DE602004011716D1 - Fahrwerksregelung - Google Patents
FahrwerksregelungInfo
- Publication number
- DE602004011716D1 DE602004011716D1 DE602004011716T DE602004011716T DE602004011716D1 DE 602004011716 D1 DE602004011716 D1 DE 602004011716D1 DE 602004011716 T DE602004011716 T DE 602004011716T DE 602004011716 T DE602004011716 T DE 602004011716T DE 602004011716 D1 DE602004011716 D1 DE 602004011716D1
- Authority
- DE
- Germany
- Prior art keywords
- chassis control
- chassis
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
- B60G21/055—Stabiliser bars
- B60G21/0551—Mounting means therefor
- B60G21/0553—Mounting means therefor adjustable
- B60G21/0555—Mounting means therefor adjustable including an actuator inducing vehicle roll
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/208—Speed of wheel rotation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/50—Pressure
- B60G2400/51—Pressure in suspension unit
- B60G2400/512—Pressure in suspension unit in spring
- B60G2400/5122—Fluid spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/822—Road friction coefficient determination affecting wheel traction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
- B60G2800/702—Improving accuracy of a sensor signal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
- B60G2800/9122—ARS - Anti-Roll System Control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/96—ASC - Assisted or power Steering control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/22—Suspension systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003334695 | 2003-09-26 | ||
JP2003334695A JP4511815B2 (ja) | 2003-09-26 | 2003-09-26 | サスペンション制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
DE602004011716D1 true DE602004011716D1 (de) | 2008-03-27 |
DE602004011716T2 DE602004011716T2 (de) | 2009-02-12 |
Family
ID=34191508
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE602004011716T Expired - Lifetime DE602004011716T2 (de) | 2003-09-26 | 2004-09-23 | Aufhängungssteuerungsvorrichtung |
Country Status (5)
Country | Link |
---|---|
US (1) | US7600762B2 (de) |
EP (1) | EP1518721B8 (de) |
JP (1) | JP4511815B2 (de) |
CN (1) | CN100379629C (de) |
DE (1) | DE602004011716T2 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010032047A1 (de) * | 2010-07-23 | 2012-01-26 | Volkswagen Ag | Wankstabilisator und Verfahren zur Stabilisierung eines Fahrwerks |
Families Citing this family (74)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4046005B2 (ja) * | 2003-05-12 | 2008-02-13 | 株式会社デンソー | 電動モータ駆動装置及び電動パワーステアリング装置 |
JP4213994B2 (ja) * | 2003-05-28 | 2009-01-28 | 株式会社豊田中央研究所 | タイヤグリップ度推定装置及び方法、走行状態制御方法 |
WO2005037580A1 (en) * | 2003-10-17 | 2005-04-28 | Active Air Suspensions Limited | Vehicle suspension control |
DE102005004523A1 (de) * | 2005-01-31 | 2006-08-10 | Zf Friedrichshafen Ag | Verfahren zum Bestimmen einer Steuervorgabe einer von einer Steuervorrichtung ansteuerbaren aktiven Lenkeinrichtung eines Fahrzeugs |
DE102005004601A1 (de) * | 2005-02-01 | 2006-08-10 | Bayerische Motoren Werke Ag | Fahrdynamik-Steuerungs- oder Regelsystem für ein zweispuriges zweiachsiges Kraftfahrzeug |
US8165749B2 (en) * | 2005-03-31 | 2012-04-24 | Honda Motor Co., Ltd | Control system for adjustable damping force damper |
JP4240010B2 (ja) * | 2005-06-16 | 2009-03-18 | トヨタ自動車株式会社 | 車両用スタビライザシステム |
JP4404018B2 (ja) * | 2005-06-16 | 2010-01-27 | トヨタ自動車株式会社 | 車両用スタビライザシステム |
JP4655778B2 (ja) * | 2005-06-27 | 2011-03-23 | トヨタ自動車株式会社 | 能動サスペンションと能動スタビライザとを協調作動させる車輌 |
JP2007030575A (ja) * | 2005-07-25 | 2007-02-08 | Aisin Seiki Co Ltd | スタビライザ制御装置 |
JP4802629B2 (ja) * | 2005-09-20 | 2011-10-26 | トヨタ自動車株式会社 | 車輌のロール剛性制御装置 |
JP4203062B2 (ja) * | 2005-11-02 | 2008-12-24 | 三菱電機株式会社 | 車両用操舵装置 |
DE102005060857A1 (de) * | 2005-12-20 | 2007-06-28 | Robert Bosch Gmbh | Verfahren zur Plausibilisierung einer ermittelten Fahrzeugmasse |
FR2895314B1 (fr) * | 2005-12-23 | 2008-02-15 | Renault Sas | Procede et dispositif de commande d'un systeme anti-roulis pour vehicule automobile. |
JP4775054B2 (ja) * | 2006-03-20 | 2011-09-21 | トヨタ自動車株式会社 | 車両の走行制御装置 |
JP4736882B2 (ja) * | 2006-03-22 | 2011-07-27 | トヨタ自動車株式会社 | 車両の操舵制御装置 |
KR100829031B1 (ko) | 2006-07-25 | 2008-05-16 | 주식회사 만도 | 전자 제어 현가 장치 및 그 차고 제어 방법 |
JP5176412B2 (ja) * | 2007-07-02 | 2013-04-03 | 株式会社エクォス・リサーチ | キャンバ角制御装置 |
DE102007050187B4 (de) * | 2007-10-04 | 2015-06-25 | Daimler Ag | Gasfedersystem mit Mehrkammer-Gasfedern |
FR2927047B1 (fr) * | 2008-02-04 | 2010-04-16 | Jtekt Europe Sas | Systeme de direction assistee electrique de vehicule automobile |
US8290662B2 (en) * | 2008-04-25 | 2012-10-16 | Ford Global Technologies, Llc | System and method for tire cornering power estimation and monitoring |
JP5136189B2 (ja) * | 2008-04-28 | 2013-02-06 | トヨタ自動車株式会社 | 車両制御装置 |
FR2934814B1 (fr) * | 2008-08-06 | 2010-09-10 | Renault Sas | Procede et systeme de commande des actionneurs d'un dispositif antiroulis bi-train. |
DE102008041415A1 (de) * | 2008-08-21 | 2010-02-25 | Zf Lenksysteme Gmbh | Servolenkung |
JP2010052657A (ja) * | 2008-08-29 | 2010-03-11 | Mitsubishi Electric Corp | 車両制御装置 |
DE102009007356A1 (de) * | 2009-02-04 | 2010-08-05 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Ansteuerung eines aktiven Fahrwerks eines zweiachsigen zweispurigen Kraftfahrzeugs |
DE102009007357B4 (de) * | 2009-02-04 | 2024-01-18 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Ansteuerung eines aktiven Fahrwerks eines zweiachsigen zweispurigen Kraftfahrzeugs |
DE102010031707B4 (de) * | 2010-07-21 | 2016-03-24 | Audi Ag | Verfahren zum Einstellen eines Rückstellmoments |
JP5671887B2 (ja) * | 2010-08-30 | 2015-02-18 | トヨタ自動車株式会社 | 車両制御装置 |
JP2011057214A (ja) * | 2010-10-01 | 2011-03-24 | Mitsubishi Electric Corp | 車両制御装置 |
JP5289408B2 (ja) * | 2010-10-01 | 2013-09-11 | 三菱電機株式会社 | 車両制御装置 |
JP2011057215A (ja) * | 2010-10-01 | 2011-03-24 | Mitsubishi Electric Corp | 車両制御装置 |
JP5956219B2 (ja) * | 2012-03-30 | 2016-07-27 | 富士重工業株式会社 | 車両のパワートレーン支持構造 |
CN104768782B (zh) | 2012-11-07 | 2018-05-08 | 北极星工业有限公司 | 带有具有连续阻尼控制的悬架的车辆 |
US9205717B2 (en) | 2012-11-07 | 2015-12-08 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
WO2014087546A1 (ja) | 2012-12-07 | 2014-06-12 | トヨタ自動車株式会社 | 運転支援装置、操作検出装置、及び、制御装置 |
KR101393768B1 (ko) * | 2012-12-26 | 2014-05-14 | 현대자동차주식회사 | 전동식 차량 자세제어 시스템 |
JP5915680B2 (ja) * | 2014-03-20 | 2016-05-11 | トヨタ自動車株式会社 | 操舵制御装置 |
DE102014208322A1 (de) * | 2014-05-05 | 2015-11-05 | Bayerische Motoren Werke Aktiengesellschaft | Fahrwerk für ein zweispuriges Kraftfahrzeug |
CA3226026A1 (en) | 2014-10-31 | 2016-05-06 | Polaris Industries Inc. | System and method for controlling a vehicle |
CN104442266B (zh) * | 2014-11-28 | 2016-08-31 | 江苏大学 | 一种横向互联空气悬架互联状态控制系统的控制方法 |
CN118849684A (zh) | 2015-05-15 | 2024-10-29 | 北极星工业有限公司 | 多用途车辆 |
CN105620220B (zh) * | 2016-02-24 | 2017-10-13 | 浙江工业大学 | 商用车电控悬架及侧倾纠偏系统 |
CN106476809A (zh) * | 2016-04-29 | 2017-03-08 | 江苏理工学院 | 一种汽车附着状态的估计方法和专用测试装置 |
CA3160011A1 (en) | 2016-11-18 | 2018-05-24 | Polaris Industries Inc. | Vehicle having adjustable suspension |
US10406884B2 (en) | 2017-06-09 | 2019-09-10 | Polaris Industries Inc. | Adjustable vehicle suspension system |
JP2019131013A (ja) * | 2018-01-30 | 2019-08-08 | 株式会社ジェイテクト | 操舵制御装置 |
CN108394459B (zh) * | 2018-02-07 | 2019-12-10 | 北京汽车股份有限公司 | 车辆的转向控制方法、系统及车辆 |
CN108622105B (zh) * | 2018-04-16 | 2019-12-31 | 吉林大学 | 基于多元回归分析的车辆弯道安全车速预测及预警系统 |
US10946736B2 (en) | 2018-06-05 | 2021-03-16 | Polaris Industries Inc. | All-terrain vehicle |
JP7126550B2 (ja) * | 2018-08-29 | 2022-08-26 | 日立Astemo株式会社 | サスペンション装置 |
US10987987B2 (en) | 2018-11-21 | 2021-04-27 | Polaris Industries Inc. | Vehicle having adjustable compression and rebound damping |
CN111452784B (zh) * | 2019-01-03 | 2021-07-16 | 易维特科技股份有限公司 | 车辆行进控制方法及车辆行进控制系统 |
DE102019206738A1 (de) * | 2019-05-09 | 2020-11-12 | Zf Friedrichshafen Ag | Verfahren, Steuergerät und System zum Stabilisieren eines Fahrzeugs |
CN114245782B (zh) * | 2019-08-09 | 2023-12-05 | 日本电产株式会社 | 电动助力转向装置、在电动助力转向装置中使用的控制装置以及控制方法 |
KR20210031075A (ko) * | 2019-09-11 | 2021-03-19 | 주식회사 만도 | 조향 제어 장치 및 그 방법, 그리고 조향 시스템 |
US11702084B2 (en) * | 2019-11-25 | 2023-07-18 | The Goodyear Tire & Rubber Company | Vehicle sideslip angle estimation system and method |
KR20220108155A (ko) * | 2019-12-10 | 2022-08-02 | 볼보 트럭 코퍼레이션 | 온보드 노면 마찰 추산 |
JP7369045B2 (ja) * | 2020-01-24 | 2023-10-25 | 日立Astemo株式会社 | 操舵制御装置 |
CN111993852B (zh) * | 2020-06-19 | 2022-03-18 | 东风商用车有限公司 | 一种双高度及压力控制的空气悬架电控系统 |
CA3182725A1 (en) | 2020-07-17 | 2022-01-20 | Polaris Industries Inc. | Adjustable suspensions and vehicle operation for off-road recreational vehicles |
CN113375636B (zh) * | 2021-05-18 | 2022-05-31 | 东风柳州汽车有限公司 | 汽车侧倾测试方法 |
US11865887B2 (en) | 2021-10-12 | 2024-01-09 | DRiV Automotive Inc. | Suspension system with incremental roll and pitch stiffness control |
US11697319B2 (en) | 2021-10-12 | 2023-07-11 | DRiV Automotive Inc. | Suspension system with comfort valve integration |
US12059937B2 (en) | 2021-10-12 | 2024-08-13 | DRiV Automotive Inc. | Suspension system with roll and pitch stiffness deactivation based on road profile information |
US12097739B2 (en) | 2021-10-12 | 2024-09-24 | DRiV Automotive Inc. | Pump rinsing systems and methods |
US11912092B2 (en) | 2021-10-12 | 2024-02-27 | DRiV Automotive Inc. | Suspension leak check systems and methods |
US11919355B2 (en) | 2021-10-12 | 2024-03-05 | DRiV Automotive Inc. | Valve diagnostic systems and methods |
US11685220B2 (en) | 2021-10-12 | 2023-06-27 | DRiV Automotive Inc. | Control systems and methods for suspension systems |
US11865889B2 (en) | 2021-10-12 | 2024-01-09 | DRiV Automotive Inc. | Suspension system with comfort valves between cross-over hydraulic circuits |
US11691474B2 (en) | 2021-10-12 | 2023-07-04 | DRiV Automotive Inc. | Suspension system tank filling systems and methods |
US11938772B2 (en) | 2021-10-12 | 2024-03-26 | DRiV Automotive Inc. | System for grading filling of a hydraulic suspension system |
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-
2003
- 2003-09-26 JP JP2003334695A patent/JP4511815B2/ja not_active Expired - Fee Related
-
2004
- 2004-09-23 EP EP04022631A patent/EP1518721B8/de not_active Expired - Lifetime
- 2004-09-23 DE DE602004011716T patent/DE602004011716T2/de not_active Expired - Lifetime
- 2004-09-23 US US10/947,370 patent/US7600762B2/en not_active Expired - Fee Related
- 2004-09-27 CN CNB200410012000XA patent/CN100379629C/zh not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010032047A1 (de) * | 2010-07-23 | 2012-01-26 | Volkswagen Ag | Wankstabilisator und Verfahren zur Stabilisierung eines Fahrwerks |
Also Published As
Publication number | Publication date |
---|---|
CN100379629C (zh) | 2008-04-09 |
EP1518721A1 (de) | 2005-03-30 |
JP2005096672A (ja) | 2005-04-14 |
US20050067213A1 (en) | 2005-03-31 |
CN1600619A (zh) | 2005-03-30 |
US7600762B2 (en) | 2009-10-13 |
EP1518721B1 (de) | 2008-02-13 |
EP1518721B8 (de) | 2008-05-28 |
JP4511815B2 (ja) | 2010-07-28 |
DE602004011716T2 (de) | 2009-02-12 |
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