EP3485476A1 - Method and apparatus for creating a hazard map for identifying at least one hazardous location for a vehicle - Google Patents
Method and apparatus for creating a hazard map for identifying at least one hazardous location for a vehicleInfo
- Publication number
- EP3485476A1 EP3485476A1 EP17724789.7A EP17724789A EP3485476A1 EP 3485476 A1 EP3485476 A1 EP 3485476A1 EP 17724789 A EP17724789 A EP 17724789A EP 3485476 A1 EP3485476 A1 EP 3485476A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- signal
- vehicle
- danger
- read
- hazard
- 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- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 231100001261 hazardous Toxicity 0.000 title abstract 2
- 230000033001 locomotion Effects 0.000 claims abstract description 57
- 230000008859 change Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 6
- 238000013459 approach Methods 0.000 abstract description 13
- 238000012800 visualization Methods 0.000 description 12
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
Definitions
- the approach is based on a device or a method according to the preamble of the independent claims. Subject of the present approach is also a computer program.
- JP 20002149899 A describes a device for predicting danger spots based on weather forecasts.
- a method for creating a hazard map for identifying at least one danger location for a vehicle is presented.
- at least one motion signal is read in which represents at least one parameter of a movement of the vehicle and which reads in at least one position signal which represents a geographical position of the vehicle.
- a hazard signal is output for display or storage in a map using the motion signal and the position signal to create the hazard map when the motion signal is in a predetermined relationship to a map
- Movement parameter of a vehicle can be detected before an accident. For example, if the danger spot is displayed or stored in the hazard map, this may serve as a warning to other vehicle drivers as a warning of that danger spot.
- a motion signal can be read in, in which the parameter of the movement of the vehicle represents a braking movement of the vehicle.
- the threshold value may be set, for example, as a brake, which is a reduced
- the danger signal can then be output when the vehicle falls below this threshold, that is stronger braking.
- a danger point can be identified where accidents can threaten without an accident having already occurred. If a large number of such danger signals of a vehicle and possibly also other vehicles are displayed in the hazard map, this can provide information on a large area about where danger spots are threatening.
- At least one further movement signal can be read which represents at least the parameter of the movement of the vehicle or of another vehicle and at least one further position signal is read in, which within a tolerance range the geographical position of the vehicle represents.
- the step of outputting may then be performed when the motion signal and also the further motion signal are in the predetermined relationship to the threshold value.
- Motion signal and the further position signal can be used to verify the danger point before the danger signal is issued, for example, to display only danger signals in the hazard map, which were certainly not triggered, for example, by only a carelessness of the driver, but by an actual danger point.
- a danger signal can then be output in the step of the output, which is assigned to a position which corresponds to an averaged value between the position signal and the further position signal.
- At least one accompanying information representing at least one current state in the vicinity of the position can be read in in the reading-in step.
- a reading-in step For example, a
- Traffic information and / or infrastructure information represents.
- the state of the environment can provide information about the reason for the danger point, since the braking behavior can be influenced, for example, by a daylight / a light ratio and / or heavy rainfall and / or a high traffic volume and / or by a traffic light system.
- the braking behavior can be assigned to one of the factors mentioned and also allows predictions about appropriate braking behavior in the future.
- the danger signal is output in the step of outputting to at least one device arranged externally of the vehicle, the
- Hazard map for example, be visible from a traffic control center, which can then act in this regard.
- the traffic control center can then act in this regard.
- Traffic control center output a change signal that is adapted to change at least one driving parameter of the vehicle using the danger signal or another danger signal.
- the further danger signal may be a danger signal that was previously output by another vehicle and read in by the traffic control center.
- the method may include a receiving step of receiving the described change signal output from, for example, the traffic control center or another device external to the vehicle.
- a driving parameter, which can be changed may be, for example, a speed of the vehicle. Thus, for safety reasons, the speed of the vehicle or other vehicles can be throttled, for example in the area of the danger point.
- a danger signal may be output in the step of outputting which is adapted to be displayed or stored within a predetermined time interval in the map.
- the time interval may range from a few minutes to several days, weeks, months or years to either show only current danger spots or those that can provide insight into where generally
- This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.
- the approach presented here also provides a device which is designed to implement the steps of a variant of a method presented here
- the device may comprise at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or a
- Actuator for reading sensor signals from the sensor or for outputting data or control signals to the actuator and / or at least one
- the arithmetic unit may be, for example, a signal processor, a microcontroller or the like, wherein the memory unit is a flash memory, an EPROM or a magnetic storage unit can be.
- the communication interface can be designed to read or output data wirelessly and / or by line, wherein a communication interface which can read or output line-bound data, for example, electrically or optically read this data from a corresponding data transmission line or output in a corresponding data transmission line.
- a device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon.
- the device may have an interface, which may be formed in hardware and / or software.
- the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the device.
- the interfaces are their own integrated circuits or at least partially consist of discrete components.
- the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.
- the device is used to control a danger signal.
- the device for example, on
- Sensor signals such as a motion signal and a position signal access.
- the activation takes place via actuators such as a read-in device and a
- a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the above
- FIG. 1 is a block diagram of an apparatus for creating a hazard map for identifying at least one danger location for a vehicle according to one embodiment
- 3 is a flow chart of a method for creating a
- FIG. 4 shows a visualization of danger signals in a hazard map according to an exemplary embodiment
- FIG. 6 shows a visualization of danger signals and accident data in a hazard map according to an exemplary embodiment
- FIG. 8 shows a visualization of danger signals and accident data in a hazard map according to an exemplary embodiment
- FIG. 10 is a view of accompanying information 700 displayed in a map according to an embodiment.
- FIG. 1 shows a block diagram of a device 100 for creating a
- Hazard map 105 for identifying at least one danger location 110 for a vehicle 115 according to an exemplary embodiment.
- the device 100 has a read-in device 120 and a
- the read-in device 120 is configured to read in at least one motion signal 130 that represents at least one parameter of a movement of the vehicle 115 and to read in at least one position signal 135 that represents a geographical position of the vehicle 115.
- the output device 125 is configured to output a danger signal 140, which is designed to be under
- the read-in device 120 is designed to read in a movement signal 130 in which the parameter of the movement of the vehicle 115 represents a braking movement 145 of the vehicle 115.
- the braking movement 145 is sensed according to this embodiment by an acceleration sensor 150 of the vehicle 115, which is designed to provide the movement signal 130 for the read-in device 120.
- the braking movement 145 is effected by a driver 155 of the vehicle 115.
- the acceleration sensor 150 of the vehicle 115 which is designed to provide the movement signal 130 for the read-in device 120.
- the braking movement 145 is effected by a driver 155 of the vehicle 115.
- Danger signal 140 output because the read-in motion signal 130 falls below a threshold value of -2.5 m / s 2 . According to this
- FIG. 2 shows a flow diagram of a method 200 for creating a hazard map for identifying at least one danger location for a hazard
- This can be a
- Method 200 which can be executed and / or controlled by the device presented with reference to FIG.
- the method 200 includes at least one step of reading 205 and a step of outputting 210.
- the method 200 according to this embodiment comprises a step of receiving 215.
- step 205 of the read-in at least one motion signal is read in which represents at least one parameter of a movement of the vehicle and which reads in at least one position signal which represents a geographical position of the vehicle.
- step 210 of the outputting becomes
- Danger signal output adapted to be displayed or stored in a map using the motion signal and the position signal to create the hazard map when the
- Motion signal is in a predetermined relationship to a threshold.
- a change signal is received that is configured to change at least one driving parameter of the vehicle using the danger signal or another danger signal.
- a change signal can be received, which was issued by a device arranged externally of the vehicle.
- step 205 of the read-in at least one further movement signal is read which represents at least the parameter of the movement of the vehicle or of another vehicle, and additionally at least one further position signal is read which represents the geographical position of the vehicle within a tolerance range the step 210 of outputting is executed because the motion signal and the further motion signal are in the predetermined relationship to the threshold value.
- step 210 of the output a danger signal is output which is associated with a position which corresponds to an averaged value between the position signal and the further position signal.
- at least one accompanying information is read in step 205 of the read-in, which represents at least one current state in the vicinity of the position. It is z. B.
- the danger signal is output to at least one device arranged externally of the vehicle, according to this embodiment, the danger signal to a
- step 210 of the outputting a danger signal is output, which is within a predetermined
- the danger signal is stored for a evaluable over a longer period of danger map, for example, 48 hours in the hazard map.
- the presented method 200 may also be referred to as a method for predicting accident hotspots by means of vehicle motion data.
- Movement signals make it possible to create a dynamic "brake hotspot card" in the form of the hazard map From accident research it is known that statistically at about 10 emergency braking to a collision and comes with about 80 emergency braking to a pedestrian accident can
- Forecasts based on weather forecasts can be made using the Method 200 allows actual visualized sensor values to provide an image of the current situation.
- the vehicle movement data is filtered, geolocalization, timestamp,
- Speed, acceleration, according to this embodiment braking operations with z. B. -2.5 m / s 2 or stronger, as described in step 205.
- An analysis of accidents can be dependent on, or further analyzes are possible, which allow an even more precise statement with the help of accompanying information such as location and time of day, weather,
- Possible measures include reducing the vehicle speed either through a traffic control center or directly through speed recommendations via vehicles networked with driver assistance systems, as described in step 215. Further measures can be a shortening or lengthening of control phases of the signal systems. It is also a direct feedback on current vehicle motion data / motion signals possible. This would immediately see a change in the measures. So z. B. a number of strong stunts are used in one place within hours as an indicator, whether the traffic engineering measures lead to an improvement. Furthermore, rescue services can optimize deployment control by knowing "accident prone" locations, such as deploying emergency vehicles such as ambulances and / or emergency physicians
- FIG. 3 shows a flow diagram 300 for creating a hazard map for identifying at least one danger point with measures according to one exemplary embodiment. It may be that described in Fig. 2
- Procedure 200 to act with additional measures In step 205, at least one current braking situation with z. B. braking stronger -2.5m / s 2 determined from vehicle motion data. In step 210, a "brake hotspot card" is created and visualized, for example, the locations with increased braking activity, strength, number, according to this
- driver assistance systems are also provided and the "brake hotspot card" is also regularly updated in step 210 ".
- steps 215 actions at the brake hotspots cause z. B. a reduction of
- Steps 305 and 310 show possible measures, for example, of the traffic control center.
- step 305 an assessment of the change of the local brake hotspots for improvement or deterioration is made, based on this evaluation, step 215 may be performed.
- step 310 recognized information, e.g. B. that is often slowed down at a position due to a kindergarten, z. For example
- FIG. 4 shows a visualization of danger signals 140 in a hazard map 105 according to one exemplary embodiment. It may be that described with reference to FIG. 1 or one of the described with reference to FIG. 2
- Hazard cards 105 act.
- this is a geographical map 400 of the city of Stuttgart, in which, for example, a plurality of danger signals 140 are displayed over a period of two days.
- the danger signals 140 can also be used as
- FIG. 5 shows a visualization of accident data 500 in a map 400. These are the map 400 of the city of Stuttgart described in FIG. 4. A plurality of accident data 500 representing personal injury accidents is displayed in the map 400 over a period of one calendar year. Taking into account the hazard map in Fig. 4 it can be seen that the danger signals and the accident data 500 shown in Fig. 4 here in large
- Parts cover. 6 shows a visualization of hazard signals 140 and accident data 500 in a hazard map 105 according to an exemplary embodiment.
- the map 400 is the district of Stuttgart Sillenbuch, the map 400 thus shows a section of the map 400 described in Figures 4 and 5.
- FIG. 7 shows a visualization of danger signals 140, accident data 500 and
- the map 400 is as in Fig. 6 to the Stuttgart city district Sillenbuch. Shown is an identification of
- FIG. 8 shows a visualization of hazard signals 140 and accident data 500 in a hazard map 105 according to an exemplary embodiment.
- the map 400 is the district of Stuttgart Obertkheim, the map 400 thus shows a further section of the map 400 described in Figures 4 and 5 is shown an identification of correlation points of the two data sets in the form of the hazard signals 140 and the accident data 500th in narrow territorial boundaries.
- FIG. 9 shows a visualization of danger signals 140, accident data 500 and accompanying information 700 in a hazard map 105 according to a
- the card 400 is as in Fig. 8 to the Stuttgart district Obertkheim. Shown is an identification of correlation points of the two data sets in the form of the hazard signals 140 and the accident data 500 in narrow area boundaries in conjunction with
- FIG. 10 shows accompanying information 700 according to an exemplary embodiment.
- This can be accompanying information 700 which can be read by the device described in FIG.
- Further data sources in the form of the accompanying information 700 for correlations are shown: If the following data sources and data are related to one another in the form of the danger signals, neither further correlations are possible, for example: For example, when which crossing is particularly prone to accidents, such. B. at night and / or rain and / or due to a weather-related road conditions and / or lighting conditions and / or a
- Accompanying information 700 shown here represents an opening time of a pharmacy 1000, an opening time of a bank 1005, opening times of further buildings 1010, a Kindergartenweg 1015 and a control of a signaling system 1020. Furthermore, construction site information 1025, departure times of public transport 1030 and / or a beginning and / or a Duration of major events 1035 to the accompanying information 700 count. This accompanying information 700 may, for example, be read by a vehicle sensor such as a vehicle camera of the vehicle or from an interface of the vehicle to a cloud.
- a vehicle sensor such as a vehicle camera of the vehicle or from an interface of the vehicle to a cloud.
- an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Traffic Control Systems (AREA)
- Instructional Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016213015.3A DE102016213015A1 (en) | 2016-07-15 | 2016-07-15 | A method and apparatus for creating a hazard map for identifying at least one danger location for a vehicle |
PCT/EP2017/061620 WO2018010875A1 (en) | 2016-07-15 | 2017-05-15 | Method and apparatus for creating a hazard map for identifying at least one hazardous location for a vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3485476A1 true EP3485476A1 (en) | 2019-05-22 |
Family
ID=58745212
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17724789.7A Withdrawn EP3485476A1 (en) | 2016-07-15 | 2017-05-15 | Method and apparatus for creating a hazard map for identifying at least one hazardous location for a vehicle |
Country Status (6)
Country | Link |
---|---|
US (1) | US20190221119A1 (en) |
EP (1) | EP3485476A1 (en) |
JP (1) | JP2019522857A (en) |
CN (1) | CN109478365A (en) |
DE (1) | DE102016213015A1 (en) |
WO (1) | WO2018010875A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6843287B1 (en) * | 2020-03-24 | 2021-03-17 | 株式会社 日立産業制御ソリューションズ | Map making device, map making method and map making program |
JP7294259B2 (en) * | 2020-07-07 | 2023-06-20 | トヨタ自動車株式会社 | Danger prediction device and danger prediction system |
DE102022202900A1 (en) | 2022-03-24 | 2023-09-28 | Zf Friedrichshafen Ag | Heuristic-based communication with road users |
DE102022112860A1 (en) | 2022-05-23 | 2023-11-23 | Endress+Hauser SE+Co. KG | Method for recognizing an event across automation systems |
Family Cites Families (24)
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IL131700A0 (en) * | 1999-03-08 | 2001-03-19 | Mintz Yosef | Method and system for mapping traffic congestion |
JP4262405B2 (en) | 2000-11-13 | 2009-05-13 | 東京海上日動火災保険株式会社 | Vehicle accident prediction occurrence index calculation system and method |
JP3937011B2 (en) * | 2002-03-20 | 2007-06-27 | 国土交通省国土技術政策総合研究所長 | Traffic information processing method and traffic information processing system |
KR100518851B1 (en) * | 2003-05-28 | 2005-09-30 | 엘지전자 주식회사 | System and Method for presumption of drive necessary time using of road traffic condition information |
JP2006092258A (en) * | 2004-09-24 | 2006-04-06 | Denso Corp | Running-out alert control device and running-out alert control program |
JP4815943B2 (en) * | 2005-08-19 | 2011-11-16 | 株式会社デンソー | Hazardous area information display device |
JP2008070998A (en) * | 2006-09-13 | 2008-03-27 | Hitachi Ltd | Vehicle surroundings information display unit |
US8509965B2 (en) * | 2006-12-12 | 2013-08-13 | American Gnc Corporation | Integrated collision avoidance system for air vehicle |
WO2009013815A1 (en) * | 2007-07-24 | 2009-01-29 | Nissan Motor Co., Ltd. | Drive assistance apparatus for vehicle and vehicle equipped with the apparatus |
EP2506106B1 (en) * | 2009-11-27 | 2019-03-20 | Toyota Jidosha Kabushiki Kaisha | Autonomous moving object and control method |
FI122084B (en) * | 2009-12-03 | 2011-08-15 | Teconer Oy | Procedure and system for terminal-based mapping of road conditions |
US9418554B2 (en) * | 2014-08-07 | 2016-08-16 | Verizon Patent And Licensing Inc. | Method and system for determining road conditions based on driver data |
JP5681611B2 (en) * | 2011-11-09 | 2015-03-11 | 株式会社日立製作所 | Navigation system, navigation apparatus, method, and server |
JP5807578B2 (en) * | 2012-02-10 | 2015-11-10 | アイシン・エィ・ダブリュ株式会社 | Alerting system, alerting program, and alerting method |
DE102012002695A1 (en) * | 2012-02-14 | 2013-08-14 | Wabco Gmbh | Method for determining an emergency braking situation of a vehicle |
DE102012204098A1 (en) * | 2012-03-15 | 2013-09-19 | Continental Automotive Gmbh | A method of congestion detection by means of a wireless vehicle-to-vehicle communication |
DE102012215064A1 (en) * | 2012-08-24 | 2014-02-27 | Robert Bosch Gmbh | Method and device for determining a source of danger of a route |
JP5805128B2 (en) * | 2013-03-28 | 2015-11-04 | 本田技研工業株式会社 | Map providing server and map providing method |
WO2015075799A1 (en) * | 2013-11-21 | 2015-05-28 | 三菱電機株式会社 | Vehicle-mounted unit, cloud server, vehicle-to-vehicle communication system, and vehicle-to-vehicle communication method |
DE102014207084A1 (en) * | 2014-04-14 | 2015-10-15 | Siemens Aktiengesellschaft | Method, device and system for detecting road damage |
US10621670B2 (en) * | 2014-08-15 | 2020-04-14 | Scope Technologies Holdings Limited | Determination and display of driving risk |
JP6168025B2 (en) * | 2014-10-14 | 2017-07-26 | トヨタ自動車株式会社 | Intersection-related warning device for vehicles |
US10013883B2 (en) * | 2015-06-22 | 2018-07-03 | Digital Ally, Inc. | Tracking and analysis of drivers within a fleet of vehicles |
US10131361B2 (en) * | 2016-05-25 | 2018-11-20 | Here Global B.V. | Determining speed information |
-
2016
- 2016-07-15 DE DE102016213015.3A patent/DE102016213015A1/en not_active Withdrawn
-
2017
- 2017-05-15 JP JP2019501496A patent/JP2019522857A/en active Pending
- 2017-05-15 CN CN201780043973.5A patent/CN109478365A/en active Pending
- 2017-05-15 EP EP17724789.7A patent/EP3485476A1/en not_active Withdrawn
- 2017-05-15 US US16/317,600 patent/US20190221119A1/en not_active Abandoned
- 2017-05-15 WO PCT/EP2017/061620 patent/WO2018010875A1/en unknown
Also Published As
Publication number | Publication date |
---|---|
JP2019522857A (en) | 2019-08-15 |
CN109478365A (en) | 2019-03-15 |
WO2018010875A1 (en) | 2018-01-18 |
US20190221119A1 (en) | 2019-07-18 |
DE102016213015A1 (en) | 2018-01-18 |
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