BR112018069433A2 - método de predição de curso e dispositivo de predição de curso - Google Patents
método de predição de curso e dispositivo de predição de cursoInfo
- Publication number
- BR112018069433A2 BR112018069433A2 BR112018069433-9A BR112018069433A BR112018069433A2 BR 112018069433 A2 BR112018069433 A2 BR 112018069433A2 BR 112018069433 A BR112018069433 A BR 112018069433A BR 112018069433 A2 BR112018069433 A2 BR 112018069433A2
- Authority
- BR
- Brazil
- Prior art keywords
- vehicle
- course
- stroke prediction
- prediction method
- stroke
- Prior art date
Links
Classifications
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W30/10—Path keeping
-
- 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
- B60W30/045—Improving turning performance
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- 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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- 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
-
- 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
- B60W2552/30—Road curve radius
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- 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
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4044—Direction of movement, e.g. backwards
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
um aspecto da presente invenção é um método de predição de curso usando um circuito de aquisição de posição configurado para adquirir uma posição de um veículo próximo e um circuito de predição de curso configurado para predizer um curso de um veículo hospedeiro com base em um caminho de deslocamento do veículo próximo obtido de um histórico da posição do veículo próximo. no método de predição de curso, o curso do veículo hospedeiro é predito ao aumentar ou reduzir o tamanho do caminho de deslocamento do veículo próximo, com base em uma direção de giro e em uma posição lateral do veículo próximo.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/059396 WO2017163366A1 (ja) | 2016-03-24 | 2016-03-24 | 走路推定方法及び走路推定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
BR112018069433A2 true BR112018069433A2 (pt) | 2019-02-12 |
BR112018069433B1 BR112018069433B1 (pt) | 2023-01-17 |
Family
ID=59900072
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112018069433-9A BR112018069433B1 (pt) | 2016-03-24 | 2016-03-24 | Método de predição de curso e dispositivo de predição de curso |
Country Status (10)
Country | Link |
---|---|
US (1) | US10435019B2 (pt) |
EP (1) | EP3434545B1 (pt) |
JP (1) | JP6690703B2 (pt) |
KR (1) | KR101942230B1 (pt) |
CN (1) | CN108883770B (pt) |
BR (1) | BR112018069433B1 (pt) |
CA (1) | CA3018659C (pt) |
MX (1) | MX2018011511A (pt) |
RU (1) | RU2689921C1 (pt) |
WO (1) | WO2017163366A1 (pt) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6520863B2 (ja) * | 2016-08-11 | 2019-05-29 | 株式会社デンソー | 走行制御装置 |
JP6592423B2 (ja) * | 2016-11-25 | 2019-10-16 | 株式会社デンソー | 車両制御装置 |
WO2018131090A1 (ja) * | 2017-01-11 | 2018-07-19 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、および車両制御プログラム |
KR102215325B1 (ko) * | 2017-02-28 | 2021-02-15 | 현대자동차주식회사 | 차량의 위치 추정 장치 및 방법과 이를 이용한 차량 |
KR102463720B1 (ko) * | 2017-12-18 | 2022-11-07 | 현대자동차주식회사 | 차량의 경로 생성 시스템 및 방법 |
CN111301411B (zh) * | 2018-12-10 | 2021-04-20 | 广州汽车集团股份有限公司 | 车辆的行驶控制方法和装置 |
US11312380B2 (en) * | 2018-12-26 | 2022-04-26 | Baidu Usa Llc | Corner negotiation method for autonomous driving vehicles without map and localization |
KR20200130888A (ko) * | 2019-05-07 | 2020-11-23 | 현대모비스 주식회사 | 복합정보 기반 scc시스템 제어 방법 및 장치 |
CN111561938A (zh) * | 2020-05-28 | 2020-08-21 | 北京百度网讯科技有限公司 | Ar导航方法和装置 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
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US5941934A (en) * | 1995-06-09 | 1999-08-24 | Xanavi Informatics Corporation | Current position calculating device |
JP4059033B2 (ja) * | 2002-08-12 | 2008-03-12 | 日産自動車株式会社 | 走行経路生成装置 |
DE102004028404A1 (de) * | 2004-06-14 | 2006-01-19 | Daimlerchrysler Ag | Verfahren zur Schätzung des Verlaufs einer Fahrspur eines Kraftfahrzeuges |
JP4140559B2 (ja) * | 2004-06-16 | 2008-08-27 | 株式会社デンソー | 走行路推定装置 |
US8024112B2 (en) * | 2005-09-29 | 2011-09-20 | Microsoft Corporation | Methods for predicting destinations from partial trajectories employing open-and closed-world modeling methods |
JP2007137248A (ja) * | 2005-11-17 | 2007-06-07 | Toyota Motor Corp | 走行支援装置及び走行支援システム |
US8078390B2 (en) * | 2006-06-30 | 2011-12-13 | Continental Teves Ag & Co. Ohg | Method and apparatus for transmitting vehicle-related information in and out of a vehicle |
JP4525670B2 (ja) * | 2006-11-20 | 2010-08-18 | トヨタ自動車株式会社 | 走行制御計画生成システム |
JP5310745B2 (ja) * | 2009-04-21 | 2013-10-09 | トヨタ自動車株式会社 | 走行支援装置 |
JP5747998B2 (ja) * | 2011-11-08 | 2015-07-15 | トヨタ自動車株式会社 | 車両の走行軌跡制御装置 |
CN202641689U (zh) * | 2011-11-30 | 2013-01-02 | 富士重工业株式会社 | 车外监视装置及具有该车外监视装置的行驶控制装置 |
JP2013161113A (ja) | 2012-02-01 | 2013-08-19 | Toyota Motor Corp | 走行車線認識装置 |
EP2637072B1 (en) * | 2012-03-05 | 2017-10-11 | Volvo Car Corporation | Path following of a target vehicle |
JP5505453B2 (ja) * | 2012-04-26 | 2014-05-28 | 株式会社デンソー | 車両用挙動制御装置 |
DE102012214206B4 (de) * | 2012-08-09 | 2022-12-22 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Krümmungserkennung eines Fahrspurverlaufs während einer vollautomatischen Fahrzeugführung |
JP5981332B2 (ja) | 2012-12-21 | 2016-08-31 | 株式会社日本自動車部品総合研究所 | 走行経路生成装置 |
JP5821917B2 (ja) | 2013-09-20 | 2015-11-24 | トヨタ自動車株式会社 | 運転支援装置 |
JP6040945B2 (ja) * | 2014-02-14 | 2016-12-07 | 株式会社デンソー | 先行車選択装置 |
JP6369390B2 (ja) * | 2015-05-19 | 2018-08-08 | 株式会社デンソー | 車線合流判定装置 |
JP2016027740A (ja) * | 2015-09-18 | 2016-02-18 | 株式会社ニコン | 撮像装置 |
-
2016
- 2016-03-24 WO PCT/JP2016/059396 patent/WO2017163366A1/ja active Application Filing
- 2016-03-24 BR BR112018069433-9A patent/BR112018069433B1/pt active IP Right Grant
- 2016-03-24 KR KR1020187029837A patent/KR101942230B1/ko active IP Right Grant
- 2016-03-24 US US16/087,268 patent/US10435019B2/en active Active
- 2016-03-24 MX MX2018011511A patent/MX2018011511A/es active IP Right Grant
- 2016-03-24 CN CN201680083902.3A patent/CN108883770B/zh active Active
- 2016-03-24 EP EP16895402.2A patent/EP3434545B1/en active Active
- 2016-03-24 CA CA3018659A patent/CA3018659C/en active Active
- 2016-03-24 JP JP2018506706A patent/JP6690703B2/ja active Active
- 2016-03-24 RU RU2018137210A patent/RU2689921C1/ru active
Also Published As
Publication number | Publication date |
---|---|
RU2689921C1 (ru) | 2019-05-29 |
WO2017163366A1 (ja) | 2017-09-28 |
CN108883770B (zh) | 2020-09-22 |
US10435019B2 (en) | 2019-10-08 |
KR101942230B1 (ko) | 2019-01-24 |
BR112018069433B1 (pt) | 2023-01-17 |
EP3434545A1 (en) | 2019-01-30 |
EP3434545B1 (en) | 2021-03-10 |
JPWO2017163366A1 (ja) | 2019-02-14 |
CN108883770A (zh) | 2018-11-23 |
US20190100199A1 (en) | 2019-04-04 |
JP6690703B2 (ja) | 2020-04-28 |
MX2018011511A (es) | 2019-01-10 |
EP3434545A4 (en) | 2019-09-04 |
CA3018659C (en) | 2020-01-14 |
KR20180123544A (ko) | 2018-11-16 |
CA3018659A1 (en) | 2017-09-28 |
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