• 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:

    公开号:SE1050312A1
    申请号:SE1050312
    申请日:2010-04-01
    公开日:2011-10-02
    发明作者:Jolle Ijkema
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    System that the tolerance band for what does not count as a deviation that triggers brake control is wide enough, whereby a compromise is made between safety and driveability / robustness. A problem is that skew can occur within the tolerance band when, for example, skew occurs in the same direction within the tolerance band, which in appropriate cases, such as during heavy braking, can jeopardize road safety.
    OBJECT OF THE INVENTION An object of the present invention is to provide a method for controlling the direction of movement of a motor vehicle which increases safety.
    A further object of the present invention is to provide a system for controlling the direction of movement of a motor vehicle which increases safety.
    SUMMARY OF THE INVENTION These and other objects, which appear from the following description, are achieved by a method, a system, and a motor vehicle of the kind initially indicated and further having the features set forth in the characterizing part of appended independent claims 1, 6 and 11.
    Preferred embodiments of the method and system are defined in appended dependent claims 2-5 and 7-10.
    According to the invention, the objects are achieved with a method for controlling the direction of movement of a motor vehicle, comprising the steps of: determining the requested direction of movement of the vehicle; determine the actual direction of movement of the vehicle; comparing said requested direction of movement with said actual direction of movement; by means of brake units at the wheels of the vehicle, correcting the actual direction of movement of the vehicle as it deviates from a tolerance band with a predetermined width for said requested direction of movement so that the actual direction of movement of the vehicle 10 is brought within said tolerance band; further comprising the steps of: in braking the vehicle, comparing the braking value of said braking with a predetermined emergency braking value, and reducing said predetermined width of the tolerance band when said braking value exceeds the emergency braking value. This improves safety during emergency braking in that the risk of tilting of the vehicle is reduced and the vehicle is steered to a greater extent according to the requested direction of movement.
    Furthermore, it is possible to use and update the existing ESP system, whereby the safety during emergency braking can be improved cost-effectively.
    According to an embodiment of the method, the correction is adapted in the step of correcting the actual direction of movement of the vehicle by means of brake units at the vehicle wheels so that activation of brake units takes place during a predetermined time period when said braking value exceeds the emergency braking value.
    This makes it possible to adapt the brake correction by means of a function such as a ramp function so that it takes place smoothly.
    According to an embodiment of the method, said emergency braking value comprises a predetermined deceleration value, wherein the step of reducing the width of the tolerance band is performed at the requested deceleration value of the vehicle which exceeds said predetermined deceleration value.
    According to one embodiment of the method, said emergency braking value includes a predetermined position of the brake pedal and / or a predetermined pressure on the brake pedal of the vehicle, the step of reducing the width of the tolerance belt being performed at the requested position of the brake pedal exceeding said predetermined position and at said desired pressure. predetermined pressures.
    According to one embodiment, the method comprises the step of automatically activating braking of the vehicle by means of a subsystem in the event of obstacles in the direction of movement of the vehicle so that said emergency braking value is exceeded. This increases security. According to the invention, the objects are achieved with a system for controlling the direction of movement of a motor vehicle comprising means for determining the requested direction of movement of the vehicle, means for determining the actual direction of movement of the vehicle, means for comparing said requested direction of movement with said actual direction of movement. wheels arranged to correct the actual direction of movement of the vehicle as it deviates from a tolerance band with a predetermined width for said requested direction of movement so that the actual direction of movement of the vehicle is brought within said tolerance band, the system further comprising means for comparing braking value to said braking value. a predetermined emergency braking value, and means for reducing said predetermined width of the tolerance band when said braking value exceeds the emergency braking value. This improves safety during emergency braking in that the risk of tilting of the vehicle is reduced and the vehicle is steered to a greater extent according to the requested direction of travel. Furthermore, it is possible to use and update the existing ESP system, whereby the safety during emergency braking can be improved cost-effectively.
    According to an embodiment of the system, activation of brake units for said correction when said braking value exceeds the emergency braking value is arranged to be adapted so that said activation takes place for a predetermined period of time. This makes it possible to adapt the brake correction by means of a function such as a ramp function so that it takes place smoothly.
    According to one embodiment of the system, said emergency braking value includes a predetermined deceleration value of the vehicle.
    According to an embodiment of the system, said emergency braking value includes a predetermined position of the brake pedal and / or a predetermined pressure on the brake pedal of the vehicle. According to one embodiment, the system comprises a subsystem for automatically activating braking of the vehicle in the event of obstacles in the direction of movement of the vehicle so that said emergency braking value is exceeded. This increases security.
    DESCRIPTION OF THE FIGURES Fig. 1 schematically illustrates a motor vehicle, according to an embodiment of the invention; Fig. 2 schematically shows the chassis and wheels of the vehicle in Fig. 1; Fig. 3 schematically shows a diagram of the deviation of the actual direction of movement of the vehicle from the requested direction of movement during normal driving and during emergency braking; Fig. 4 schematically shows a block diagram of a system for controlling the direction of movement of a motor vehicle according to an embodiment of the present invention; Fig. 5 schematically shows a block diagram of a system for controlling the direction of movement of a motor vehicle according to an embodiment of the present invention; and Fig. 6 schematically shows a block diagram of a method for controlling the direction of movement of a motor vehicle according to an embodiment of the present invention. DESCRIPTION OF EMBODIMENTS Herein, the term "link" refers to a communication link which may be a physical line, such as an optoelectronic communication line, or a non-physical line, such as a wireless connection, for example a radio or microway link. k.
    Here, the term "emergency braking" refers to a sharp deceleration / deceleration of the vehicle, wherein the pressure on the brake pedal exceeds a certain predetermined value and / or the vehicle's brake pedal exceeds a certain predetermined angle, and / or that the vehicle exceeds a certain predetermined deceleration / deceleration, the deceleration according to a variant is requested by the driver and consequently active, and according to another variant passive, it being requested automatically by a system such as an adaptable cruise control which is activated, for example, by means of, for example, radar when the vehicle encounters an obstacle.
    Referring to Figure 1, a side view of a vehicle 1 is shown. The exemplary vehicle 1 consists of a heavy vehicle in the form of a truck. The vehicle can alternatively be a bus or a car. According to a variant, the vehicle consists of a heavy vehicle such as a truck with a front axle and a rear drive axle, of which the right front wheel RF for the front axle and the right drive wheel RD for the drive axle are shown. The vehicle includes a system for improving braking safety according to the present invention.
    Fig. 2 schematically shows a plan view of the chassis and wheel axles of the vehicle in Fig. 1. The vehicle comprises a vehicle frame 2, 3 and front axle X1 with opposite front wheels RF, LF and a rear drive axle X2 with opposite drive wheels RD, LD. The vehicle comprises a brake configuration comprising brake units arranged at respective wheels of the vehicle. At the right front wheel RF, a first brake unit 4 is arranged to brake the right front wheel RF when the brake is activated. At the left front wheel LF, a second brake unit 5 is arranged to brake the left front wheel RF when the brake is activated. At the right drive wheel RD, a third brake unit 6 is arranged to brake the right drive wheel RD when the brake is activated. At the left drive wheel LD, a fourth brake unit 7 is arranged to brake the left drive wheel LD when the brake is activated.
    Fig. 3 schematically shows a diagram of the deviation of the actual direction of movement of the vehicle from the requested direction of movement during normal driving and during emergency braking.
    The system according to the present invention is in accordance with an ESP system arranged to determine from the driver the direction of movement D1 of the vehicle requested from the driver, and to determine the actual direction of movement D2 of the vehicle, and continuously compare the requested direction of movement D1 with the actual direction of movement D2.
    The system comprises a predetermined tolerance band B1 for the requested direction of movement D1, which tolerance band has a certain width B1 which corresponds to how much the actual direction of movement D2 was allowed to deviate from the requested direction of movement D '|.
    When the actual direction of movement D2 deviates from said tolerance band B1, the system is arranged to control the vehicle by means of brake units arranged, for example according to Fig. 2, by braking the wheels so that the actual direction of movement of the vehicle is corrected so that it is within said tolerance band B1.
    The system according to the present invention is arranged to, when braking the vehicle, compare the braking value during said braking with a predetermined emergency braking value corresponding to emergency braking of the vehicle.
    The system is arranged to reduce said predetermined width B1 of the tolerance band to an emergency braking width B2 when said braking value exceeds the emergency braking value, i.e. in emergency braking the system is arranged to taper the tolerance band to a predetermined width B2 by activating an emergency brake flag F in emergency braking so that when the actual direction of movement deviates from said tapered tolerance band B2 the system is arranged to control the vehicle by braking units so as to brake that the actual direction of movement of the vehicle is corrected so that it is within said tapered tolerance band.
    In this case, the actual direction of movement of the vehicle is corrected in the event of a minor deviation from the requested direction of movement in the event of an emergency braking of the vehicle, thereby increasing safety.
    According to a braking value, the emergency braking value exceeds, ie. in the case of emergency braking, the system is arranged to adjust the activation of the brake units for steering the vehicle wheels so that when and when the actual direction of movement deviates from the requested direction of movement so that the transition to brake steering takes place smoothly, according to a variant according to a ramp function R according to Fig. 3. .
    Fig. 4 schematically shows a block diagram of a system 200 for controlling the braking of a motor vehicle according to an embodiment of the present invention.
    The system comprises an electronic control unit 100 for controlling the vehicle 100 is signal connected to a first sensing means 110 arranged to sense brake units. The electronic control unit via a link requested direction of movement of the vehicle. The electronic control unit 100 is arranged via the link to receive a signal from the first sensing means 110 representing the requested direction of movement data of the vehicle.
    The electronic control unit 100 is signaled via a link to a second sensing means 120 arranged to sense the actual direction of movement of the vehicle. The electronic control unit 100 is arranged via the link to receive a signal from the second sensing means 120 representing actual direction of movement data of the vehicle. The electronic control unit 100 is signaled via a link to a brake sensing means 130 arranged to sense braking of the vehicle.
    The electronic control unit 100 is arranged via the link to receive a signal from the brake sensing means 130 representing braking data of the vehicle.
    The electronic control unit 100 is signal connected to a brake configuration 140.
    The electronic control unit 100 is arranged to compare requested direction of movement data with actual direction of movement data. The electronic control unit 100 is arranged that when the actual direction of movement deviates from a tolerance band for the requested direction of movement with a predetermined bandwidth signals sent to the brake configuration 140 representing instructions to activate brake units of the brake configuration 140 for controlling the direction of movement band , where the instructions are based on direction of travel deviation data.
    When braking the vehicle, the electronic control unit 100 is arranged to compare said braking data with a predetermined emergency braking value.
    The electronic control unit 100 is arranged to reduce said predetermined bandwidth of the tolerance band when said braking data exceeds the emergency braking value.
    Fig. 5 schematically shows a block diagram of a control system for braking a motor vehicle according to an embodiment of the present invention.
    The system in Fig. 5 is essentially a more detailed variant of the system in Fig. 4, where alternative / complementary sensing means are indicated.
    Accordingly, the electronic control unit 100 according to this embodiment is arranged to process data and control brake units based on the data in accordance with the electronic control unit 100 in Fig. 4, so that it is given the same reference numeral. 110 for the direction of movement of the vehicle comprises, according to a variant, a steering wheel angle sensor. The first sensing means sensing the requested 111 arranged to sense the steering angle of the vehicle.
    According to a variant, the first sensing means 110 comprises a brake sensor 113 arranged to sense braking of the vehicle.
    According to this embodiment, the first sensing means 110 comprises a first direction of movement control unit 116. The first direction of movement control unit 116 is signal connected to the steering wheel angle sensor 111 via a link. The electronic control unit 100 is arranged via the link to receive a signal from the steering wheel angle sensor 111 representing steering wheel angle data. first 116 is the brake sensor via a link. The electronic control unit 100 is via the link The direction of movement control signal connected to arranged to receive a signal from the brake sensor 113 representing brake data.
    The first direction of movement control unit 116 is arranged to calculate, based on said steering wheel angle data and, where applicable, brake data, direction of movement data for the requested direction of movement of the vehicle. 120 for the direction of movement of the vehicle comprises, according to a variant, a gyro 121. The second sensing means sensing the real arranged to sense the yaw velocity of the vehicle.
    The second sensing means 120 comprises, according to a variant, a GPS (global position sensor) 122 arranged to detect and reproduce course deviation of the vehicle by determining the position of the vehicle. The second sensing means 120 comprises, according to a variant, a camera 123 arranged to detect and reproduce course deviation of the vehicle by registering the road in front of the vehicle.
    The second sensing means 120 comprises, according to a variant, an accelerometer 125 arranged to sense lateral acceleration of the vehicle.
    According to this embodiment, the second sensing means 120 comprises a second direction of movement control unit 126. The second direction of movement control unit 126 is signal-connected to the gyro 121 via a link. The electronic control unit 100 is arranged via the link to receive a signal from the gyro 121 representing the yaw angle velocity data.
    The second direction of motion controller 126 is signal connected to the GPS 122 via a link. The electronic control unit 100 is arranged via the link to receive a signal from the GPS 122 representing course deviation data.
    The second directional control unit 126 is signal connected to the camera 123 via a link. The electronic control unit 100 is arranged via the link to receive a signal from the camera 123 representing course deviation data.
    The second direction of motion control unit 126 is signal connected to the accelerometer 125 via a link. The electronic control unit 100 is arranged via the link 125 to receive a signal from the accelerometer representing side acceleration data.
    The second direction of movement control unit 126 is according to a variant arranged to calculate the angled rift angle of the vehicle based on said turning angle velocity data and side acceleration data.
    The second direction of movement control unit 126 is arranged to calculate, based on and / or yaw angle velocity data, side acceleration data, the direction of movement data for the actual direction of movement, said course deviation data and of the vehicle. According to an alternative variant, the first and second direction of movement control unit 110, 120 are integrated in the electronic control unit 100.
    The brake sensing means 130 arranged to sense braking of the vehicle according to this embodiment comprises a brake sensor 131 arranged to sense braking of the vehicle, where sensing of braking according to a variant is achieved by sensing the angle / position of the brake pedal and according to another variant by sensing the accelerator pedal.
    The brake sensing means 130 according to this embodiment comprises a deceleration sensor 132 arranged to sense deceleration of the vehicle.
    According to a variant, the brake sensing means 130 comprises a radar 133 arranged to detect any obstacles in front of the vehicle by registering the road in front of the vehicle. 130 includes variant a 136. 136 is signal connected to the brake sensor via a link. The brake sensing control unit The brake sensing means according to a brake sensing control unit The brake sensing control unit 136 is arranged via the link to receive a signal from the brake sensor 131 representing brake data.
    The brake sensing controller 136 is signal connected to the deceleration sensor via a link. The brake sensing control unit 136 is arranged via the link to receive a deceleration data representing a signal from the deceleration sensor 132.
    The brake sensing controller 136 is signal connected to the radar via a link.
    The brake sensing control unit 136 is arranged via the link to receive a signal from the radar 133 representing vehicle obstacle data.
    The brake sensing control unit 136 is arranged to activate emergency braking of the vehicle when said vehicle obstacle data contains vehicle obstruction. According to an alternative variant, the brake sensing control unit 136 is integrated in the electronic control unit 100.
    The electronic control unit 100 is signal connected to the first brake unit 4 via a link. The electronic control unit 100 is signal connected to the second brake unit 5 via a link. The electronic control unit 100 is signal connected to the third brake unit 6 via a link.
    The electronic control unit 100 is signal-connected to the fourth brake unit 7 via a link.
    The brake sensing controller 136 is arranged to compare brake data from the brake sensor 131 and send a signal to the electronic control unit 100 if said brake data exceeds an emergency braking value. The electronic 100 is the deceleration sensor 132 and send a signal to the electronic control unit control unit arranged to compare deceleration data from 100 if said brake data exceeds an emergency braking value.
    The electronic control unit 100 is arranged to reduce said predetermined bandwidth of the tolerance band when said braking value exceeds the emergency braking value.
    The electronic control unit 100 is arranged to compare requested direction of movement data with actual direction of movement data. The electronic control unit 100 is arranged that when the actual direction of movement deviates from the tolerance band for the requested direction of movement with a predetermined bandwidth via links send a signal to the first brake unit 4 and / or the second brake unit 5 and / or the third brake unit 6 and / or the fourth brake unit 7 representing instructions to activate the brake unit for controlling the vehicle so that the direction of movement is within said instructions are tolerance bands, where based on direction of movement deviation data.
    Fig. 6 schematically shows a block diagram of a method according to an embodiment of the present invention. According to one embodiment, the method of braking a motor vehicle comprises a first step S610. In this step, a braking value when braking the vehicle is compared with a predetermined emergency braking value. According to one embodiment, the method of braking a motor vehicle comprises a second step S620. In this step, it is examined whether the braking value exceeds the emergency braking value.
    According to one embodiment, the method of braking a motor vehicle comprises a third step S630, which is performed when the braking value exceeds the emergency braking value, i.e. when emergency braking of the vehicle is present. In this step, the bandwidth of a tolerance band is reduced for the actual direction of movement of the vehicle, ie. how much the actual direction of movement of the vehicle may deviate from the requested direction of movement.
    According to one embodiment, the method of braking a motor vehicle comprises a fourth step S640. In this step, the requested direction of movement of the vehicle is determined.
    According to one embodiment, the method of braking a motor vehicle comprises a fifth stage S650. In this step, the actual direction of movement of the vehicle is determined.
    According to one embodiment, the method of braking a motor vehicle comprises a sixth step S660. In this step, the requested direction of movement is compared with the actual direction of movement.
    According to one embodiment, the method of braking a motor vehicle comprises a seventh step S670. In this step, it is examined whether the actual direction of movement deviates from the tolerance band.
    According to one embodiment, the method of braking a motor vehicle comprises an eighth step S680. In this step, which is performed when the actual direction of movement deviates from the tolerance band, the actual direction of movement is corrected by means of brake units so that the vehicle is controlled by means of the brake units so that the vehicle is within the tolerance band.
    The vehicle described above in connection with Figs. 1 and 2 has a front axle X1 and a drive axle X2. However, the invention is applicable to any suitable vehicle with any number of axles and wheels, for example a front axle, a drive axle and a support axle, or a front axle and a rear axle with two or four wheel drive; two front axles, a drive shaft and a support shaft; or the vehicle with additional wheel axles such as ten or twelve wheel axles with operation on one or more axles. In this case, brake units are arranged in a suitable manner at wheels / axles, for example at each wheel or at each axle or at suitable axles, in order to brake that wheel when the brake unit is activated, whereby the vehicle can be steered by means of the brake units.
    The above description of the preferred embodiments of the present invention has been provided for illustrative and descriptive purposes. It is not intended to be exhaustive or to limit the invention to the variations described. Obviously, many modifications and variations will occur to those skilled in the art. The embodiments have been selected and described to best explain the principles of the invention and its practical applications, thereby enabling one skilled in the art to understand the invention for various embodiments and with the various modifications appropriate to the intended use.
    权利要求:
    Claims (11)
    [1]
    A method for controlling the direction of movement of a motor vehicle, comprising the steps of: - determining (S640) the requested direction of movement of the vehicle; - determine (S650) the actual direction of movement of the vehicle; - comparing (S660) said requested direction of movement with said actual direction of movement; - by means of brake units at the wheels of the vehicle, correct (S680) the actual direction of movement of the vehicle as it deviates from a tolerance band with a predetermined width for said requested direction of movement so that the actual direction of movement of the vehicle is brought within said tolerance band; characterized by the steps of: - when braking the vehicle, comparing (S610) the braking value at said braking with a predetermined emergency braking value, and - reducing (S620) said predetermined width of the tolerance band when said braking value exceeds the emergency braking value.
    [2]
    Method according to claim 1, wherein the correction in the step of correcting the actual direction of movement of the vehicle by means of brake units at the vehicle's wheels is adapted so that activation of brake units takes place during a predetermined time period when said braking value exceeds the emergency braking value.
    [3]
    A method according to claim 1 or 2, wherein said emergency braking value includes a predetermined deceleration value, wherein the step of reducing the width of the tolerance band is performed at the requested deceleration value of the vehicle exceeding said predetermined deceleration value.
    [4]
    A method according to claims 1-3, wherein said emergency braking value comprises a predetermined position of the brake pedal according to any of and / or a predetermined pressure on the brake pedal of the vehicle, wherein the step of reducing the width of the tolerance belt is performed at the requested position of the brake pedal exceeding said predetermined position and or at the requested pressure on the brake pedal exceeds said predetermined pressure.
    [5]
    Method according to claim 1 or 2, comprising the step of automatically activating braking of the vehicle by means of a subsystem in the event of obstacles in the direction of movement of the vehicle so that said emergency braking value is exceeded.
    [6]
    A system for controlling the direction of movement of a motor vehicle (1) comprising means (110) for determining the desired direction of movement (D1) of the vehicle, means (120) for determining the actual direction of movement of the vehicle (D2), means (100) for comparing said requested direction of movement with said actual direction of movement, brake units (4, 5, 6, 7) at the wheels of the vehicle arranged to correct the actual direction of movement of the vehicle (D2) as it deviates from a tolerance band with a predetermined width (B1) for said requested direction of movement (D1). that the actual direction of movement of the vehicle is brought within said tolerance band, characterized by means (100) for comparing the braking value during said braking of said vehicle with a predetermined emergency braking value, and means (100) for reducing the width of braking value exceeding the emergency braking value. said predetermined tolerance band then said
    [7]
    A system according to claim 6, wherein activation of brake units (4, 5, 6, 7) for said correction when said braking value exceeds the emergency braking value is arranged to be adapted so that said activation takes place for a predetermined period of time.
    [8]
    A system according to claim 6 or 7, wherein said emergency braking value includes a predetermined deceleration value of the vehicle.
    [9]
    A system according to any one of claims 6-8, wherein said emergency braking value includes a predetermined position of the brake pedal and / or a predetermined pressure on the brake pedal of the vehicle. 18
    [10]
    System according to claim 1 or 2, comprising a subsystem for automatically activating braking of the vehicle in the event of obstacles in the direction of movement of the vehicle so that said emergency braking value is exceeded.
    [11]
    Motor vehicle comprising a system according to any one of claims 6-10.
    类似技术:
    公开号 | 公开日 | 专利标题
    US8532870B2|2013-09-10|Driver assistance system for motor vehicle/trailer combinations
    US8086406B2|2011-12-27|Safety system for a means of transportation and a method relating to the same
    JP5923101B2|2016-05-24|Suppressing trailer swing using torque vectorization
    US9221466B2|2015-12-29|Method for automatically correcting a state variable of a vehicle
    US8126626B2|2012-02-28|Vehicle path control for autonomous braking system
    US20120065861A1|2012-03-15|Method and device for performing closed-loop or open-loop control of the driving stability of a vehicle
    US10766482B2|2020-09-08|Method for stabilizing a tractor vehicle-trailer combination during travel
    KR20170005068A|2017-01-11|Method and system for adaptation of the speed of a vehicle when taking a curve
    US11220263B2|2022-01-11|Method for the open-loop or closed-loop control of a driver assistance system of a vehicle, and driver assistance system
    US20140379244A1|2014-12-25|Avoidance maneuver assistant for motor vehicles
    KR102287574B1|2021-08-10|Method and device for operating a vehicle
    CN106945663B|2020-09-25|Anti-collision method for turning vehicle
    US20170129536A1|2017-05-11|Hill parking aid
    US8880294B2|2014-11-04|Proactive electronic stability control system
    US20180178769A1|2018-06-28|Method for assisting drivers in the event of aquaplaning on a road surface
    KR102255437B1|2021-05-24|Method and system for the adaptation of the driving of a vehicle on a roadway in association with taking a curve
    SE1050312A1|2011-10-02|Procedure and system for controlling the direction of movement of a motor vehicle
    KR101988510B1|2019-09-30|Apparatus and method for electronic stability control of vehicle
    WO2015178844A1|2015-11-26|Method and system for safe driving when driving a vehicle in a curve
    CN113415291A|2021-09-21|Method for assisting a driver by means of a driver assistance system and driver assistance system
    KR102328406B1|2021-11-18|Apparatus for vehicle emergency avoidance assistance and method thereof
    EP2813415A1|2014-12-17|Steering wheel control system for a vehicle
    WO2015174943A1|2015-11-19|A system for keeping and tracking lane
    KR20200081524A|2020-07-08|Vehicle, and control method for the same
    EP3626582A1|2020-03-25|Method and system for collision avoidance
    同族专利:
    公开号 | 公开日
    WO2011123023A1|2011-10-06|
    BR112012022493A2|2016-10-25|
    EP2558337B1|2019-06-19|
    EP2558337A4|2018-04-18|
    SE534747C2|2011-12-06|
    EP2558337A1|2013-02-20|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JP3784436B2|1995-11-20|2006-06-14|本田技研工業株式会社|Vehicle braking force control device|
    US6435626B1|2000-12-05|2002-08-20|Continential Teves, Inc.|Steering and braking stability program|
    WO2002062639A1|2001-02-02|2002-08-15|Continental Teves Ag & Co. Ohg|Method for controlling brake pressure|
    DE10316413B4|2003-04-10|2011-02-03|Man Nutzfahrzeuge Ag|Method and device for tracking a vehicle, in particular a commercial vehicle|
    JP5272448B2|2008-03-04|2013-08-28|日産自動車株式会社|Vehicle driving support apparatus and vehicle driving support method|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1050312A|SE534747C2|2010-04-01|2010-04-01|Procedure and system for controlling the direction of movement of a motor vehicle|SE1050312A| SE534747C2|2010-04-01|2010-04-01|Procedure and system for controlling the direction of movement of a motor vehicle|
    PCT/SE2011/050323| WO2011123023A1|2010-04-01|2011-03-23|Method and system for control of a motor vehicle's direction of movement|
    EP11763136.6A| EP2558337B1|2010-04-01|2011-03-23|Method and system for control of a motor vehicle's direction of movement|
    BR112012022493A| BR112012022493A2|2010-04-01|2011-03-23|method and system for controlling the direction of movement of a motor vehicle.|
    [返回顶部]