(19)
(11)EP 3 467 989 B1

(12)EUROPEAN PATENT SPECIFICATION

(45)Mention of the grant of the patent:
10.06.2020 Bulletin 2020/24

(21)Application number: 16903107.7

(22)Date of filing:  25.05.2016
(51)International Patent Classification (IPC): 
H02J 7/00(2006.01)
B62D 5/04(2006.01)
B60W 30/00(2006.01)
H02P 27/06(2006.01)
B60R 16/03(2006.01)
H02M 7/48(2007.01)
H02P 25/22(2006.01)
H02P 29/00(2016.01)
(86)International application number:
PCT/JP2016/065444
(87)International publication number:
WO 2017/203625 (30.11.2017 Gazette  2017/48)

(54)

ELECTRONIC CONTROL DEVICE

ELEKTRONISCHE STEUERUNGSVORRICHTUNG

DISPOSITIF ÉLECTRONIQUE DE COMMANDE


(84)Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

(43)Date of publication of application:
10.04.2019 Bulletin 2019/15

(73)Proprietor: Mitsubishi Electric Corporation
Chiyoda-ku Tokyo 100-8310 (JP)

(72)Inventors:
  • FUSHIE Shunsuke
    Tokyo 100-8310 (JP)
  • KAWANO Yu
    Tokyo 100-8310 (JP)
  • ARAKI Rei
    Tokyo 100-8310 (JP)

(74)Representative: Hoffmann Eitle 
Patent- und Rechtsanwälte PartmbB Arabellastraße 30
81925 München
81925 München (DE)


(56)References cited: : 
WO-A1-2015/136976
JP-A- 2000 340 740
WO-A1-2016/063367
JP-A- 2005 218 256
  
      
    Note: Within nine months from the publication of the mention of the grant of the European patent, any person may give notice to the European Patent Office of opposition to the European patent granted. Notice of opposition shall be filed in a written reasoned statement. It shall not be deemed to have been filed until the opposition fee has been paid. (Art. 99(1) European Patent Convention).


    Description

    Technical Field



    [0001] The present invention relates to an electronic control device including a multiple of power supply system lines, a multiple of drive units with a comparatively large current, and at least one controller that outputs a control signal that controls the drive units.

    Background Art



    [0002] An existing electronic control device wherein at least two pairs of power supply system lines (a positive side and a negative side) are connected, a drive unit is connected to each pair, and the electronic control device includes at least one controller that outputs a control signal to the drive unit, is such that when current controlled by the drive unit is high, a potential difference occurs in ground (negative side) lines due to routing of the ground lines.

    Citation List


    Patent Literature



    [0003] Patent Document 1: Japanese Patent No. 3,574,112

    Summary of Invention


    Technical Problem



    [0004] The device disclosed in Patent Document 1 is such that one pair of controllers and one pair of drive units (power switch units) are integrated, the controller has one ground line, the drive unit has one ground line, and the ground line of the drive unit is connected to an aluminum body. Also, compared with current flowing into the controller, a considerably high current flows into the drive unit, because of which, depending on routing of the ground lines, there is a possibility of a path along which current is diverted into the controller being formed.

    [0005] Furthermore, a device that includes a multiple of drive units, and to which a multiple of power supply system lines are connected, is such that a large number of ground lines, equivalent to the total of the number of drive units and the number of controllers, exists. This kind of device is such that, depending on a magnitude of ground line impedance, an unneeded current path is formed. As a result of this, ground potential fluctuates, because of which there is a possibility of a deterioration in voltage detection accuracy, or the like, of a controller.

    [0006] The invention, having been contrived in order to resolve the heretofore described kinds of problem, provides an electronic control device having a multiple of power supply system lines such that ground lines are redesigned. Solution to Problem

    [0007] An electronic control device of the invention includes a power supply in which a multiple of power supply system lines are provided, a multiple of drive units to which the power is independently supplied from the power supply system lines, and at least one controller that outputs control signals to the multiple of drive units, wherein the electronic control device is configured so that negative side lines of the power supply system lines are connected by one ground line in the controller. Advantageous Effects of Invention

    [0008] The electronic control device of the invention has a controller that outputs a control signal to a drive unit to which a power supply system line is connected, and a ground line of the controller is connected in one place, whereby a ground potential level of the controller can be fixed, no unneeded circulation circuit is formed between controllers, and there is no worsening of voltage signal detection accuracy in the controller.

    Brief Description of Drawings



    [0009] 

    [Fig. 1] Fig. 1 is an overall circuit diagram showing an electronic control device according to a first embodiment of the invention.

    [Fig. 2] Fig. 2 is an overall circuit diagram showing an electronic control device according to a second embodiment of the invention.

    [Fig. 3] Fig. 3 is an overall circuit diagram showing an electronic control device according to a third embodiment of the invention.

    [Fig. 4] Fig. 4 is a circuit diagram showing a main configuration of the electronic control device according to the third embodiment of the invention.


    Description of Embodiments


    First Embodiment



    [0010] Hereafter, the invention will be described based on drawings showing a first embodiment.

    [0011] Fig. 1 is a circuit diagram of a vehicle-use electronic control device showing a main configuration of the invention.

    [0012] In the drawing, an electronic control device has two batteries 3a and 3b forming a power supply, and is configured so that a two-system operating power is supplied via connector terminals 3a+, 3a-, 3b+, and 3b- of the batteries 3a and 3b.

    [0013] Also, the electronic control device includes a multiple of drive units 10a and 10b to which power of one each of the two power systems is independently supplied from the two batteries 3a and 3b, and a controller 11 that controls by outputting control signals to the drive units 10a and 10b, and is configured so as to drive actuators 2a and 2b using outputs of the drive units 10a and 10b respectively. Herein, a control unit 1 is configured excluding the batteries 3a and 3b and the actuators 2a and 2b.

    [0014] Also, the controller 11 has power supply circuits 11a and 11d connected to the batteries 3a and 3b respectively, a CPU (central processing unit) 11b and a CPU 11e connected to the power supply circuits 11a and 11d respectively, and input/output circuits 11c and 11f connected to the CPU 11b and the CPU 11e and sending and receiving signals to and from the drive units 10a and 10b respectively, and each of these circuits is basically formed independently in two systems.

    [0015] Positive side power is supplied to the controller 11 from the batteries 3a and 3b, whereby a constant voltage is applied to the CPU 11b, the CPU 11e, and the input/output circuits 11c and 11f via the power supply circuits 11a and 11d. Also, negative sides of the batteries 3a and 3b are connected by a body line 3c of a chassis GND (ground).

    [0016] Looking next at ground lines (negative sides), ground lines (negative sides) are connected to the drive units 10a and 10b, which drive by causing a large current to flow into the actuators 2a and 2b, from the connector terminals 3a- and 3b- connected to the batteries 3a and 3b. Also, the connector terminals 3a- and 3b- are connected via a ground line 12c, and the two are set so as to have a common potential. Furthermore, the common ground line 12c is connected to a GND pattern of the controller 11 by one controller ground line 12d.

    [0017] Although each circuit exists independently in an interior of the controller 11, a ground line is formed in only one place, the common controller ground line 12d.

    [0018] In a case in which the ground line 12d is not common, and is connected to the inside of the controller 11 from each of the connector terminals 3a- and 3b- in the same way as the power supplies (positive sides), or in a case in which the ground line 12d is not connected at all, and two circuit systems of the controller 11 are completely independent, the CPU 11b and CPU 11e, for example, monitor voltage of each portion, and when there is even the slightest difference between ground potential levels when data on voltage information is exchanged between the CPU 11b and the CPU 11e, a difference also occurs between the monitored voltages, whereupon there is determined to be an abnormality, and controllability is affected.

    [0019] Also, for example, a case in which communication is carried out between the CPU 11b and the CPU 11e with an object of alternately monitoring each other' s state is such that when a difference occurs between the ground potential levels of the CPU 11b and the CPU 11e, there is concern that a difference will occur between actual communication waveform voltage levels of the CPU 11b and the CPU 11e, and in a worst case, communication cannot be carried out. To give a specific example, even when the CPU 11b transmits a 5V waveform with the ground potential of the CPU 11b as a reference, communication cannot be carried out normally when taking the ground potential of the CPU 11e as a reference results in 2.5V.

    [0020] Consequently, the controller 11 having the two CPUs 11b and 11e with this kind of configuration is such that there is desirably a single ground potential level.

    [0021] Also, supposing that there is no common ground line 12c, and individual ground lines 12a and 12b are connected to the controller 11 in the same way as the power supply (positive side) lines, then when looking at a current feedback route when control is started by a large current being caused to flow into the drive unit 10a in this state, the current passes along the ground line 12a of the drive unit 10a, and a greater portion thereof returns to the battery 3a via the connector terminal 3a-. However, due to an effect of impedance, one portion of the feedback current passes along the ground line of the controller 11, returning to the battery 3a via the connector terminal 3a- along an originally unenvisaged and unneeded circulation path.

    [0022] In this case, current flows along the ground lines 12a and 12b of the controller 11, causing the previously described kind of difference between ground potential levels inside the controller 11 to occur.

    [0023] Also, when the controller 11 is formed of a printed substrate or the like, and the flow of a large current is not envisaged, durability as a product is also affected.

    [0024] Due to the heretofore described kind of circulation path, for example, the potentials of the ground lines 12a and 12b of the controller 11 fluctuate along with driving of the actuators 2a and 2b, as a result of which there is a possibility of a circuit determination mistake or an error being caused, but the problem can be resolved by connecting the common ground line 12c, connecting to the controller 11 with one ground line by connecting the ground line 12d from the common ground line 12c, and also creating a common ground in the controller 11.

    [0025] Also, in addition to the connection of the controller ground line 12d, the same advantage can be achieved by connecting to the controller 11 with one ground line, as with a ground line 12f or 12g. The ground line 12f is connected directly from the one connector terminal 3b-, and the ground line 12g is connected directly from the ground line 12a of the one drive unit 10a.

    [0026] Furthermore, although the configuration here is such that connection to the controller 11 is carried out with the one ground line 12d, this includes connecting with a multiple of neighboring ground lines, rather than a literal one. With regard to this multiple of neighboring ground lines, as shown in Fig. 1, two lines 12e extending from the ground line 12b are such that, when impedance of ground lines passing through the controller 11 is defined as Z1 and impedance on the ground line 12b as Z2, the ground line configuration needs to be such that Z2 << Z1 in order that drive current does not flow into the lines 12e and cause the ground potential level of the controller 11 to fluctuate.

    [0027] That is, when employing a multiple of ground lines, installation is possible by the ground lines being disposed neighboring each other so that the heretofore described impedance relationship is established. That is, ground lines neighboring so that impedance is restricted to a minimum can be seen as being connected in one place. Heretofore, a description has been given of a multiple of lines extending from the ground line 12b, but the same applies when extending from the common ground line 12c, and furthermore, the ground lines 12a, 12b, and 12c are such that impedance can be reduced by using a copper bus bar, a printed substrate, or a ceramic substrate.

    [0028] As heretofore described, by including at least the two batteries 3a and 3b, the drive units 10a and 10b to which power is supplied via the power supply system connector terminals of the batteries 3a and 3b and which drive the external actuators 2a and 2b respectively, and the controller 11 that controls by outputting control signals to the drive units 10a and 10b, and configuring so that a ground line of the controller 11 is shared in one place, a circulatory current path passing through the inside of the controller 11 can be eliminated, as a result of which a problem such as, for example, worsening analog voltage detection accuracy can be avoided.

    [0029] Also, in the case of a configuration such that has two or more CPUs in the controller 11, and an exchange of data is carried out by communication between the CPUs and reflected in a control signal, data input errors can be restricted, and a worsening of failure determination and control signal accuracy can be restricted. This electronic control device is also applicable as two or more pairs of power supply system connector terminals, two or more pairs of drive units, and one or more pair of controllers, and is applicable even when, for example, there is a difference between voltages of the multiple of batteries 3a and 3b.

    Second Embodiment



    [0030] Fig. 2 shows an overall circuit diagram of an electronic control device according to a second embodiment of the invention.

    [0031] In the first embodiment, an electronic control device wherein the two batteries 3a and 3b are provided in parallel is described, but in the second embodiment shown in Fig. 2, a configuration is such that there is only the one battery 3a forming a power supply, two systems of power supply line are formed by the two pairs of connector terminals 3a+, 3a-, 3b+, and 3b- being connected to the battery 3a, and each power supply line supplies power to the control unit 1. Herein, filter units 13a and 13b are inserted immediately after the connector terminals 3a+, 3a-, 3b+, and 3b- in order to restrict noise in the control unit 1. Also, ground sides of these kinds of filter units 13a and 13b are commonly connected by the ground line 12c, and ground lines of the two are directly connected.

    [0032] Also, the ground line 12d of the controller 11 is connected in one place from the common ground line 12c. The CPU 11b is configured of only one CPU, and configured so that independent input/output signals are supplied to each of the drive units 10a and 10b.

    [0033] As other configurations are equivalent to those in Fig. 1, the same reference signs are allotted to equivalent portions, and a description will be omitted.

    [0034] When the filter units 13a and 13b are provided in a vicinity of the power supply system connector terminals 3a+, 3a-, 3b+, and 3b-, as heretofore described, the common ground line 12c is desirably connected in a vicinity of exiting the filter units 13a and 13b, and by configuring in this way, noise generated in the controller 11 can be restricted by the filter units 13a and 13b, and the ground potential level of the controller 11 can be stably maintained as heretofore described, without worsening EMC (electromagnetic compatibility) characteristics of the electronic control device.

    Third Embodiment



    [0035] Fig. 3 shows an overall circuit diagram of an electronic control device according to a third embodiment of the invention.

    [0036] In Fig. 3, the electronic control device is configured so that two systems of power supply line are formed by the connector terminals 3a+, 3a-, 3b+, and 3b- being connected to the one battery 3a, and power thereof is supplied to the control unit 1. Also, two three-phase inverters 10c and 10d are provided in the control unit 1 of the electronic control device, and power steering motors 2c and 2d corresponding to actuators are independently connected to the two three-phase inverters 10c and 10d. Furthermore, power supply relays 10e and 10f and smoothing electrolytic capacitors 10g and 10h are provided in a stage before the three-phase inverters 10c and 10d in the control unit 1. Also, as shown in Fig. 4, the three-phase inverters 10c and 10d are configured of switching elements, those being arm FETs (field effect transistors) 14a and 14b and a motor relay FET 14c, and a current detecting resistor 14d, and carry out feedback control by detecting voltage generated when current flows into the motors 2c and 2d.

    [0037] As other basic configurations are the same as in Fig. 1 and Fig. 2, the same reference signs are allotted to equivalent portions, and a description will be omitted.

    [0038] Based on this kind of configuration, a large current of 50A or more flows into the motors 2c and 2d, current flowing into drive units thereof (the three-phase inverters 10c and 10d) is considerably large compared to current flowing into the controller 11, and depending on a ground line routing, there is a possibility of a path along which current is diverted into the controller 11 being formed. Because of this, a ground line connection configuration is extremely important.

    [0039] That is, in the third embodiment, in the same way as in the second embodiment, the ground line 12d of the controller 11 is connected by the common ground line 12c downstream of the filter units 13a and 13b, whereby the ground potential level of the controller 11 is fixed, and the ground potential of the controller 11 can be stabilized. When connecting the ground line of the controller 11 from the ground line 12a or 12b connected to the three-phase inverter 10c or 10d, the controller ground is desirably connected from a place as near as possible to the filter units 13a and 13b, rather than being connected from an inverter ground line 12h or 12i, in which current fluctuation is large.

    [0040] In the heretofore described embodiments, a description has been given of a case in which two actuators are driven by one or two batteries, but there may be three or more batteries, and the number of actuators is not limited to two.

    Reference Signs List



    [0041] 1: Control unit, 2a, 2b: Actuator, 2c, 2d: Motor, 3a, 3b: Battery, 3a+, 3a-, 3b+, 3b-: Connector terminal, 3c: Body line, 10a, 10b: Drive unit, 11: Controller, 11a, 11d: Power supply circuit, 11b, 11e: CPU, 11c, 11f: Input/output circuit, 12a, 12b: Ground line, 12c: Common ground line, 12d, 12e, 12f, 12g: Controller ground line, 13a, 13b: Filter unit, 10c, 10d: Three-phase inverter, 10e, 10f: Power supply relay, 10g, 10h: Electrolytic capacitor, 14a, 14b: Arm FET, 14c: Motor relay FET, 14d: Current detecting resistor, 12h, 12i: Inverter ground line


    Claims

    1. An electronic control device, comprising:

    a power supply (3a, 3b) in which a multiple of power supply system lines are provided;

    a multiple of drive units (10a, 10b) to which the power is independently supplied from the power supply system lines; and

    at least one controller (11) that outputs control signals to the multiple of drive units (10a, 10b), wherein

    the electronic control device is configured so that negative side lines of the power supply system lines are connected by one ground line (12d) in the controller (11).


     
    2. The electronic control device according to claim 1, wherein the negative side lines of the power supply system lines of the controller (11) are connected directly by a common ground line (12c) without passing through the drive units (10a, 10b), and are connected to the controller (11) by one line from the common ground line (12d).
     
    3. The electronic control device according to claim 1, wherein the negative side lines of the power supply system lines are connected to the controller (11) by one ground line extended from a negative side terminal (3a-, 3b-) of a power supply connector.
     
    4. The electronic control device according to claim 1, wherein the negative side lines of the power supply system lines of the controller (11) are connected by one ground line (12d) extended from a ground line connected to one of the drive units (10a, 10b).
     
    5. The electronic control device according to any one of claims 2 to 4, wherein the ground line of the power supply system lines of the controller (11) is configured of a multiple of ground lines (12d).
     
    6. The electronic control device according to claim 5, wherein a disposition is such that a sum of impedances of ground lines connecting both an inside of the controller (11) and a ground line (12d) common to the controller (11) is greater than impedance between neighboring points on the common ground line (12d) .
     
    7. The electronic control device according to claim 2 or 6, wherein the common ground line (12c), a ground line (12a, 12b) connected to the drive units (10a, 10b), or both thereof, are configured of a copper bus bar, a printed substrate, or a ceramic substrate.
     
    8. The electronic control device according to any one of claims 1 to 7, having filter units (13a, 13b) to which the power supply system lines are connected, wherein a common ground line (12d) that directly connects ground lines of the two filter units (13a, 13b) is provided directly after passing through the filter units (13a, 13b).
     


    Ansprüche

    1. Eine elektronische Steuerungsvorrichtung, umfassend:

    eine Stromversorgung (3a, 3b), in der eine Vielzahl von Stromversorgungssystemleitungen vorgesehen ist;

    eine Vielzahl von Antriebseinheiten (10a, 10b), denen die Energie unabhängig von den Energieversorgungssystemleitungen zugeführt wird; und

    mindestens eine Steuerung (11), die Steuersignale an die Vielzahl von Antriebseinheiten (10a, 10b) ausgibt, wobei

    die elektronische Steuerungsvorrichtung so konfiguriert ist, dass die negativen Seitenleitungen der Stromversorgungssystemleitungen durch eine Masseleitung (12d) im Controller (11) verbunden sind.


     
    2. Die elektronische Steuerungsvorrichtung nach Anspruch 1, wobei die negativen Seitenleitungen der Stromversorgungssystemleitungen der Steuerung (11) direkt durch eine gemeinsame Masseleitung (12c) verbunden sind, ohne durch die Antriebseinheiten (10a, 10b) zu verlaufen, und mit der Steuerung (11) durch eine Leitung von der gemeinsamen Masseleitung (12d) verbunden sind.
     
    3. Die elektronische Steuerungsvorrichtung nach Anspruch 1, wobei die negativen Seitenleitungen der Stromversorgungssystemleitungen mit der Steuerung (11) durch eine Erdungsleitung verbunden sind, die von einem negativen Seitenanschluss (3a-, 3b-) eines Stromversorgungssteckers aus verlängert wird.
     
    4. Die elektronische Steuerungsvorrichtung nach Anspruch 1, wobei die negativen Seitenleitungen der Stromversorgungssystemleitungen der Steuerung (11) durch eine Masseleitung (12d) verbunden sind, die von einer mit einer der Antriebseinheiten (10a, 10b) verbundenen Masseleitung ausgeht.
     
    5. Die elektronische Steuerungsvorrichtung nach einem der Ansprüche 2 bis 4, wobei die Masseleitung der Stromversorgungssystemleitungen der Steuerung (11) aus einer Vielzahl von Masseleitungen (12d) konfiguriert ist.
     
    6. Die elektronische Steuerungsvorrichtung nach Anspruch 5, wobei eine Anordnung derart ist, dass eine Summe der Impedanzen von Masseleitungen, die sowohl das Innere der Steuerung (11) als auch eine gemeinsame Masseleitung (12d) der Steuerung (11) verbinden, größer ist als die Impedanz zwischen benachbarten Punkten auf der gemeinsamen Masseleitung (12d).
     
    7. Die elektronische Steuerungsvorrichtung nach Anspruch 2 oder 6, wobei die gemeinsame Masseleitung (12c), eine mit den Antriebseinheiten (10a, 10b) verbundene Masseleitung (12a, 12b) oder beide aus einer Kupfer-Sammelschiene, einem gedruckten Substrat oder einem Keramiksubstrat konfiguriert sind.
     
    8. Die elektronische Steuereinrichtung nach einem der Ansprüche 1 bis 7, die Filtereinheiten (13a, 13b) aufweist, an die die Leitungen des Stromversorgungssystems angeschlossen sind, wobei eine gemeinsame Masseleitung (12d), die die Masseleitungen der beiden Filtereinheiten (13a, 13b) direkt verbindet, direkt nach dem Durchlaufen der Filtereinheiten (13a, 13b) vorgesehen ist.
     


    Revendications

    1. Dispositif de commande électronique, comprenant :

    une alimentation en énergie (3a, 3b) dans laquelle un multiple de lignes de système d'alimentation en énergie sont prévues ;

    un multiple d'unités de pilotage (10a, 10b) auxquelles l'énergie est fournie indépendamment à partir des lignes de système d'alimentation en énergie ; et

    au moins une unité de commande (11) qui sort des signaux de commande vers le multiple d'unités de pilotage (10a, 10b), dans lequel

    le dispositif de commande électronique est configuré de sorte que des lignes côté négatif des lignes de système d'alimentation en énergie sont reliées par une seule ligne de masse (12d) dans l'unité de commande (11).


     
    2. Dispositif de commande électronique selon la revendication 1, dans lequel les lignes côté négatif des lignes de système d'alimentation en énergie de l'unité de commande (11) sont directement reliées par une ligne de masse commune (12c) sans passer par les unités de pilotage (10a, 10b) et sont reliées à l'unité de commande (11) par une seule ligne à partir de la ligne de masse commune (12d).
     
    3. Dispositif de commande électronique selon la revendication 1,
    dans lequel les lignes côté négatif des lignes de système d'alimentation en énergie sont reliées à l'unité de commande (11) par une seule ligne de masse prolongée à partir d'une borne côté négatif (3a-, 3b-) d'un connecteur d'alimentation en énergie.
     
    4. Dispositif de commande électronique selon la revendication 1, dans lequel les lignes côté négatif des lignes de système d'alimentation en énergie de l'unité de commande (11) sont reliées par une seule ligne de masse (12d) prolongée à partir d'une ligne de masse reliée à l'une des unités de pilotage (10a, 10b).
     
    5. Dispositif de commande électronique selon l'une quelconque des revendications 2 à 4, dans lequel la ligne de masse des lignes de système d'alimentation en énergie de l'unité de commande (11) est configurée d'un multiple de lignes de masse (12d).
     
    6. Dispositif de commande électronique selon la revendication 5, dans lequel une disposition est telle qu'une somme d'impédances de lignes de masse reliant tant un intérieur de l'unité de commande (11) qu'une ligne de masse (12d) commune à l'unité de commande (11) est plus grande qu'une impédance entre des points voisins sur la ligne de masse commune (12d).
     
    7. Dispositif de commande électronique selon la revendication 2 ou 6, dans lequel la ligne de masse commune (12c), une ligne de masse (12a, 12b) reliée aux unités de commande (10a, 10b), ou les deux de celles-ci, sont configurées d'une barre omnibus de cuivre, d'un substrat imprimé, ou d'un substrat céramique.
     
    8. Dispositif de commande électronique selon l'une quelconque des revendications 1 à 7, ayant des unités de filtre (13a, 13b) auxquelles les lignes de système d'alimentation en énergie sont reliées, dans lequel une ligne de masse commune (12d) qui relie directement les lignes de masse des deux unités de filtre (13a, 13b) est prévue directement après passage par les unités de filtre (13a, 13b).
     




    Drawing

















    Cited references

    REFERENCES CITED IN THE DESCRIPTION



    This list of references cited by the applicant is for the reader's convenience only. It does not form part of the European patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be excluded and the EPO disclaims all liability in this regard.

    Patent documents cited in the description