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EP2160310A1 - Système de freinage combiné, en particulier pour véhicules automobiles - Google Patents

Système de freinage combiné, en particulier pour véhicules automobiles

Info

Publication number
EP2160310A1
EP2160310A1 EP08774121A EP08774121A EP2160310A1 EP 2160310 A1 EP2160310 A1 EP 2160310A1 EP 08774121 A EP08774121 A EP 08774121A EP 08774121 A EP08774121 A EP 08774121A EP 2160310 A1 EP2160310 A1 EP 2160310A1
Authority
EP
European Patent Office
Prior art keywords
control unit
electronic control
brake system
combined brake
data
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.)
Withdrawn
Application number
EP08774121A
Other languages
German (de)
English (en)
Inventor
Andreas Heise
Burkhard Warmbier-Leiding
Ralf Hartmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of EP2160310A1 publication Critical patent/EP2160310A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
    • B60T8/266—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means
    • B60T8/267—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means for hybrid systems with different kind of brakes on different axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/343—Systems characterised by their lay-out
    • B60T8/344—Hydraulic systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/404—Brake-by-wire or X-by-wire failsafe
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/413—Plausibility monitoring, cross check, redundancy

Definitions

  • the invention relates to a combined brake system, in particular for motor vehicles, associated with a first vehicle axle, electromechanically or hydraulically actuated wheel brakes and associated with a second vehicle axle actuated by electromechanical actuators wheel brakes, wherein the second vehicle axle associated, electromechanically actuated wheel brakes in accordance with one of the the first vehicle axle associated wheel brakes applied braking request or derived therefrom data via a vehicle bus (eg CAN) and / or in accordance with output signals of a redundant pedal travel sensor, which determines the actuation of a brake pedal, actuated, and wherein some or all e electromechanically actuable wheel brakes comprise a parking brake device, which can be activated by means of a control element, with one of the first vehicle axle
  • a vehicle bus eg CAN
  • a redundant pedal travel sensor which determines the actuation of a brake pedal, actuated
  • some or all e electromechanically actuable wheel brakes comprise a parking brake device, which can be activated by means
  • electrohydraulic control unit each with one of the electromechanical actuators of the second vehicle axle associated electronic control unit, with wheel speed sensors whose signals are supplied to the electro-hydraulic control unit and / or the electronic control units, and a communication bus between the electrohydraulic control unit and the electronic control units.
  • each of the electromechanical actuators associated electronic control unit has at least two high-speed buses, one of which directly with another electronic control unit and the other directly or indirectly with the electro-hydraulic control and Control unit is connected.
  • the pedal travel sensor is connected on two separate paths indirectly or directly connected to the electromechanical actuators associated electronic control and regulation units.
  • the separate paths are preferably formed by buses or signal lines.
  • the distributed to the individual control units control pedal position information which need not be redundant as a single, can be processed by communication of the control units with each other with respect to the information available in each case to a redundant (secure) information, which in turn acts autonomously the control devices, for example, methods of brake pads or applying the brake pads, or even perform brake operations are used.
  • a further increase in the operational safety of the brake system according to the invention is achieved in another embodiment variant of the invention in that at least one of the high-speed buses is used as a point-to-point connection. Point connection is performed, although the bus system is usually designed for use with many partners.
  • the operating element for actuating the parking brake is connected directly to an electronic control and regulating unit.
  • the electronic control unit is the electro-hydraulic control unit or another control and regulating unit, such as a motor control and regulating unit or a chassis controller.
  • the connection to the electrohydraulic control unit makes it possible, without routing the signals via other partners, etc., directly via the e.g. hydraulically operated wheels immediately initiate allrädrig initiated dynamic deceleration.
  • a parking brake switch coupled in via another control unit allows the parking brake to be operated even in the event of complete failure of the control unit (for example the electrohydraulic control unit).
  • a further advantageous embodiment of the subject of the invention is that in the event of a fault of a high-speed bus, all system-relevant data (eg braking request) are automatically or indirectly fed directly via another high-speed bus to the electronic control unit connected thereto.
  • This important part of the design makes it possible to ensure the full functionality of the system (braking, parking, etc.) even in the event of a "big mistake", such as the failure of a high-speed bus and not to put any restrictions on the performance.
  • An indication eg by warning lamp or reference to workshop service, however, makes sense.
  • a particularly reliable working variant provides that the electrical supply of one or more electromechanical actuators individually or jointly by the control of one or more electrical switches by a logical OR operation of a signal supplied by the electro-hydraulic control unit and an ignition signal or a is carried by a further electronic control unit signal supplied.
  • a further increase in the reliability of the brake system according to the invention is achieved in one embodiment of the subject invention in that all high-speed buses are used in normal operation continuously for data transfer and thus monitored.
  • the pedal travel sensor information is used for the activation of electromechanical actuators. If the electrohydraulic control unit has failed, the hydraulically operated wheels are still used hydraulically, ie usually without electronic control.
  • the electromechanically braked wheels no longer receive all the information and can still perform a braking function in a fallback level.
  • the brake function can be done because of the twice supplied pedal sensor and possibly additional wheel speed information to the electromechanical actuators.
  • the electromechanical actuators associated electronic control and regulation units communicate the braking request with each other and / or plausibility. Equal and plausibility check as well as possibility to build up the brake force etc. equally.
  • the electronic control and regulating units assigned to the electromechanical actuators are each designed to be intrinsically safe and thereby perform the braking request and / or the parking brake request with a reliable single or redundant command.
  • the intrinsic safety ie own fault detection and redundant own Abschaltpfade for safety-critical functions, allows it without intervention, eg hardwire release line, a second or third control unit to perform functions such as braking or deceleration.
  • a plurality of commands of at least one electronic control unit e.g. Electro-hydraulic control unit on at least two high-speed buses (such as CAN), that is redundantly sent, and the data are indirectly or directly supplied to the different ways, so redundant, of the electronic control units of the electromechanical actuators.
  • Electro-hydraulic control unit on at least two high-speed buses such as CAN
  • a further increase in the operational safety of the brake system according to the invention is achieved according to an embodiment of the subject invention in that at least one electronic control unit of an electromechanical actuator using the data of the other data path in case of failure of the data of one data path.
  • the data transmission on the high-speed buses can be considered safe by suitable monitoring mechanisms.
  • FIG. 1 shows a circuit diagram of a first embodiment of the brake system according to the invention with hydraulically and electromechanically actuated brakes.
  • FIG. 2 shows a second embodiment of the brake system according to the invention in a simplified representation compared with FIG. 1;
  • FIG. 3 shows a circuit diagram of a third embodiment of the brake system according to the invention with hydraulically and electromechanically actuated brakes
  • FIG. 4 shows a circuit diagram of a fourth embodiment of the brake system according to the invention in a representation corresponding to FIG. 3; 5 shows a circuit diagram of a fifth embodiment of the brake system according to the invention in a representation corresponding to FIG. 4; and
  • Fig. 6 is a circuit diagram of a sixth embodiment of the brake system according to the invention in a Fig. 5 corresponding representation.
  • the first embodiment of the motor vehicle brake system according to the invention shown in FIG. 1 essentially has an actuating unit 1 which can be actuated by means of a brake pedal 2.
  • the actuation unit 1 in turn consists of a pneumatic brake booster or a vacuum brake booster 3 and a brake master cylinder 4 connected downstream of the vacuum brake booster 3, to which an electro-hydraulic control unit 5 is connected by means of a hydraulic line 6.
  • an electro-hydraulic control unit 5 is connected to the electro-hydraulic control and regulation unit 5 by means of hydraulic lines 15, 16, which are assigned in the example shown a first vehicle axle or front axle.
  • wheel brakes 9, 10 are assigned to a second vehicle axle or the rear axle, the actuation of which is effected by electromechanical actuators 11, 12 in accordance with the hydraulic pressure applied in the hydraulically actuated wheel brakes 7, 8.
  • the mentioned hydraulic pressure is determined by means of pressure sensors, not shown, which are integrated in the electro-hydraulic control unit 5.
  • the electromechanical nisch operable wheel brakes 9, 10 driven, ie, taking into account a braking force distribution function between the front and rear axles Zuspannkraft the wheel brakes 9, 10 is set.
  • the electromechanically actuated brakes 9, 10 can be controlled in accordance with the actuation path of the brake pedal 2, ie in accordance with the driver deceleration request.
  • the actuating travel of the brake pedal 2 is determined by means of a preferably redundantly designed pedal travel sensor 22.
  • the control of the rear axle associated with wheel brakes 9, 10 is decentralized by an electronic control and regulation unit 19, 20 made.
  • the brake system shown is equipped with a parking brake functionality.
  • the electromechanically actuable wheel brakes 9, 10 have parking brake devices, not shown, with which the wheel brakes 9, 10 can be locked in the tightened state.
  • the parking brake devices can be controlled by means of a control element 14, which is designed as a button and the three switch positions for the commands "clamping", "neutral” and "release” has.
  • a first high-speed bus 23 forms a direct connection between the aforementioned electrohydraulic control unit (HECU) 5 and the further electronic control unit. and control unit 18, which is directly connected by means of another high-speed bus 24 with the electronic control unit 19 of the electromechanical actuator 11.
  • a second signal line 28 is used for signal transmission between the parking brake control element 14 and the electro-hydraulic control unit (HECU) 5, which is directly connected by means of a third Hoch effetsbusses 25 with the electronic control unit 20 of the electromechanical actuator 12, so that the Output signals of the parking brake control element 14 of said electronic control and regulation unit 20 are supplied.
  • a fourth high-speed bus 26 forms a direct connection between the electronic control and regulation units 20 and 19 of the electromechanical actuators 12 and 11.
  • the dashed line 28 represents an optionally existing line to possibly further control and regulating units all power supply terminals of the elements shown in Fig. 1 denotes. From the illustration in Fig. 1 it can be seen that the high-speed buses 23 and 24 form a first indirect connection of the HECU 5 with the electronic control unit 19 of the electromechanical actuator 11, while a second, indirect connection between said elements through the high-speed buses 25 and 26 is formed.
  • the actuating unit 1 is formed by a brake pedal 102 with a pedal travel sensor 122 assigned to it.
  • a first high-speed bus 123 connects the actuator unit 1 with the HECU 5, while a second high speed bus 124 connects the actuator unit 1 to the electronic control unit 19 of the electromechanical actuator 11.
  • a sensor cluster 30 and another, freely selectable electronic control unit 31 are connected.
  • z. B. a vehicle bus 32 is connected.
  • the circuit shown in Fig. 2 corresponds to the circuit of FIG. 1, wherein corresponding components are provided with the same reference numerals.
  • the embodiment of the actuation unit 1 of the third embodiment shown in FIG. 3 corresponds to that of the actuation unit 1 according to FIG. 2.
  • the signal transmission between the pedal travel sensor 122 and the electronic control units 19 and 20 of the electromechanical actuators 11, 12 serve signal lines 33, 34 , wherein the HECU 5 is directly connected to the electronic control unit 19 by means of another high-speed bus 35.
  • the circuit diagrams shown both in FIG. 2 and in FIG. 3 show that both variants shown can only operate in the "brake-by-wire" mode.
  • the construction of the fourth embodiment of the subject invention shown in Fig. 4 corresponds largely to that of the embodiment of FIG. 3.
  • the difference is that at the HECU 5 with the electronic control unit 19 directly connecting high-speed bus 35 both in connection with Fig. 1 mentioned electronic control unit 18 as well the optionally existing line 27 are connected to the components 30, 31 shown in FIG.
  • the output signals of the parking brake control element 14 are supplied via a signal line 36 of the electronic control unit 18 and from there via the high-speed buses 35 and 26 to the electronic control units 19 and 20 of the electromechanical actuators 11, 12 connected.
  • the construction of the fifth embodiment of the subject invention shown in Fig. 5 largely corresponds to that of the embodiment of FIG. 2. The difference is that the power supply of the electromechanical actuators 11, 12 by means of a switching relay 38, 39 is switched.
  • the switching relays 38, 39 are driven by output signals of two logical OR circuits 40, 41, the inputs of which are supplied by the HECU 5 generated signals 42 and signals IGN, which are generated for example by the vehicle ignition.
  • a further electronic control and regulating unit 18 is connected in the signal path (23, 24) between the HECU 5 and the electromechanical actuator 11 associated electronic control unit 19, for example, in connection was mentioned with Fig. 1 and the signal generated via the signal line 17 from the brake pedal sensor 122 Bremsfracsignale be supplied.
  • corresponding switched power supply of the electromechanical actuators 11, 12 are the inputs of the two switching relays 38, 39 associated with OR circuits 40, 41 instead of the ignition signals IGN Control signals 43 supplied, which are generated by the further electronic control unit 18.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
  • Regulating Braking Force (AREA)
  • Braking Systems And Boosters (AREA)

Abstract

Dans le cas d'un système de freinage combiné, présentant des freins hydrauliques (7, 8) attribués à un essieu et des freins manoevrables via des actuateurs (11, 12) électromagnétiques attribués à un autre essieu, chaque unité électronique de commande et de réglage (19, 20) attribuée aux actuateurs électromécaniques (12, 12) dispose d'au moins deux bus à grande vitesse (24, 26 et / ou 25, 26), dont un (24) est directement lié à une autre unité électronique et électro-hydraulique de commande et de réglage (18) et l'autre (26) est lié directement ou indirectement à une unité de commande et de réglage (5) électronique ou électro-hydraulique attribuée aux freins hydrauliques (7, 8).
EP08774121A 2007-06-19 2008-06-18 Système de freinage combiné, en particulier pour véhicules automobiles Withdrawn EP2160310A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102007028566 2007-06-19
DE102008024180A DE102008024180A1 (de) 2007-06-19 2008-05-19 Kombinierte Bremsanlage, insbesondere für Kraftfahrzeuge
PCT/EP2008/057667 WO2008155341A1 (fr) 2007-06-19 2008-06-18 Système de freinage combiné, en particulier pour véhicules automobiles

Publications (1)

Publication Number Publication Date
EP2160310A1 true EP2160310A1 (fr) 2010-03-10

Family

ID=40030966

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08774121A Withdrawn EP2160310A1 (fr) 2007-06-19 2008-06-18 Système de freinage combiné, en particulier pour véhicules automobiles

Country Status (6)

Country Link
US (1) US8838354B2 (fr)
EP (1) EP2160310A1 (fr)
KR (1) KR101512869B1 (fr)
CN (1) CN101687498B (fr)
DE (1) DE102008024180A1 (fr)
WO (1) WO2008155341A1 (fr)

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CN111976689A (zh) * 2019-05-23 2020-11-24 罗伯特·博世有限公司 分布式电气驻车制动器控制

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DE102011003345A1 (de) 2011-01-28 2012-08-02 Continental Teves Ag & Co. Ohg Netzwerkverbundsystem für Fahrzeugsteuergeräte und/oder für Fahrzeugregelgeräte und Synchronisationsverfahren zum Betrieb des Netzwerkverbundsystems
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US20100241330A1 (en) 2010-09-23
KR20100035705A (ko) 2010-04-06
DE102008024180A1 (de) 2008-12-24
KR101512869B1 (ko) 2015-04-16
CN101687498B (zh) 2014-07-02
WO2008155341A1 (fr) 2008-12-24
US8838354B2 (en) 2014-09-16

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