車輪
10 トルクセンサ
11 イグニションキー
12 車速センサ
14 舵角センサ
20 モータ
30 コントロールユニット(ECU)
33 電流制限部
36 デューティ制御部
37 モータ駆動回路
60 診断部
62 Vbat1検出回路
64 VR検出回路1
66 VR検出回路2
68 VR選択部
A B 判断閾値
C D 判定閾値
D1 D2 ダイオード
C1 C2 電解コンデンサ
R フェールセーフ用リレー
Claims (5)
- 少なくとも操舵トルクに基づいて演算された電流指令値によってモータを駆動し、減速機構を介して操舵アシストを制御する電動パワーステアリング装置の電源電圧診断装置であって、
前記電源電圧診断装置は、制御用電源回路からの制御電圧の検出を行う検出部(Vbat1検出回路)と、
電源回路からの電源電圧の検出を行う少なくとも2つの検出回路(VR検出回路1、VR検出回路2)と、
前記制御電圧の検出部からの出力Vbat1と前記電源電圧の検出回路(VR検出回路1、VR検出回路2)からの各出力電圧(VR1,VR2)に基づいて診断を行う診断部とを有し、
前記診断部において、前記制御電圧の検出部からの出力Vbat1と前記電源電圧の検出回路からの各出力電圧(VR1、VR2)との相関を監視して、故障診断を行うことを特徴とする電動パワーステアリング装置の電源電圧診断装置。 - 前記相関の監視は、前記出力電圧VR1と前記出力電圧VR2との比率をとり、その大きさが診断閾値AとBとの範囲内にあるかどうかを判断する故障診断により行われる請求項1に記載の電動パワーステアリング装置の電源電圧診断装置。
- 前記故障診断により異常が発見された場合には、VR故障箇所判定を行い、前記VR故障箇所判定では、前記VR検出回路1と前記VR検出回路2との何れの検出回路が異常であるかを判定する請求項1又は2に記載の電動パワーステアリング装置の電源電圧診断装置。
- 前記電源電圧診断装置は更にVR選択部を備えており、前記故障診断では、前記電源電圧の検出回路からの各出力電圧(VR1、VR2)の比率が、
診断閾値Aより大きく診断閾値Bより小さい範囲(A<(VR1/VR2)<B)に無い場合には、
判定閾値C,Dに基づいて、
(VR1/Vbat1)<C、又は、D<(VR1/Vbat1)、の場合には
VR検出回路1に異常があると判定し、
(VR2/Vbat1)<C、又は、D<(VR2/Vbat1)、の場合には
VR検出回路2に異常があると判定し、
前記VR選択部により、上記判定に基づいて正常と判断したいずれか1つのVR検出回路からの出力電圧をデューティ制御部へ出力する請求項1乃至3のいずれか1項に記載の電動パワーステアリング装置の電源電圧診断装置。 - 上記故障診断において、前記2つの検出回路の双方の回路が異常と判定した場合に、上記診断に用いる診断閾値A、B、又は、判定閾値C、Dのうち少なくともいずれか1の前記診断閾値又は判定閾値の値を緩和して再度の診断乃至判定を行い、上記再度の診断乃至判定の結果及び前記緩和した診断閾値又は判定閾値の値に基づいて、前記操舵アシストの量を制限する請求項2乃至4のいずれか1項に記載の電動パワーステアリング装置の電源電圧診断装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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CN201580030891.8A CN106470888B (zh) | 2014-06-13 | 2015-06-12 | 电动助力转向装置的电源电压诊断装置 |
JP2016527883A JP5999289B2 (ja) | 2014-06-13 | 2015-06-12 | 電動パワーステアリング装置の電源電圧診断装置 |
US15/102,387 US10077070B2 (en) | 2014-06-13 | 2015-06-12 | Power-source voltage diagnostic device of electric power steering apparatus |
EP15806157.2A EP3156306B1 (en) | 2014-06-13 | 2015-06-12 | Device for diagnosing line voltage in electric power steering device |
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JP2014122290 | 2014-06-13 | ||
JP2014-122290 | 2014-06-13 |
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US (1) | US10077070B2 (ja) |
EP (1) | EP3156306B1 (ja) |
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CN110347143B (zh) * | 2019-08-07 | 2020-10-16 | 中国核动力研究设计院 | 核安全级优选模块现场驱动输出回路诊断***及方法 |
CN110703130B (zh) * | 2019-10-09 | 2021-07-06 | 重庆鹤姿汽车科技有限公司 | 一种电动助力转向器实时诊断方法 |
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2015
- 2015-06-12 CN CN201580030891.8A patent/CN106470888B/zh active Active
- 2015-06-12 WO PCT/JP2015/066969 patent/WO2015190585A1/ja active Application Filing
- 2015-06-12 EP EP15806157.2A patent/EP3156306B1/en active Active
- 2015-06-12 JP JP2016527883A patent/JP5999289B2/ja active Active
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JP2009161156A (ja) * | 2008-01-10 | 2009-07-23 | Nsk Ltd | 電動パワーステアリング装置 |
JP2011058979A (ja) * | 2009-09-10 | 2011-03-24 | Showa Corp | 電動パワーステアリング装置、電動パワーステアリング装置の制御方法およびプログラム |
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JP2020125996A (ja) * | 2019-02-05 | 2020-08-20 | 日本電産モビリティ株式会社 | 制御装置および制御方法 |
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CN106470888B (zh) | 2018-03-13 |
EP3156306A4 (en) | 2017-10-04 |
JP5999289B2 (ja) | 2016-09-28 |
JPWO2015190585A1 (ja) | 2017-04-20 |
EP3156306B1 (en) | 2018-11-21 |
EP3156306A1 (en) | 2017-04-19 |
US10077070B2 (en) | 2018-09-18 |
US20180162440A1 (en) | 2018-06-14 |
CN106470888A (zh) | 2017-03-01 |
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