• 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:
    The invention relates to a method of braking a carriage (100) comprising a towing vehicle (110) and a trailer (112) wherein both said towing vehicle (110) and said trailer (112) are arranged to be braked and wherein said towing vehicle (110) comprises a first control unit (200) comprising a function for controlling the coupling force between said towing vehicle (110) and said trailer (112), wherein said controlling decoupling force includes so-called adaptation data, and wherein said trailer carries an ID specification , the method comprising the steps of: - transmitting said ID specification from said trailer (112) to said towing vehicle (110); during a braking process, record adaptation data associated with said braking process together with said ID specification. The invention also relates to a computer program product comprising program code (P) for end computer (200; 205) for implementing a method according to the invention. The invention also relates to a system for braking a carriage (100) and a vehicle carriage (100) equipped with the system. Figure 2 for publication
    公开号:SE1450936A1
    申请号:SE1450936
    申请日:2014-08-13
    公开日:2016-02-14
    发明作者:Thomas Strange；Martin Edinger
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    TECHNICAL FIELD The present invention relates to a method of braking a vehicle comprising a towing vehicle together with a trailer. The invention also relates to a computer program product including program code for a computer for implementing a method according to the invention. The invention also relates to a system for braking a carriage comprising a towing vehicle together with a trailer and a motor vehicle carriage equipped with the system.
    BACKGROUND Vehicle crews including a towing vehicle and a trailer can be equipped with Electronic Brake System (EBS). Said electronic braking system may in this case include a function for regulating coupling force (CFC, CouplingForce Control). Said function CFC is adapted to continuously control braking force distribution between braking systems of said towing vehicle and said trailer. In this case, braking action can be controlled in such a way that forces acting at a coupling point between said towing vehicle and said trailer are minimized or eliminated, whereby a so-called vehicle brake balance. It is desirable, and some states even require, by law, that both said towing vehicle and said trailer be able to brake their own mass during arbitrary travel.
    An existing electronic braking system comprises a first brake control unit arranged in said towing vehicle and a second brake control unit arranged in said trailer. In this case, said first brake control unit is a primary control unit and said second brake control unit is a secondary control unit. Said first brake control unit hereby comprises said function for regulating clutch force and is thus arranged to continuously determine and control brake force distribution for the vehicle crew. Said second brake control unit is arranged to control the braking action of said trailer on the basis of said determined braking force distribution which is determined by means of said first brake control unit.
    Said function for regulating coupling force involves an iterative method which is based on a number of parameters, such as for instance the respective mass of the towing vehicle and trailer, the prevailing or deceleration of the crew, wheel speeds of the wheels of the vehicle, etc., continuously determines adaptation data when braking the vehicle. Said adaptation data refers partly to said towing vehicle and partly to said trailer.
    Today, a number of braking processes are required of the crew in order for the said function for regulating deceleration force to swing in. Initially, a suitable braking distribution of the function of the board is assumed, but this assumption may be more or less adequate. Typically, 5-10 braking runs of the crew may be necessary before said function can handle control of brake action distribution in a more adequate manner, where forces in said coupling point between towing vehicle and trailer can be effectively minimized during braking runs. Due to the fact that the number of braking processes of the crew is required before said function for regulating deceleration force is able to determine the distribution of braking action in an optimal way, undesired effects occur during these braking processes at said coupling point between the vehicles, which can lead to e.g. unwanted brake wear. In the worst case, the said undesirable impact can lead to a non-optimal braking procedure which in turn can lead to the safety of other road users being jeopardized.
    A driver of said crew may experience discomfort when braking the crew before said function turns in. A driver may experience that said trailer does not brake sufficiently but "presses" the towing vehicle. This can of course create discomfort and stress for the driver of the crew, which in turn can have a negative impact on road safety.
    It should be noted that different trailers can be coupled to a towing vehicle. When connecting a commercial trailer, said function for regulating the coupling force is adapted to employ initial values for adapting the braking force distribution. In this case, said swing-in process can be noticeable to the extent that a number of braking processes are required in order to achieve suitable control of the braking system of both said towing vehicle and said trailer.
    SUMMARY OF THE INVENTION There is thus a need to reliably minimize the number of braking processes required for said clutch force control function to pivot.
    There is a need to quickly, efficiently, reliably and user-friendlyly achieve adequate braking distribution of a vehicle crew including a towing vehicle and a trailer.
    An object of the present invention is to provide a new and advantageous method for braking a carriage comprising a towing vehicle and a trailer.
    Another object of the invention is to provide a new and advantageous system for braking a carriage comprising a towing vehicle together with a trailer and a new and advantageous computer program for controlling braking of a carriage comprising a towing vehicle together with a trailer.
    A further object of the invention is to provide an alternative method of braking a carriage comprising a towing vehicle together with a trailer, an alternative system for braking a carriage comprising a towing vehicle and an alternative computer program for controlling braking of a carriage comprising a towing vehicle and a towing vehicle. trailers.
    Some of said objects are achieved with a method of braking a carriage comprising a towing vehicle and a trailer according to claim 1. Other objects are achieved with a system for braking a carriage comprising a towing vehicle and a trailer according to claim 5. Advantageous embodiments are stated in the dependent claims.
    According to one aspect of the present invention there is provided a method of braking a trailer comprising a towing vehicle and a trailer wherein both said towing vehicle and said trailer are arranged to be braked and wherein said towing vehicle comprises a first control unit including a function of controlling coupling force between said towing vehicle and said towing vehicle. where said control of clutch force includes so-called adaptation data, and where said trailer carries an ID specification. Said ID specification refers to a unique identity for said trailer. The method includes the steps of: - transmitting said ID specification from said trailer to said towing vehicle; during a braking process, record adaptation data associated with said braking process together with said ID specification.
    According to an exemplary embodiment, an adaptation data, including adaptation data relating to said trailer, is registered for a number of different braking processes in the crew. Said adaptation data can according to the inventive method be stored in a memory of said first control unit together with said ID specification.
    According to an exemplary embodiment, said ID specification includes a vehicle identification number, also called a VIN (Vehicle Identification Number). Trailed vehicles of today are provided with a unique identification number. This may be located in said second control unit of said trailer. When coupling said trailer to said towing vehicle, said ID specification can be automatically transferred from the second control unit to the first control unit in a suitable manner, for example via a link intended for this purpose.
    The method may include the step of: - providing said coupling force control function between said towing vehicle and said trailer with thus recorded adaptation data. In this case, said function when coupling said towing vehicle and said trailer can use said previously determined adaptation data as a basis for effective control of coupling force.
    The method may comprise the steps of: - when coupling said towing vehicle and a trailer with a certain ID specification, determining whether the first control unit of said towing vehicle comprises already registered adaptation data regarding this trailer; and - using these already recorded adaptation data as a basis for said function for regulating coupling force between said towing vehicle and said trailer.
    In this case, previously known adaptation data, which has been registered with the first control unit during previous braking processes, can advantageously be used when said trailer is reconnected with said towing vehicle. In this case, a short swing-in process of said function can be achieved. The method may include the step of: - for the first control unit of said towing vehicle, continuously registering adaptation data and ID specification for various trailers connected to the towing vehicle.
    Here, adaptation data and the respective ID specification of a set of trailers can be stored in a memory of the first control unit for use in accordance with the method of the invention. This provides a method which can easily be used in, for example, a vehicle fleet.
    According to one aspect of the present invention there is provided a system for braking a trailer comprising a towing vehicle and a trailer wherein both said towing vehicle and said trailer are arranged to be braked and wherein said towing vehicle comprises a first control unit including a function of controlling coupling force between said towing vehicle and said towing vehicle. said coupling force control includes so-called adaptation data, and wherein said trailer carries an ID specification. Said system comprises: - means adapted to transmit said ID specification from said trailer to said towing vehicle; means adapted to, during a braking process, register adaptation data associated with said braking process together with said ID specification. The system may comprise: - means adapted to provide said function for regulating coupling force between said towing vehicle and said trailer with thus recorded adaptation data.
    The system may comprise: - means adapted to, when coupling said towing vehicle and a trailer certain ID specification, determine whether the first control unit of said towing vehicle comprises already registered adaptation data regarding this trailer; and - means adapted to use this already registered adaptation data as a basis for said function for regulating coupling force between said towing vehicle and said trailer.
    The system may comprise: - means adapted to, for the first control unit of said towing vehicle, continuously register adaptation data and ID specification for various trailers connected to the towing vehicle.
    Said trailer may comprise a second control unit arranged to carry said ID specification. Said first control unit may be arranged to request said ID specification from said second control unit when coupling said towing vehicle and said trailer. Said second control unit may be arranged to send said ID specification to said first control unit in response to such a request.
    According to one aspect of the present invention, there is provided a motor vehicle vehicle comprising a system according to any one of claims 5-8. The motor vehicle crew can also be a truck, bus, car, timber truck, construction machine or forestry machine. Said motor vehicle crew comprises a towing vehicle and a trailer, said towing vehicle comprising a function for regulating the coupling force of the crew and said trailer comprising an ID specification.
    According to one aspect of the present invention, there is provided computer programs for braking a carriage comprising a towing vehicle and a trailer, said computer program including program code for causing an electronic control unit or a computer connected to the electronic control unit to perform the steps of any of claims 1-4.
    According to one aspect of the present invention, there is provided computer programs for braking a carriage comprising a towing vehicle and a trailer, said computer program comprising program code for causing an electronic control unit or a computer connected to the electronic control unit to perform the steps of any of claims 1-4, wherein said program code run at said control unit or said computer.
    According to one aspect of the present invention, there is provided computer programs for braking a carriage comprising a towing vehicle and a trailer, said computer program comprising program code stored on a computer readable medium for causing an electronic control unit or a computer connected to the electronic control unit to perform the steps of any of claims 1-4.
    According to one aspect of the present invention, there is provided computer programs for braking a carriage comprising a towing vehicle and a trailer, said computer program comprising program code stored on a computer readable medium for causing an electronic control unit or a computer connected to the electronic control unit to perform the steps of any of claims 1-4, when said program code is executed at said control unit or said computer.
    According to one aspect of the present invention, there is provided a computer program product comprising a program code stored on a computer readable medium for performing the method steps of any of claims 1-4, when said computer program is run on an electronic controller or a computer connected to the electronic controller.
    According to one aspect of the present invention, there is provided a computer program product comprising a program code non-volatilely stored on a computer readable medium for performing the method steps of any of claims 1-4, when said program code is run on an electronic control unit or a computer connected to the electronic the control unit.
    Additional objects, advantages, and novel features of the present invention will become apparent to those skilled in the art from the following details, as well as through practice of the invention. While the invention is described below, it should be understood that the invention is not limited to the specific details described. Those skilled in the art having access to the teachings herein will recognize additional applications, modifications, and incorporations within other fields which are within the scope of the invention. SUMMARY DESCRIPTION OF THE DRAWINGS For a more complete understanding of the present invention and further objects and advantages thereof, reference is now made to the following detailed description which is to be read in conjunction with the accompanying drawings in which like reference numerals refer to like parts in the various figures, and in which: 1 schematically illustrates a motor vehicle carriage, according to an embodiment of the invention; Figure 2 schematically illustrates a system of the vehicle shown in Figure 1, according to an embodiment of the invention; Figure 3a schematically illustrates a flow chart of a method, according to an embodiment of the invention; Figure 3b schematically illustrates in further detail a flow chart of a method, according to an embodiment of the invention; and Figure 4 schematically illustrates a computer, according to an embodiment of the invention.
    DETAILED DESCRIPTION OF THE FIGURES Referring to Figure 1, a side view of a motor vehicle crew 100 is shown. The exemplary crew 100 consists of a towing vehicle 110 and a trailer 112. The crew 100 may be a heavy vehicle, such as a truck with a trailer.
    Said trailer 112 is detachably connected to said towing vehicle 110. In this case, said trailer 112 is temporarily locked to said towing vehicle 100. In connection with said locking of the trailer 112 to the towing vehicle 110, communication links and possibly as examples of said lines, compressed air lines are also connected. A communication linker is described in further detail with reference to Figure 2 below.
    Here, 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 microwave link.
    Referring to Figure 2, a system 299 of the vehicle crew 100 is shown.
    A first control unit 200 is presently provided in the towing vehicle 110. The first control unit 200 may be a brake control unit of the crew 100. The first control unit 200 includes functionality for an electronic brake system of the crew 100. In this case, the first control unit 200 also includes a function for regulating electronically actuated braking power distribution with the crew. Said brake sheets are service brakes intended and arranged to friction brake the carriage 100. Said brakes may be of a suitable type. Said brakes may include so-called auxiliary brakes.
    The first control unit 200 is adapted for communication with a second control unit 210 via link L210. Said link L210 may include a CAN bus. Said CAN bus may be associated with the standard | SO11992. The second control unit 210 may be a single brake control unit of the trailer 112. The second control unit 200 includes a unique ID specification. Said ID specification may include a vehicle identification number, also called VIN. Said ID specification is associated with said trailer 112. Hereby the second control unit 210 also includes a function for regulating brake force distribution of electronically activatable brakes of the trailer 112. Said brakes may be service brakes intended and arranged to friction brake wheels. The said braking force distribution is handled by the second control unit 210 but is dependent on information including information on the total braking force to be applied to the said trailer 112. Here, the first control unit 200 is arranged to control the braking force distribution of the towing vehicle 110 and further inform the second control unit. In this case, the first control unit is arranged to continuously determine a braking force distribution of the crew in order to achieve so-called brake balance between the towing vehicle 110 and the trailer 112. Said brakes of the crew 100 are not illustrated here.
    The first control unit 200 and the second control unit 210 are arranged to continuously determine adaptation data as a basis for said function for controlling braking force distribution of the crew 100. The first control unit 200 is arranged to continuously save generated adaptation data regarding at least said trailer in a single memory therein. The first control unit 200 is arranged to, upon interconnection of said towing vehicle 110 and said trailer 112, send a signal S210a including a request to obtain said ID specification from said second control unit 210 via said link L210. The second control unit 210 is arranged to, upon receipt of said signal S210, send a signal S210b including information about said ID specification to said first control unit 200 via said link L210. The first control unit 200 is arranged to store the received ID identification in a register. The first controller 200 is further arranged to continuously or intermittently store generated adaptation data together with said ID specification in said register. This can be done for a number of different trailers, wherein said first control unit 200 can accumulatively store data on adaptation data related to unique trailers.
    Said adaptation data may include information on the braking characteristics of the trailer. The said brake characteristics may include information on how the trailer is braked under certain circumstances regarding, for example, the speed of the crew 100. The adaptation data include information on a relationship between the braking force of the brakes of the trailer and the prevailing brake pressure of said brakes. Said adaptation data is data as a basis for said function for regulating braking force of the crew 100. Said adaptation data can be generated by means of said second control unit 210 during braking processes of the crew 100.
    The first control unit 200 is further arranged, when coupling the towing vehicle 110 and an arbitrary trailer, to check whether said specific trailer has been interconnected with the towing vehicle 110 previously, by determining whether or not an ID specification for the relevant trailer is stored in said register. In the event that said ID specification is already stored in said register, the first control unit 200 is arranged to provide correspondingly saved adaptation data to said function for controlling the braking force distribution of the crew 100.
    A third control unit 205 is arranged for communication with the first control unit 200 via link L205. The second control unit 205 may be releasably connected to the first control unit 200. The third control unit 205 may be an external control unit external to the towing vehicle 100. The third control unit 205 may be arranged to perform the inventive method steps. The second control unit 205 can be used to upload program code to the first control unit 200, in particular to execute program code for the inventive method. The third control unit 205 may alternatively be arranged 11 for communication with the first control unit 200 via an internal network in the vehicle. The third control unit 205 may be arranged to perform substantially the same functions as the first control unit 200.
    Figure 3a schematically illustrates a flow chart of a method of braking a trailer comprising a towing vehicle together with a trailer where both said towing vehicle and said trailer are arranged to be braked and where said towing vehicle comprises a first control unit including a function of regulating said traction force and said traction vehicle. said coupling force control includes so-called adaptation data, and wherein said trailer carries an ID specification. The method comprises a first method step s301. Step s301 includes the steps of: - transmitting said ID specification from said trailer to said towing vehicle; during a braking process, record adaptation data associated with said braking process together with said ID specification.
    After the procedure step s301, the procedure is terminated.
    Figure 3b schematically illustrates a flow chart of a method of braking a trailer comprising a towing vehicle and a trailer, wherein both said towing vehicle and said trailer are arranged to be braked and wherein said towing vehicle comprises first control unit including a function of regulating clutch force and said traction vehicle. where said coupling force control includes so-called adaptation data, and wherein said trailer carries an ID specification.
    The method includes a first method step s310. The method step s310 includes the step of interconnecting said trailer 112 with said towing vehicle 110. The interconnecting step comprises the step of establishing a link connection for communication between said first control unit 200 and said second control unit 210, for example by means of the link L210. After the process step s310, a subsequent process step s320 is performed. The method step s320 may include the step of transmitting said ID specification from said second controller 210 to said first controller 200. This may be in response to a request sent from said first controller 200 to said second controller 210. After the method step s320, a subsequent method step s330 is performed.
    Method step s330 may include the step of, upon interconnecting said towing vehicle 110 and said trailer 112 with certain ID specification, determining whether said towing vehicle first control unit 200 includes already recorded adaptation data regarding this trailer. If the first control unit 200 of said towing vehicle comprises already registered adaptation data regarding this trailer, i.e. "Yes", a subsequent method step s340 is performed. If the first control unit 200 of said towing vehicle does not include already registered adaptation data regarding this trailer, i.e. "No", a method step s350 is performed.
    Method step s340 may include the step of providing said coupling force control function between said towing vehicle 110 and said trailer 112 with thus recorded adaptation data. The step s340 may include the step of using this already registered adaptation data as a basis for said function of regulating decoupling force between said towing vehicle 110 and said trailer. After step s340, a subsequent process step s350 is performed.
    The method step s350 comprises the step of registering during at least one braking process hosekipaget 100, adaptation data associated with said braking process together with said ID specification in a memory of the first control unit 200.
    After the procedure step s350, the procedure is terminated.
    Referring to Figure 4, there is shown a diagram of an embodiment of a device 500. The controllers 200, 205 and 210 described with reference to Figure 2 may in one embodiment include the device 500. The device 500 includes a non-volatile memory 520, end data processing unit 510 and a read / write memory 550. The non-volatile memory 520 has a first memory portion 530 in which a computer program, such as an operating system, is stored to control the operation of the device 500. Further, the device 500 includes a bus controller, a 13 serial communication port , I / O means, an A / D converter, a time and date input and transfer unit, an event counter and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory portion 540.
    A computer program P is provided for controlling the braking of a carriage comprising a towing vehicle and a trailer where both said towing vehicle and said trailer are arranged to be braked and wherein said towing vehicle comprises a first control unit including a function of controlling coupling force between said towing vehicle and said towing vehicle. of coupling force includes so-called adaptation data, and wherein said trailer carries an ID specification. Said ID specification may be stored in the non-volatile memory 520.
    The computer program P may comprise routines for transmitting said ID specification from said trailer to said towing vehicle. The computer program P may comprise routines for during a braking process, registering adaptation data associated with said braking process together with said ID specification.
    The computer program P may comprise routines for providing said function for regulating decoupling force between said towing vehicle and said trailer with thus recorded adaptation data. The computer program P may comprise routines for determining, when coupling said towing vehicle and a trailer with a certain ID specification, whether the first control unit of said towing vehicle comprises already registered adaptation data regarding this trailer. The computer program P may comprise routines for using this already registered adaptation data as a basis for said function for regulating decoupling force between said towing vehicle and said trailer. The computer program P may comprise routines for continuously recording adaptation data and ID specification for various trailers connected to said towing vehicle for the first control unit of said towing vehicle.
    The program P can be stored in an executable manner or in a compressed manner in a memory 560 and / or in a read / write memory 550.
    When it is described that the data processing unit 510 performs a certain function, it is understood that the data processing unit 510 performs a certain part of the program which is stored in the memory 560, or a certain part of the program which is stored in the read / write memory 550. The data processing device 510 can communicate with and data port 599 via a data bus515. The non-volatile memory 520 is for communication with the data processing unit 510 via a data bus 512. The separate memory 560 is intended for communicating with the data processing unit 510 via a data bus 511. The read / write memory 550 is arranged to communicate with the data processing unit 510 via a data bus 514. To the data port 514. can e.g. links L205 and L210 are connected (see Figure 2).
    When data is received on the data port 599, it is temporarily stored in the second memory part 540. Once the received input data has been temporarily stored, the data processing unit 510 is arranged to perform code execution in a manner described above. According to one embodiment, signals received at the data port 599 include information on a request for an ID specification, said ID specification, adaptation data regarding said trailer and.
    Parts of the methods described herein may be performed by the device 500 using the data processing unit 510 running the program stored in the memory 560 or the read / write memory 550. When the device 500 runs the program, the methods described herein are executed.
    The foregoing description of the preferred embodiments of the present invention has been provided for the purpose of illustrating and describing the invention. 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 are selected and described to best explain the principles of the invention and its practical applications, thereby enabling those skilled in the art to understand the invention. and with the various modifications appropriate to the intended use.
    权利要求:
    Claims (13)
    [1]
    A method of braking a carriage (100) comprising a towing vehicle (110) and a towing vehicle (112), wherein both said towing vehicle (110) and said trailer (112) are arranged to be braked and wherein said towing vehicle (110) comprises a first control unit (200) including a coupling force control function between said towing vehicle (110) and said trailer (112), wherein said coupling force control includes so-called adaptation data, and wherein said trailer carries an ID specification, characterized by the steps of: - transmitting said ID specification from said trailer (112) to said towing vehicle (110); during a braking process, record adaptation data associated with said braking process together with said ID specification.
    [2]
    The method of claim 1, further comprising the step of: - providing said coupling force control function between said towing vehicle (110) and said trailer (112) with thus recorded adaptation data.
    [3]
    A method according to claim 1 or 2, comprising the steps of: - in coupling said towing vehicle (110) and a trailer (112) with certain ID specification, determining whether said first control unit (200) of said towing vehicle comprises already recorded adaptation data regarding said trailer (112); and - using these already recorded adaptation data as a basis for said function for regulating the coupling force between said towing vehicle (110) and said trailer (112).
    [4]
    A method according to any one of the preceding claims, comprising the step of: for the first control unit (200) of said towing vehicle, continuously recording adaptation data and ID specification for various trailers (112) coupled to the towing vehicle (110).
    [5]
    A system for braking a carriage (100) comprising a towing vehicle (110) and a towing vehicle (112) wherein both said towing vehicle (110) and said trailer (112) are arranged to be braked and wherein said towing vehicle (110) comprises a first control unit ( 200) including a coupling force control function between said towing vehicle (110) and said trailer (112), said coupling force control including so-called adaptation data, and wherein said trailer carries an ID specification, characterized by: means adapted to transmit said ID specification from said trailer (112) to said towing vehicle (110); means adapted to, during a braking process, register adaptation data associated with said braking process together with said ID specification.
    [6]
    The system of claim 5, further comprising: - means adapted to provide said coupling force control function between said towing vehicle (110) and said trailer (112) with thus recorded adaptation data.
    [7]
    A system according to claim 5 or 6, comprising: - means adapted, when coupling said towing vehicle (110) and a trailer (112) with certain ID specification, to determine whether said first control unit (200) of said towing vehicle comprises already recorded adaptation data regarding this trailer (112); and means adapted to use this already recorded adaptation data as a basis for said function for regulating coupling force between said towing vehicle (110) and said trailer (112). 17
    [8]
    A system according to any one of claims 5-7, comprising: - means adapted to, for the first control unit (200) of said towing vehicle, continuously register adaptation data and ID specification for various trailers (112) connected to the towing vehicle (110).
    [9]
    A system according to any one of claims 5-8, wherein said trailer (110) comprises a second control unit (210) arranged to carry said ID specification.
    [10]
    I / lotor vehicle (100; 110) comprising a system according to any one of claims 5-9.
    [11]
    A motor vehicle (100; 110) according to claim 10, wherein the motor vehicle is something of a truck, timber truck or forestry machine.
    [12]
    Computer program (P) for braking a carriage (100), said computer program (P) comprising program code for causing an electronic control unit (200; 500) or a computer (210; 500) connected to the electronic control unit (200; Performing the steps of any of claims 1-4.
    [13]
    A computer program product comprising a program code stored on a computer readable medium for performing the method steps of any of claims 1-4, when said program code is executed on an electronic control unit (200; 500) or a computer (210; 500) connected to the electronic control unit (200; 500).
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    同族专利:
    公开号 | 公开日
    EP3180217B1|2020-11-25|
    KR20170038901A|2017-04-07|
    BR112017001924A2|2017-11-28|
    EP3180217A4|2018-04-25|
    WO2016024901A1|2016-02-18|
    SE538921C2|2017-02-14|
    US20170240152A1|2017-08-24|
    US10239504B2|2019-03-26|
    EP3180217A1|2017-06-21|
    KR101963355B1|2019-07-31|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1450936A|SE538921C2|2014-08-13|2014-08-13|System and method for adapting coupling force when braking an equipage comprising a towing vehicle and a towing vehicle|SE1450936A| SE538921C2|2014-08-13|2014-08-13|System and method for adapting coupling force when braking an equipage comprising a towing vehicle and a towing vehicle|
    PCT/SE2015/050845| WO2016024901A1|2014-08-13|2015-08-05|System and method pertaining to braking of a vehicle combination which comprises a tractor and a towed vehicle|
    BR112017001924A| BR112017001924A2|2014-08-13|2015-08-05|braking system and method of a combination of vehicles comprising a tractor and a towed vehicle|
    KR1020177005956A| KR101963355B1|2014-08-13|2015-08-05|System and method pertaining to braking of a vehicle combination which comprises a tractor and a towed vehicle|
    EP15831703.2A| EP3180217B1|2014-08-13|2015-08-05|System and method pertaining to braking of a vehicle combination which comprises a tractor and a towed vehicle|
    US15/501,875| US10239504B2|2014-08-13|2015-08-05|System and method pertaining to braking of a vehicle combination which comprises a tractor vehicle with a towed vehicle|
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