DE69204239D1 - Bordvorrichtung und Verfahren zum Ermitteln und Folgen der Lage eines Fahrzeugs auf die Strasse, und das Verfahren anwendende Fahrhilfsvorrichtung. - Google Patents

Bordvorrichtung und Verfahren zum Ermitteln und Folgen der Lage eines Fahrzeugs auf die Strasse, und das Verfahren anwendende Fahrhilfsvorrichtung.

Info

Publication number
DE69204239D1
DE69204239D1 DE69204239T DE69204239T DE69204239D1 DE 69204239 D1 DE69204239 D1 DE 69204239D1 DE 69204239 T DE69204239 T DE 69204239T DE 69204239 T DE69204239 T DE 69204239T DE 69204239 D1 DE69204239 D1 DE 69204239D1
Authority
DE
Germany
Prior art keywords
road
vehicle
determining
following
driving aid
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69204239T
Other languages
English (en)
Other versions
DE69204239T2 (de
Inventor
Jean Michel Valade
Christophe Calesse
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.)
MATRA CAP SYSTEMS SA
Original Assignee
MATRA CAP SYSTEMS SA
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 MATRA CAP SYSTEMS SA filed Critical MATRA CAP SYSTEMS SA
Application granted granted Critical
Publication of DE69204239D1 publication Critical patent/DE69204239D1/de
Publication of DE69204239T2 publication Critical patent/DE69204239T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • B60K28/066—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver actuating a signalling device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/60—Instruments characterised by their location or relative disposition in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/30—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing vision in the non-visible spectrum, e.g. night or infrared vision
    • 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
    • B60W30/12—Lane keeping
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • 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
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • 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
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
    • 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
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/77—Instrument locations other than the dashboard
    • B60K2360/785—Instrument locations other than the dashboard on or in relation to the windshield or windows
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
    • 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/089—Lane monitoring; Lane Keeping Systems using optical detection
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
DE69204239T 1991-07-19 1992-07-17 Bordvorrichtung und Verfahren zum Ermitteln und Folgen der Lage eines Fahrzeugs auf die Strasse, und das Verfahren anwendende Fahrhilfsvorrichtung. Expired - Fee Related DE69204239T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9109167A FR2679357B1 (fr) 1991-07-19 1991-07-19 Dispositif embarque et procede de reperage et de suivi de la position d'un vehicule sur la route et dispositif d'aide a la conduite en comportant application.

Publications (2)

Publication Number Publication Date
DE69204239D1 true DE69204239D1 (de) 1995-09-28
DE69204239T2 DE69204239T2 (de) 1996-01-25

Family

ID=9415327

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69204239T Expired - Fee Related DE69204239T2 (de) 1991-07-19 1992-07-17 Bordvorrichtung und Verfahren zum Ermitteln und Folgen der Lage eines Fahrzeugs auf die Strasse, und das Verfahren anwendende Fahrhilfsvorrichtung.

Country Status (4)

Country Link
EP (1) EP0527665B1 (de)
DE (1) DE69204239T2 (de)
ES (1) ES2076712T3 (de)
FR (1) FR2679357B1 (de)

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US5351044A (en) * 1992-08-12 1994-09-27 Rockwell International Corporation Vehicle lane position detection system
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US5877897A (en) 1993-02-26 1999-03-02 Donnelly Corporation Automatic rearview mirror, vehicle lighting control and vehicle interior monitoring system using a photosensor array
DE4480341T1 (de) * 1993-12-28 1996-03-21 Mitsubishi Motors Corp Sicherheitsfahrsystem
JP3246243B2 (ja) * 1994-12-26 2002-01-15 いすゞ自動車株式会社 車線逸脱警報装置
DE19507957C1 (de) * 1995-03-07 1996-09-12 Daimler Benz Ag Fahrzeug mit optischer Abtasteinrichtung für einen seitlichen Fahrbahnbereich
US6891563B2 (en) 1996-05-22 2005-05-10 Donnelly Corporation Vehicular vision system
US7655894B2 (en) 1996-03-25 2010-02-02 Donnelly Corporation Vehicular image sensing system
DE19615240A1 (de) * 1996-04-18 1997-10-23 Daimler Benz Ag Anordnung zur optischen Erfassung des Fahrbahnverlaufs
AUPO324996A0 (en) * 1996-10-28 1996-11-21 Cubero, Samuel N. Jr. Vehicle straying detector and alarm system
FR2762279B1 (fr) * 1997-04-18 1999-07-02 Matra Transport International Installation de transport a guidage optique et mecanique
GB9804112D0 (en) 1998-02-27 1998-04-22 Lucas Ind Plc Road profile prediction
FR2779518B1 (fr) * 1998-06-09 2000-08-18 Thomson Csf Procede optique de reconstruction du trace d'une voie le long de laquelle se deplace un vehicule guide
KR100326674B1 (ko) * 1999-03-11 2002-03-02 이계안 차량의 차선이탈 경보 방법
KR100302724B1 (ko) * 1999-03-12 2001-09-22 이계안 차선이탈 경보장치의 도로 모델링 방법
DE19916267A1 (de) * 1999-04-12 2000-10-19 Continental Teves Ag & Co Ohg Verfahren und Vorrichtung zum Überwachen oder zum Beeinflussen der Bewegung eines Fahrzeugs auf einem Weg
DE19921488A1 (de) * 1999-05-08 2000-11-16 Bosch Gmbh Robert Verfahren und Vorrichtung zur Überwachung des Innenraums und des Umfeldes eines Fahrzeugs
JP3529037B2 (ja) * 1999-08-02 2004-05-24 日産自動車株式会社 車線追従装置
JP3521860B2 (ja) * 2000-10-02 2004-04-26 日産自動車株式会社 車両の走行路認識装置
FR2821311B1 (fr) 2001-02-26 2003-05-23 Renault Systeme d'aide au maintien dans la voie pour un vehicule automobile
US7697027B2 (en) 2001-07-31 2010-04-13 Donnelly Corporation Vehicular video system
DE10200785B4 (de) * 2002-01-11 2005-09-29 Audi Ag Kraftfahrzeug
ES2391556T3 (es) 2002-05-03 2012-11-27 Donnelly Corporation Sistema de detección de objetos para vehículo
DE10247662A1 (de) * 2002-10-11 2004-04-29 Audi Ag Kraftfahrzeug
DE10313002B4 (de) * 2003-03-24 2006-03-23 Daimlerchrysler Ag Fahrzeugumgebungserfassungseinheit
DE10325163B4 (de) * 2003-05-27 2010-11-04 Volkswagen Ag Sicherheitssystem in einem Kraftfahrzeug
DE10351654A1 (de) 2003-11-05 2005-06-02 Daimlerchrysler Ag Aktiver Spurassistent
DE10352955A1 (de) * 2003-11-13 2005-06-23 Audi Ag Fahrerassistenzsystem zur Unterstützung der Spurhaltung eines Kraftfahrzeugs und Vorrichtung zum Betreiben des Fahrerassistenzsystems
DE10352967A1 (de) * 2003-11-13 2005-06-23 Audi Ag Fahrerassistenzsystem zur Unterstützung der Spurhaltung eines Kraftfahrzeugs
US7526103B2 (en) 2004-04-15 2009-04-28 Donnelly Corporation Imaging system for vehicle
DE102004033731A1 (de) * 2004-07-13 2006-02-02 Adam Opel Ag Verfahren zur automatischen Korrektur des Einflusses von Seitenwind auf ein Kraftfahrzeuge
ES2259527B1 (es) * 2004-11-24 2007-06-01 Universidad De Alcala Sistema multinsensorial para la monitorizacion del estado de alerta del conductor de un vehiculo.
US7720580B2 (en) 2004-12-23 2010-05-18 Donnelly Corporation Object detection system for vehicle
FR2884625A1 (fr) * 2005-04-15 2006-10-20 Holding Bev Sa Sa Luxembourgeo Procede de guidage automatique de vehicule dans une voie de circulation, dispositif correspondant
JP4575275B2 (ja) 2005-11-02 2010-11-04 三菱ふそうトラック・バス株式会社 車両用表示装置
US7972045B2 (en) 2006-08-11 2011-07-05 Donnelly Corporation Automatic headlamp control system
US9900522B2 (en) 2010-12-01 2018-02-20 Magna Electronics Inc. System and method of establishing a multi-camera image using pixel remapping
US10793067B2 (en) 2011-07-26 2020-10-06 Magna Electronics Inc. Imaging system for vehicle
DE102013009424A1 (de) * 2013-06-04 2014-12-04 Volkswagen Aktiengesellschaft Notfallassistenz ohne aktivierte Querführungsunterstützung
CN104691333B (zh) * 2015-03-30 2017-03-15 吉林大学 基于车道偏离频次的长途客车驾驶员疲劳状态评价方法
DE102020115113A1 (de) 2020-06-08 2021-12-09 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenzsystem zur automatisierten Längsführung eines Kraftfahrzeugs
CN113591544A (zh) * 2021-06-10 2021-11-02 东风汽车集团股份有限公司 通过车辆对用户进行追踪的方法、系统、装置及电子设备

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JPS6483423A (en) * 1987-09-24 1989-03-29 Masazumi Murai Warning device for preventing dozing of driver in running automobile
JPH07111734B2 (ja) * 1989-03-30 1995-11-29 本田技研工業株式会社 走行路判別方法

Also Published As

Publication number Publication date
FR2679357A1 (fr) 1993-01-22
FR2679357B1 (fr) 1997-01-31
DE69204239T2 (de) 1996-01-25
EP0527665B1 (de) 1995-08-23
ES2076712T3 (es) 1995-11-01
EP0527665A1 (de) 1993-02-17

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee