• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method of estimating the insulation resistance between a point of a high-voltage circuit comprising a motor vehicle high-voltage battery and the ground of said vehicle, comprising: - receiving a measured voltage value (U's) at terminals of a measuring circuit comprising a capacitive element, - calculating a current deviation value (ε) as a function of the measured electrical signal value, and as a function of a theoretical voltage value (U'smod) estimated at from a modeling of the measuring circuit, - calculating an averaged deviation value, by summing the current deviation value and previous deviation values, - estimating an updated insulation resistance value (Riso1) in according to said averaged deviation value.
    公开号:FR3014206A1
    申请号:FR1362092
    申请日:2013-12-04
    公开日:2015-06-05
    发明作者:Michel Mensler；Ludovic Merienne
    申请人:Renault SAS；
    IPC主号:
    专利说明:

    [0001] The invention relates to the estimation of the insulation resistance between a point of a high voltage circuit and a ground. SUMMARY OF THE RESISTANCE OF ISOLATION BETWEEN A MOTOR VEHICLE BATTERY AND MASS In particular, the invention may relate to the detection of insulation faults between any point of a high-voltage circuit comprising a high-voltage battery of a motor vehicle and the mass of this vehicle. The high voltage battery of the motor vehicle can be a vehicle traction battery. The vehicle may be an electric or hybrid vehicle. It is important to measure the insulation resistance between the points of the high-voltage circuit and the vehicle ground to prevent any electric shock to the vehicle passengers, or anyone coming into contact with the vehicle. In particular, this detection can make it possible to correct a first insulation fault before a second insulation fault occurs. A double fault can indeed create a short circuit, which is likely to cause a breakdown of the vehicle. It is known to measure this insulation resistance using a discrete measuring circuit. For example, JP3783633 discloses a circuit for measuring the relatively simple isolation resistance. It is thus possible to deduce an insulation resistance value from a single measured voltage value, but this estimate is made assuming that a capacitance value between the measuring circuit and the battery is perfectly known. However, the value of this capacity is likely to vary, depending on various parameters such as temperature or aging. Such a method may therefore lack robustness. The document FR2987133 describes a more robust method, based on parameter identifications, in which several values of a voltage signal across a measurement circuit are measured, and from which this set of values is deduced at the same time. a capacitance value between the measuring circuit and the battery, and an insulation resistance value. Nevertheless, the calculations made are relatively elaborate and the calculation time can be relatively long because of the number of measured values required. There is therefore a need for an estimate to reconcile simplicity and robustness.
    [0002] There is provided a method of estimating the insulation resistance between a point of a high-voltage circuit, in particular a terminal of a motor vehicle battery, for example a high-voltage battery of an electric vehicle or hybrid, and a mass, for example the mass of this vehicle. This method comprises: (a) measuring or receiving a measured voltage value across a measuring circuit, said measuring circuit comprising a capacitive element connected to the high voltage circuit, for example to the battery, (b) calculating a value current deviation as a function of the measured voltage value, and as a function of a theoretical voltage value estimated from a modeling of the measuring circuit, said modeling being a function of a capacity value of the capacitive element (c) calculating an averaged deviation value from the current deviation value and a plurality of previous deviation values, and (d) estimating an updated insulation resistance value according to said averaged deviation value. Such a method has proved to be relatively robust with respect to possible variations in the capacitance value of the capacitive element. Indeed, this capacitance value can have an influence on the variations over time of the measured voltage values. The averaged deviation value is thus relatively unaffected by any variations in the capacitance value of the capacitive element. In other words, a regulator is set up to overcome variations related to inaccuracy as to the capacitance value of the capacitive element. Advantageously and in a nonlimiting manner, the method may further comprise a step of generating an alarm signal, according to the insulation resistance value updated in step (d), to prevent the detection of a lack of insulation.
    [0003] The modeling can advantageously also be a function of a previous value of insulation resistance between the high-voltage circuit and the ground. Advantageously and without limitation, steps (a), (b), (c), (d) can be repeated regularly. Advantageously and non-limitatively, at least one, and preferably each, deviation value can be estimated from a measured voltage value and from a theoretical voltage value corresponding to the same iteration.
    [0004] Advantageously and without limitation, the insulation resistance value updated during a current iteration can be chosen as the insulation resistance value preceding the next iteration. Advantageously and in a nonlimiting manner, the capacitance value of the capacitive element used to model the measuring circuit can be chosen to be equal to a constant value over several iterations, for example over a predetermined number of iterations or else throughout the execution of the process. Alternatively, it would be possible to update this capacitance value, for example at each iteration or cycle, as a function of the current insulation resistance value and as a function of the measured voltage value at the output of the measurement circuit. Advantageously and in a nonlimiting manner, during step (c) the current difference value can be calculated by taking the difference between the theoretical value and the measured value, or vice versa. Alternatively, one could of course plan to calculate a ratio between measured values and theoretical, or other. Advantageously and in a nonlimiting manner, during step (c) of calculating the difference value, the difference is multiplied by +1 or -1 as a function of the value of an input signal of the signal circuit. measured. Thus, it is possible to set up a regulator with a difference between a measurement and an estimate derived from a model, weighted by a sign depending on the value of the signal at the input of the measuring circuit.
    [0005] In particular, this weighting may be 1 when the input signal is high, that is to say for a rising slot, and is -1 in the case of a downlink slot, that is to say when when the input signal is low. Advantageously and in a nonlimiting manner, the averaged deviation value can be obtained by adding to the current deviation value a previous averaged deviation value. This previous averaged deviation value can advantageously be itself a sum, for example a discrete sum or an integral. Thus, rather than keeping in memory all of the previous deviation values, it is sufficient to simply store the previous averaged deviation value. The invention is in no way limited to this use of the previous averaged deviation value, nor even to the choice of a sum of deviation values. For example, it would be possible to calculate a linear combination of the previous and current difference values, or even a geometric mean, a median, a root mean square, or the like. Advantageously and without limitation, step (e) of estimation of the discounted insulation resistance value may be a function of a linear combination of the current deviation value and the current averaged deviation value. Advantageously and in a nonlimiting manner, the discounted insulation resistance value can thus be estimated according to the formula: ## EQU1 ## in which n corresponds to the current iteration, (n-1) corresponding to the immediately preceding iteration, Risoi (n) represents the discounted insulation resistance value for this iteration, Risoi (n-1) is the resistance value updated to the previous iteration, E is a difference value between theoretical and measured voltage values, this difference value being obtained by weighting by +1 or 1, as a function of the signal at the input of the measurement circuit, a value of difference between the theoretical and measured values, Ki and Kp are predetermined constants, and Kvanable is a dimensionless parameter value.
    [0006] Advantageously and without limitation, the formula used to estimate the current value of the insulation resistance may be a function of the previous insulation resistance value. Thus, this Kvanable parameter can itself be a function of the value of the previous isolation resistance. Thus, for example, a pay table can be defined as a function of the insulation resistance value. These values of the Kvanable parameter can be defined according to external constraints such as the maximum detection time allowed to calculate and deliver an insulation resistance value. This can make it possible to converge more rapidly towards a relatively stable insulation resistance value. Thus, the measurement circuit can be modeled, this modeling being used to estimate the theoretical values of the signal from a previous value of the insulation resistance and from known values of the various components. of the measuring circuit. In an advantageous embodiment, the difference between the theoretical and measured values can be weighted by a sign which is a function of the value of the signal at the input of the measuring circuit, then a proportional integral regulator can make it possible to estimate a current value. insulation resistance as a function of this difference and an average of the differences obtained over time. Once the insulation resistance thus updated, the digital model of the circuit can be updated in turn. This method may further comprise a step of transmitting to a user interface the prepared alarm signal as a function of the value of the updated isolation resistance. Thus, this method can make it possible to detect the insulation faults faster than described in the document FR2987133, and this, while avoiding errors related to the precision as to the value of the capacitive element. There is further provided a computer program product comprising instructions for performing the steps of the method described above when these instructions are executed by a processor. This program can for example be stored on a hard drive type memory, downloaded, or other.
    [0007] It is further proposed a device for estimating the insulation resistance between a point of a high-voltage circuit comprising a high voltage battery of a motor vehicle and the mass of the vehicle, comprising: receiving means for receiving a value measured voltage across a measuring circuit, said measuring circuit comprising a capacitive element connected to the battery, a memory for storing a modeling of the measurement circuit, said modeling being a function of a capacitance value of the element capacitive, and processing means arranged to calculate a current deviation value as a function of the measured voltage value and as a function of a theoretical voltage value estimated from the modeling of the measurement circuit, to calculate a value of a difference averaged from the current deviation value and from a plurality of previous deviation values, and to estimate an insulation resistance value ac tualized according to said averaged deviation value.
    [0008] The device, for example a processor of the microprocessor, microcontroller or other type, can make it possible to implement the method described above. The device may advantageously furthermore comprise transmission means for transmitting an alarm signal developed as a function of the insulation resistance value estimated by the processing means, in order to signal the detection of an insulation fault. applicable. The device can then be a device for detecting insulation defects. Nevertheless, the invention is in no way limited to this application to the detection of insulation defects. The receiving means may for example comprise an input pin, an input port or the like. The memory can be a Random Access Memory (RAM), an EEPROM (Electrically-Erasable Programmable Read-Only Memory), or other means. example a processor core or CPU (Central Processing Unit English).
    [0009] The transmission means may for example comprise an output pin, an output port, or other. It is further proposed a system for estimating the insulation resistance between a point of a high-voltage circuit and a ground, for example an insulation fault detection system between a point of a high-voltage circuit. voltage and a ground, this system comprising a measuring circuit connected to the high-voltage circuit, for example to a battery, by a capacitive component, and an estimation device as described above, this estimating device being electrically connected to an input of the measuring circuit, and to a measurement terminal of the measuring circuit for measuring the voltage values. The measuring circuit may be of relatively simple design, for example with an input resistor having a terminal electrically connected to the input of the measuring circuit, and a low-pass filtering part comprising a resistive element and a capacitive element. . It is further provided a motor vehicle, for example an electric or hybrid vehicle, comprising a battery adapted to roll the front wheels and / or the rear wheels, and a system as described above.
    [0010] The invention will be better understood with reference to the figures, which illustrate non-limiting embodiments and given by way of example. FIG. 1 shows an example of an insulation resistance estimation system, here an insulation fault detection system, according to an embodiment of the invention. FIG. 2 diagrammatically represents an example of a detection device according to one embodiment of the invention. FIG. 3A is a graph showing the evolution over time of a theoretical voltage signal and a measured voltage signal, when applying an exemplary method according to one embodiment of the invention . Fig. 3B is a graph, corresponding to the graph of Fig. 3A, showing the evolution over time of the estimated insulation resistance value upon application of this method.
    [0011] Identical references may be used from one figure to another to designate identical or similar elements, in their form or in their function.
    [0012] With reference to FIG. 1, there is shown an insulation fault detection system 1 between a terminal 21 of a high voltage circuit, here a high voltage battery 2 of a motor vehicle, and the mass M of this motor vehicle .
    [0013] This detection system 1 comprises a measuring circuit 3 and a detection device not shown in FIG. 1, for example a processor. The battery 2 is used to turn the front wheels and / or the rear wheels of an electric or hybrid vehicle. A regenerative braking can be implemented, that is to say that when the driver imposes a braking setpoint, energy can be recovered and stored in the battery 2. The measuring circuit 3 comprises a resistor. input R between an input terminal 30 and a terminal of attachment to the battery 31. The measuring circuit 3 further comprises, between the connection terminal 31 and the ground a resistor Rf and a capacitance Cf. A output voltage U's is measured at a measurement point 32 between the resistor Rf and the capacitance Cf. The components Rf and Cf here act as a low-pass filter.
    [0014] An input voltage Ue is controlled by the processor and a measurement of the output voltage U's, or U'sities, is received by this processor. The measuring circuit 3 comprises a capacitive element Ce between the battery 2 and the rest of the measuring circuit.
    [0015] In FIG. 1 the capacitance Cisol and the resistor Risol represent the equivalent capacitance and the equivalent resistance, respectively, between the terminal 21 of the high voltage battery 2 and the ground. We seek to estimate the value of this Risol insulation resistance in order to trigger an alarm when this resistance is too low. The input signal Ue applied between the terminal 30 and the ground may be of the square step type with a frequency fe. This signal can be generated relatively easily by the processor, for example a microprocessor of a BMS module.
    [0016] The values of the low-pass filter elements Rf and Cf are known and relatively variable in time. The value of the input resistance R is also known.
    [0017] On the other hand, the value of the capacitive element Ce is likely to vary, with variations of the order of 30% compared to the initial value, during the lifetime of the vehicle. And of course, the value of the insulation resistance Risol can vary especially in case of insulation fault. The value of this isolation resistance is thus likely to go from a few MOhms to only a few kOhms. The transfer function between the output voltage and the input signal can be written: Us _ 1+ RisolCe s Ue 1+ [Ce (Risol + R) + C f (I F ± RI ± [C eC f ( In which s is the Laplace variable, it is known to estimate both the value of the insulation resistance Risol and the capacitance value of the capacitive element Ce, in which s is the Laplace variable. using a relatively large number of measuring points, the value of the insulation resistance is updated after a relatively long time, eg for a frequency fe of the input signal Ue of the order of 2 Hz. , the acquisition frequency of the output signal LI 'being of the order of 100 Hz, if the process requires 100 measurement points to be able to produce a correct value, it will be necessary to wait two periods, ie one second to be able to set the value of the insulation resistance The present invention can allow a faster update and in particular at each measurement e, that is to say every 10 ms for example, and this, while ensuring a convergence of the estimate regardless of the capacitance Ce. A discrete model of the measuring circuit is provided. Using a bilinear transform, from the equation above, it is possible to calculate a circuit z transform corresponding to a sampling period Te, for example 10 ms. By putting U's = 1 + kis 2 1- z -1 Ue 1 + k2s + n., 3s 2 and S -Te 1 ± z -1, we get: (1 + 2k1 + 2z-1 + 1- 24 z -2 T, Te) Ue 1 + 2k2 + 4k3 + (2 8k 3 - z -2 Z 1 + (1 + 2k 2 + 4k 3 7- ', 7'e 2 Te 2) 7; 7; 2) in which the parameters k1, k2, k3 depend on the parameters of the measuring circuit and in particular on the value of the insulation resistance according to k1 = RisolCe, k2 = Ce (Risol + R) + C f (Rf + R), and k3 = This Cf (RR f + Risol (R + Ri)) This model makes it possible to simulate the response of the measuring circuit. FIG. 2 diagrammatically represents an example of an insulation fault detection device 10 between the traction battery referenced 2 in FIG. 1 and the ground. This device comprises a module 11 for generating an input signal Ue. This signal is sent to the terminal 30 of the measuring circuit and is also received at the input of a digital modeling module of the measurement circuit 12. This module 12 estimates, using the equations above, and in particular the values common parameters k1, k2, k3, a theoretical value of the output signal LYSmod. This value LYSmod is received by a weighted difference estimation module 13. This module 13 furthermore receives a measured value of output signal U 'ms, that is to say a voltage value measured at the terminal 32 of the Measuring circuit 3 of FIG. 1. The module 13 calculates a difference between these two values U 'm and IrSmod. The sign of this difference is a function of the value of the input signal Ue.
    [0018] As can be seen from FIG. 2, the parameters k1, k2, k3 are regularly updated so that the model of the measurement circuit is regularly updated. Thus, the model used by the module 12 varies according to the value of the estimated insulation resistance.
    [0019] The value of this isolation resistance is estimated by looking for the values which tend to minimize the difference e between the response of the physical circuit U 'mes and the output LYSmod of the model simulating the circuit. A U '= regulator 14 makes it possible to estimate values of the insulation resistance R.01 updated in order to converge the output of the U'Smod model with the U'smes measurement. The value of the estimated insulation resistance Ris.1 is updated at each calculation step.
    [0020] The higher the insulation resistance value, the faster the response of the circuit to the excitation as an input signal. In the case of a response of the measurement circuit to a rising square of 5 volts, that is to say when the input signal Ue goes from 0 to 5 volts, if the output of the U'Smod model is greater than to the measured value Umes, that is to say if the model is faster than the measurement, then the module 14 tends to reduce the value of the estimated insulation resistance, that is to say that the model is slowed down. Conversely, if the output value of the U'Smod model has a value less than a measured value U 'ms, that is, if the model is slower than the measurement, then the module 14 tends to increase the value of the estimated Ris01 resistance. In the case of a downlink slot, that is to say when the input signal goes from 5 volts to 0 volts, the inverse reasoning is applied. Thus, if the output of the U'Smod model has a value greater than the measured value Umes, that is, the model is slower than the actual physical circuit, then the value of the isolation resistance is augmented, and vice versa in the opposite case. Thus, the module 14 may be a proportional-integral type regulator with a difference e between the measured value Uths and the theoretical value U'Smod weighted by a sign depending on the value of the input signal Ue. This weighting will be +1 when the input signal is 5 volts, ie in the case of a rising square, and will be -1 when the input signal is 0 volts, ie in the case of a descending niche.
    [0021] To return to the model implemented in the module 12, noting n the current time, n-1 the previous instant, and n-2 the previous time again, this module 12 can implement the following formula: s mod (n) / 1 + 2k1 U e (ri) + 2U, - 1) Te) 1+ 2k2 + 4k3 Te Te 2 ( (8k 1 2k1t / e (n 2) + 2 U 's mod - 1) Te2 2k2 4k3 Te 2 + 3 Te Te2 (1 + 2k2 + 4k '- 2) S mod T- e Te 2 1+ 2k2 + 4k3 Te Te2 Te being the period of the input signal Ue The proportional controller Integral 14 can be adjusted according to the need and the compromise between speed and precision that one wishes to have on the estimate.As the range of values of insulation resistance can be very wide, from a few Ohms to a few MOhms, one can also provide a variable gain depending on the estimated insulation resistance value.If this value is relatively high, of the order of several hundreds of KOhms or MOhms, the need for precision is lower but we will be in contrast party concerned by a rapid solution. On the contrary, for a relatively low insulation resistance value, of the order of ten kOhms or less, it is necessary to have a better accuracy because this value represents a threshold of dangerousness.
    [0022] It is therefore possible to define a table of gains as a function of the value of the estimated insulation resistance. Kvariable values can be defined according to external constraints such as the maximum detection time allowed to calculate and deliver the value of the insulation resistance.
    [0023] The module 14 can thus implement the following formula: Ris01 (n) K varzabie [Rzsol 1) 1 (K + Kif E) in which Ki and Kp are gains adjusted offline by conventional methods of adjusting proportional integral correctors based on an arbitrary isolation resistance value. These parameter values Kp, K are thus predetermined. Once the estimate of the insulation resistance has been updated, a module 15 makes it possible to update the values of the parameters k1, k2, k3 by using the formula above in which the value of the capacitance Ce can be chosen so arbitrary with an accuracy of plus or minus 50% in real terms. The initial value of this capacity can be used throughout the process, or at least for a number of cycles.
    [0024] Once these parameters are updated, it is possible to calculate a new model output when based on this new update of the insulation resistance estimate. Furthermore, a module 16 makes it possible to generate a Saiarm alarm signal from the insulation resistance value derived from the model 14. This module 16 can for example compare the value of the isolation resistance to a threshold and trigger an alarm when the value of the insulation resistance is below this threshold. With reference to FIG. 3A, the signal U'Smod is represented as a function of time as well as the signal U'mes. It is assumed that a few moments after t = 12 seconds, the vehicle experiences an insulation fault and the value of the insulation resistance drops from 200 kOhm to 20 kOhm. This simulation represents a case of appearance of insulation fault. It appears that the response time is less than 5 seconds.
    [0025] As shown in FIG. 3B, the value of the insulation resistance calculated by integral proportional regulator 14 drops very rapidly and converges towards the real value. The invention thus makes it possible to detect insulation faults in a simple and robust manner because of the tolerance to variations in the value of the Ce capacitance.
    权利要求:
    Claims (11)
    [0001]
    REVENDICATIONS1. A method of estimating the insulation resistance between a point of a high-voltage circuit comprising a motor vehicle high-voltage battery and the ground of said vehicle, comprising: (a) measuring a voltage value (U'sities) at terminals of a measuring circuit, said measuring circuit comprising a capacitive element connected to the battery, (b) calculating a current difference value (e) as a function of the measured voltage value, and as a function of a value of theoretical voltage (U'smod) estimated from a modeling of the measurement circuit, said modeling being a function of a capacitance value of the capacitive element, (c) calculating an averaged deviation value, starting from the current deviation value and previous deviation values, (d) estimating an updated insulation resistance value (Risoi) according to said averaged deviation value.
    [0002]
    2. Method according to claim 1, wherein the steps (a), (b), (c) and (d) are reiterated regularly, and the insulation resistance value updated during a current iteration (Risoi). is used at the next iteration for the modeling of the measuring circuit.
    [0003]
    3. Method according to any one of claims 1 or 2, wherein during step (b) the current difference value (e) is calculated by taking the difference between the measured voltage value (U '). sities) and the theoretical voltage value (U'smod), the sign of said difference being a function of a value of an input signal of the measuring circuit (U,).
    [0004]
    4. Method according to any one of claims 1 to 3, wherein, during step (c), the averaged deviation value is obtained by adding to the current difference value (e) a value d previous averaged difference.
    [0005]
    5. Method according to any one of claims 1 to 4, wherein the step (d) of estimating the value of insulation insulation updated (Risoi) is a function of a linear combination of the deviation value current value (e) and the average deviation value calculated in step (c).
    [0006]
    The method according to claim 5, wherein in step (d) the discounted insulation resistance value is estimated according to the formula: R s 0 1 (n) Kvar ab the [R sol - 11 (K £ + Kif E) where n corresponds to the current iteration, (n-1) corresponding to the immediately preceding iteration, Risoi (n) represents the discounted insulation resistance value during the current iteration , Rsoi (n-1) represents a previous insulation resistance value, e represents the current deviation value, Ki and Kp represent predetermined constants, and Kvanable represents a parameter value chosen according to the previous value of insulation resistance.
    [0007]
    The method of any of the preceding claims, further comprising (e) according to the insulation resistance value updated in step (d), generating an alarm signal (Salarm) to prevent detection of an insulation fault.
    [0008]
    8. Apparatus for estimating (10) the insulation resistance between a point of a high-voltage circuit comprising a high voltage battery (2) of a motor vehicle and the mass (M) of said vehicle, comprising: receiver for receiving a measured voltage value across a measuring circuit, said measuring circuit comprising a capacitive element connected to the battery, a memory for storing a modeling of the measurement circuit, said modeling being a function of a value of capacity of the capacitive element, and processing means arranged to calculate a current deviation value as a function of the measured voltage value and as a function of a theoretical voltage value estimated from the modeling of the measurement circuit, for calculating an averaged deviation value from the current deviation value and a plurality of previous deviation values, and estimating an updated insulation resistance value according to said averaged deviation value.
    [0009]
    9. System for estimating (10) the insulation resistance between a point of a high-voltage circuit comprising a high voltage battery (2) of a motor vehicle and the mass (M) of said vehicle, comprising a measurement circuit (3) comprising a capacitive component electrically connected to the battery, and an estimation device according to claim 8, said device being electrically connected to an input (30) of the measuring circuit, and to a measuring terminal (32) of the measuring circuit.
    [0010]
    The system of claim 9, wherein the measuring circuit (3) comprises an input resistor (R) having a terminal electrically connected to the input (30) of the measuring circuit, and a filtering portion passing through base comprising a resistive element (Rf) and a capacitive element (Cf).
    [0011]
    11. Motor vehicle, comprising a battery (2) adapted to roll the front wheels and / or the rear wheels of the vehicle, and an estimation system (1) according to one of claims 9 or 10.
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    同族专利:
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    EP3077834A1|2016-10-12|
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    CN106415284A|2017-02-15|
    US20160334452A1|2016-11-17|
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    WO2015082825A1|2015-06-11|
    US10605845B2|2020-03-31|
    JP2017501396A|2017-01-12|
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    法律状态:
    2015-12-21| PLFP| Fee payment|Year of fee payment: 3 |
    2016-12-22| PLFP| Fee payment|Year of fee payment: 4 |
    2017-12-21| PLFP| Fee payment|Year of fee payment: 5 |
    2018-12-19| PLFP| Fee payment|Year of fee payment: 6 |
    2020-10-16| ST| Notification of lapse|Effective date: 20200905 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1362092A|FR3014206B1|2013-12-04|2013-12-04|ESTIMATING INSULATION RESISTANCE BETWEEN A MOTOR VEHICLE BATTERY AND MASS|FR1362092A| FR3014206B1|2013-12-04|2013-12-04|ESTIMATING INSULATION RESISTANCE BETWEEN A MOTOR VEHICLE BATTERY AND MASS|
    CN201480073856.XA| CN106415284B|2013-12-04|2014-12-02|Estimation to the insulation resistance between motor vehicle battery and ground wire|
    EP14821774.8A| EP3077834B1|2013-12-04|2014-12-02|Estimation of the insulation resistance between a motor vehicle battery and the earth|
    JP2016536133A| JP2017501396A|2013-12-04|2014-12-02|Estimation of insulation resistance between motor vehicle battery and earth|
    US15/101,741| US10605845B2|2013-12-04|2014-12-02|Estimation of the insulation resistance between a motor vehicle battery and the earth|
    PCT/FR2014/053115| WO2015082825A1|2013-12-04|2014-12-02|Estimation of the insulation resistance between a motor vehicle battery and the earth|
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