EP1664842A1 - Environmental detection system comprising two transmitters and receivers placed at a distance from one another - Google Patents

Environmental detection system comprising two transmitters and receivers placed at a distance from one another

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Publication number
EP1664842A1
EP1664842A1 EP04762686A EP04762686A EP1664842A1 EP 1664842 A1 EP1664842 A1 EP 1664842A1 EP 04762686 A EP04762686 A EP 04762686A EP 04762686 A EP04762686 A EP 04762686A EP 1664842 A1 EP1664842 A1 EP 1664842A1
Authority
EP
European Patent Office
Prior art keywords
transmitter
receiver
target area
detection system
transmitters
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04762686A
Other languages
German (de)
French (fr)
Inventor
Holger Schanz
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.)
ADC Automotive Distance Control Systems GmbH
Original Assignee
ADC Automotive Distance Control Systems GmbH
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 ADC Automotive Distance Control Systems GmbH filed Critical ADC Automotive Distance Control Systems GmbH
Publication of EP1664842A1 publication Critical patent/EP1664842A1/en
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the invention relates to an environment detection system according to the preamble of claim 1.
  • environment detection systems will be used in particular in the future
  • Automotive area used for distance control, lane warning and guidance or to initiate measures in the event of an impending collision.
  • the transmitters each generate an illuminated target area in accordance with a predetermined scatter, into which a receiver is directed and detects the reflections from the target area.
  • the transmitter and receiver are usually located in the immediate vicinity.
  • the target area is approximately conical due to the scattering angle.
  • the transmitters In order to record the entire lane, the transmitters must be spaced accordingly. While in the area of large distances from the vehicle the conical target areas touch each other with a corresponding distance of the transmitters, an area that cannot be detected arises in the near area.
  • a third transmitter and a correspondingly aligned receiver would also have to be provided, as can be seen in FIG. 1.
  • the object of the invention is to present an alternative environment detection system which enables the most comprehensive detection possible. This object is achieved by the features of claim 1. Advantageous further developments can be found in the subclaims.
  • the invention is based on the idea of using appropriate optical means to guide at least some of the waves emitted by a transmitter into the third target area to be detected and to detect reflections occurring there from the spaced-apart receiver, i.e. ultimately to implement cross-coupling of the transmitters and receivers ,
  • FIG. 1 shows an environment detection system in a motor vehicle, as is known to be used in the future for distance control or pre-crash detection or other areas of application. It has at least two transmitters S1, S2 of electromagnetic waves, which in this example are arranged on the right and left side of the vehicle with the transmission direction in the direction of travel. Correspondingly, two receivers E1, E2 are provided for receiving reflections of the emitted waves, the first transmitter S1 with the first receiver E1 being aligned with a first target area Z1 and a second transmitter S2 with a second receiver E2 with a second target area Z2.
  • the front area in front of the vehicle is completely detected at least from a certain distance. In the near area, because of the cone-shaped target areas that diverge in the direction of travel, an area that is not covered remains.
  • At least the first transmitter S1, but preferably both transmitters S1 and S2 have optical means which at least temporarily guide at least some of the waves emitted by this transmitter S1 into the third target area Z3 and at least the second receiver E2, preferably also the first receiver E1, has optical means which at least temporarily direct reflections of the waves emitted by the first transmitter S1 into the third target area Z3 onto the second receiver E2.
  • Appropriately adapted lenses, prisms or lenses are considered as optical means.
  • These optical means for illuminating and capturing the third target area Z3 can either be temporarily arranged in front of the transmitters and receivers, so that a cyclical change occurs between capturing Z1, Z2 and Z3.
  • the optical means are preferably arranged permanently in front of the first transmitter S1 and the second receiver E2 and in this case only direct a part of the emitted waves to the target area Z3 or from this target area Z3 to the receiver E2.
  • the first transmitter S1 then transmits, the first receiver E1 detecting the first target area Z1 and second receiver E2 the third target area Z3, while the second transmitter S2 is inactive, as outlined in FIG. 2.
  • the second transmitter S2 transmits, the second receiver E2 detecting the second target area Z2.
  • the first receiver E1 can also detect the third target area (Z3) during the second operating phase. Then the third target area is recorded twice as often as the first and second target area, which is also desirable, however, since the third target area encompasses the immediate vicinity of the vehicle and the detection there is particularly time-critical.
  • the third target area Z3 at least partially captures a near area lying between the first and second target areas Z1, Z2, but can certainly overlap this.
  • the timing of the transmitters and receivers and the evaluation of the signals from the receivers and the assignment to the target area is carried out in a central evaluation unit 1, which then makes the processed signals available to the corresponding application units.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention relates to an environmental detection system comprising two transmitters of electromagnetic waves and two correspondingly configured receivers for receiving reflections of the emitted waves, a first transmitter and first receiver being oriented towards a first target zone and a second transmitter and second receiver being oriented towards a second target zone. To detect a third target zone, optical elements are provided in front of at least the first transmitter, said elements at least intermittently guiding at least some of the waves emitted from said transmitter into the third target zone and optical elements are provided in front of at least the second receiver, said elements at least intermittently guiding reflections of the waves emitted by the first transmitter into the third target zone onto the second receiver. Preferably, the optical elements are permanent and the transmitters are alternately active, in such a way that one respective receiver detects the third target zone without interference. This permits the entire front area in the direction of travel to be detected for a motor vehicle by means of a transmitter-receiver pair located in said direction of travel on the left-hand and right-hand side of the vehicle.

Description

Umgebungserfassungssvstem mit zwei beabstandeten Sendern und Empfängern Environment detection system with two spaced transmitters and receivers
Die Erfindung betrifft ein Umgebungserfassungssystem gemäß dem Oberbegriff des Anspruchs 1. Derartige Umgebungserfassungssysteme werden in Zukunft insbesondere imThe invention relates to an environment detection system according to the preamble of claim 1. Such environment detection systems will be used in particular in the future
Kraftfahrzeugbereich für die Abstandsregelung, Spurwarnung und Spurführung oder zur Einleitung von Maßnahmen bei einem drohenden Zusammenstoß eingesetzt.Automotive area used for distance control, lane warning and guidance or to initiate measures in the event of an impending collision.
Die Sender erzeugen dabei entsprechend einer vorgegebenen Streuung jeweils ein beleuchtetes Zielgebiet, in welches jeweils ein Empfänger gerichtet ist und die Reflexionen aus dem Zielgebiet erfasst. Dabei sind Sender und Empfänger in der Regel in unmittelbarer Nachbarschaft angeordnet. Das Zielgebiet ist dabei bedingt durch den Streuwinkel einen annähernd kegelförmig. Um die gesamt Fahrbahn zu erfassen, müssen die Sender entsprechend beabstandet sein. Während im Bereich großer Abstände zum Fahrzeug die kegelförmigen Zielgebiete bei entsprechendem Abstand der Sender sich berühren, entsteht jedoch im Nahbereich ein nicht erfassbarer Bereich. Um diesen abzudecken, müsste zusätzlich ein dritter Sender und ein entsprechend ausgerichteter Empfänger vorgesehen werden, wie in Fig. 1 zu erkennen.The transmitters each generate an illuminated target area in accordance with a predetermined scatter, into which a receiver is directed and detects the reflections from the target area. The transmitter and receiver are usually located in the immediate vicinity. The target area is approximately conical due to the scattering angle. In order to record the entire lane, the transmitters must be spaced accordingly. While in the area of large distances from the vehicle the conical target areas touch each other with a corresponding distance of the transmitters, an area that cannot be detected arises in the near area. In order to cover this, a third transmitter and a correspondingly aligned receiver would also have to be provided, as can be seen in FIG. 1.
Aufgabe der Erfindung ist es, ein alternatives Umgebungserfassungssystem vorzustellen, welches eine möglichst umfassende Erfassung ermöglicht. Diese Aufgabe wird durch die Merkmaie des Anspruchs 1 gelöst. Vorteilhafte Weiterbildungen sind den Unteransprüchen zu entnehmen.The object of the invention is to present an alternative environment detection system which enables the most comprehensive detection possible. This object is achieved by the features of claim 1. Advantageous further developments can be found in the subclaims.
Die Erfindung basiert auf der Überlegung, durch entsprechende optische Mittel zumindest einen Teil der von einem Sender ausgesendeten Wellen in das zu erfassende dritte Zielgebiet zu lenken und dort auftretende Reflexionen von dem beabstandeten Empfänger aus zu erfassen, also letztlich eine Uberkreuzverkopplung der Sender und Empfänger zu realisieren.The invention is based on the idea of using appropriate optical means to guide at least some of the waves emitted by a transmitter into the third target area to be detected and to detect reflections occurring there from the spaced-apart receiver, i.e. ultimately to implement cross-coupling of the transmitters and receivers ,
Die Erfindung wird nachfolgend anhand von Ausführungsbeispielen und Figuren näher erläutert. Kurze Beschreibung der Figuren:The invention is explained in more detail below on the basis of exemplary embodiments and figures. Brief description of the figures:
Fig.1 Umgebungserfassungssystem in einem Kraftfahrzeug gemäß dem Stand der Technik1 environment detection system in a motor vehicle according to the prior art
Fig.2 Ausgestaltung eines erfindungsgemäßen Umgebungserfassungssystems in der ersten Betriebsphase2 embodiment of an environment detection system according to the invention in the first operating phase
Fig.3 Umgebungserfassungssystems in der zweiten Betriebsphase Die Figur 1 zeigt ein Umgebungserfassungssystem in einem Kraftfahrzeug, wie es bekanntermaßen zukünftig für die Abstandsreglung oder Precrasherkennung oder weitere Anwendungsgebiete eingesetzt werden kann. Es weist zumindest zwei Sendem S1 ,S2 von elektromagnetischen Wellen auf, die in diesem Beispiel an der rechten und linken Seite des Fahrzeugs mit Senderichtung in Fahrtrichtung angeordnet sind. Entsprechend sind zwei Empfänger E1 ,E2 zum Empfang von Reflexionen der ausgesendeten Wellen vorgesehen, wobei der erste Sender S1 mit dem ersten Empfänger E1 auf ein erstes Zielgebiet Z1 und ein zweiter Sender S2 mit einem zweiten Empfänger E2 auf ein zweites Zielgebiet Z2 ausgerichtet sind. Dadurch wird zumindest ab einer bestimmten Entfernung der Frontbereich vor dem Fahrzeug vollständig erfasst. Im Nahbereich verbleibt wegen der kegelförmig in Fahrtrichtung auseinander laufenden Zielgebiete eine nicht erfassten Bereich.Fig. 3 environment detection system in the second operating phase FIG. 1 shows an environment detection system in a motor vehicle, as is known to be used in the future for distance control or pre-crash detection or other areas of application. It has at least two transmitters S1, S2 of electromagnetic waves, which in this example are arranged on the right and left side of the vehicle with the transmission direction in the direction of travel. Correspondingly, two receivers E1, E2 are provided for receiving reflections of the emitted waves, the first transmitter S1 with the first receiver E1 being aligned with a first target area Z1 and a second transmitter S2 with a second receiver E2 with a second target area Z2. As a result, the front area in front of the vehicle is completely detected at least from a certain distance. In the near area, because of the cone-shaped target areas that diverge in the direction of travel, an area that is not covered remains.
Erfindungsgemäß wird daher vorgeschlagen, dass wie in Fig. 2 skizziert, dass zumindest der erste Sender S1 , vorzugsweise jedoch beide Sender S1 und S2 optische Mittel aufweisen, die zumindest zeitweise zumindest einen Teil der von diesem Sender S1 ausgesendeten Wellen in das dritte Zielgebiet Z3 lenken und zumindest der zweite Empfänger E2, vorzugsweise auch der erste Empfänger E1 optische Mittel aufweist, die zumindest zeitweise Reflexionen der vom ersten Sender S1 in das dritte Zielgebiet Z3 ausgesendeten Wellen auf den zweiten Empfänger E2 lenken. Als optische Mittel kommend dabei entsprechend angepasste Linsen, Prismen oder Streuscheiben in Betracht. Diese optischen Mittel können zur Beleuchtung und Erfassung des dritten Zielgebiets Z3 entweder zeitweise vor den Sendern und Empfängern anordnet werden, so dass ein zyklischer Wechsel zwischen Erfassung von Z1 ,Z2 und Z3 erfolgt.It is therefore proposed according to the invention that, as outlined in FIG. 2, at least the first transmitter S1, but preferably both transmitters S1 and S2, have optical means which at least temporarily guide at least some of the waves emitted by this transmitter S1 into the third target area Z3 and at least the second receiver E2, preferably also the first receiver E1, has optical means which at least temporarily direct reflections of the waves emitted by the first transmitter S1 into the third target area Z3 onto the second receiver E2. Appropriately adapted lenses, prisms or lenses are considered as optical means. These optical means for illuminating and capturing the third target area Z3 can either be temporarily arranged in front of the transmitters and receivers, so that a cyclical change occurs between capturing Z1, Z2 and Z3.
Vorzugsweise sind die optischen Mittel jedoch permanent vordem ersten Sender S1 und dem zweiten Empfänger E2 angeordnet und lenken dabei jeweils nur einen Teil der ausgesendeten Wellen auf das Zielgebiet Z3 bzw. von diesem Zielgebiet Z3 dann auf den Empfänger E2.However, the optical means are preferably arranged permanently in front of the first transmitter S1 and the second receiver E2 and in this case only direct a part of the emitted waves to the target area Z3 or from this target area Z3 to the receiver E2.
In einer ersten Betriebsphase sendet dann der erste Sender S1, wobei dabei der erste Empfänger E1 das erste Zielgebiet Z1 und zweite Empfänger E2 das dritte Zielgebiet Z3 erfassen, während der zweite Sender S2 inaktiv ist, wie in Fig. 2 skizziert.In a first operating phase, the first transmitter S1 then transmits, the first receiver E1 detecting the first target area Z1 and second receiver E2 the third target area Z3, while the second transmitter S2 is inactive, as outlined in FIG. 2.
In einer zweiten Betriebsphase gemäß Fig. 3 sendet der zweite Sender S2, wobei der zweite Empfänger E2 das zweite Zielgebiet Z2 erfasst. Vorzugsweise kann natürlich während der zweiten Betriebsphase auch der erste Empfänger E1 das dritte Zielgebiet (Z3) erfassen. Dann wird das dritte Zielgebiet doppelt so häufig erfasst wie das erste und zweite Zielgebiet, was jedoch auch gewünscht ist, da das dritte Zielgebiet den unmittelbaren Nahbereich vordem Fahrzeug umfasst und die Erfassung dort besonders zeitkritisch ist.In a second operating phase according to FIG. 3, the second transmitter S2 transmits, the second receiver E2 detecting the second target area Z2. Preferably, of course, the first receiver E1 can also detect the third target area (Z3) during the second operating phase. Then the third target area is recorded twice as often as the first and second target area, which is also desirable, however, since the third target area encompasses the immediate vicinity of the vehicle and the detection there is particularly time-critical.
Das dritte Zielgebiet Z3 erfasst zumindest teilweise einen zwischen dem ersten und zweiten Zielgebiet Z1 ,Z2 liegenden Nahbereich, kann diese jedoch durchaus überschneiden. Die zeitliche Steuerung der Sender und Empfänger und die Auswertung der Signale der Empfänger und die Zuordnung zu den Zielgebiet erfolgt dabei in einer zentralen Auswerteeinheit 1 , welche die aufbereiteten Signale dann den entsprechenden Anwendungseinheiten zur Verfügung stellt. The third target area Z3 at least partially captures a near area lying between the first and second target areas Z1, Z2, but can certainly overlap this. The timing of the transmitters and receivers and the evaluation of the signals from the receivers and the assignment to the target area is carried out in a central evaluation unit 1, which then makes the processed signals available to the corresponding application units.

Claims

Patentansprücheclaims
1 ) Umgebungserfassungssystem, insbesondere für Kraftfahrzeuge, bestehend aus zumindest zwei Sendem (S1 ,S2) von elektromagnetischen Wellen und zwei Empfängern (E1,E2) zum Empfang von Reflexionen der ausgesendeten Wellen , wobei ein erster Sender (S1) mit einem ersten Empfänger (E1) auf ein erstes Zielgebiet (Z1) und ein zweiter Sender (S2) mit einem zweiten Empfänger (E2) auf ein zweites Zielgebiet (Z2) ausgerichtet sind, dadurch gekennzeichnet, dass1) Environment detection system, in particular for motor vehicles, consisting of at least two transmitters (S1, S2) of electromagnetic waves and two receivers (E1, E2) for receiving reflections of the emitted waves, a first transmitter (S1) having a first receiver (E1 ) are aimed at a first target area (Z1) and a second transmitter (S2) with a second receiver (E2) at a second target area (Z2), characterized in that
• zumindest der erste Sender (S1)"optische Mittel aufweist, die zumindest zeitweise zumindest einen Teil der von diesem Sender (S1) ausgesendeten Wellen in ein drittes Zielgebiet (Z3) lenken und• at least the first transmitter (S1) "has optical means which, at least at times, direct at least some of the waves emitted by this transmitter (S1) into a third target area (Z3) and
• zumindest der zweite Empfänger (E2) optische Mittel aufweist, die zumindest zeitweise Reflexionen der vom ersten Sender (S1) in das dritte Zielgebiet (Z3) ausgesendeten Wellen auf den zweiten Empfänger (E2) lenken.• at least the second receiver (E2) has optical means which at least temporarily direct reflections of the waves emitted by the first transmitter (S1) into the third target area (Z3) onto the second receiver (E2).
2) Umgebungserfassungssystem nach Anspruch 1 , dadurch gekennzeichnet, dass2) Environment detection system according to claim 1, characterized in that
• die optischen Mittel permanent vor dem ersten Sender (S1) und dem zweiten Empfänger (E2) angeordnet sind und• The optical means are permanently arranged in front of the first transmitter (S1) and the second receiver (E2) and
• in einer ersten Betriebsphase der erste Sender (S1) sendet und der erste Empfänger (E1) das erste Zielgebiet (Z1) und zweite Empfänger (E2) das dritte Zielgebiet (Z3) erfassen, während der zweite Sender (S2) inaktiv ist, undIn a first operating phase the first transmitter (S1) transmits and the first receiver (E1) detects the first target area (Z1) and second receiver (E2) the third target area (Z3) while the second transmitter (S2) is inactive, and
• in einer zweiten Betriebsphase der zweite Sender (S2) sendet und der zweite Empfänger (E2) das zweite Zielgebiet (Z2) erfasst.• in a second operating phase the second transmitter (S2) transmits and the second receiver (E2) detects the second target area (Z2).
3) Umgebungserfassungssystem nach Anspruch 2, dadurch gekennzeichnet, dass3) Environment detection system according to claim 2, characterized in that
• vor dem ersten und zweiten Sender (S1 ,S2) als auch vor dem ersten und zweiten Empfänger (E1 ,E2) jeweils permanent optische Mittel vorgesehen sind, die welche die Sender und Empfänger jeweils teilweise auf das dritte Zielgebiet (Z3) lenken,In front of the first and second transmitters (S1, S2) and in front of the first and second receivers (E1, E2) permanent optical means are provided, each of which partially directs the transmitter and receiver to the third target area (Z3),
• in einer ersten Betriebsphase der erste Sender (S1) sendet und der erste Empfänger (E1) das erste Zielgebiet (Z1) und zweite Empfänger (E2) das dritte Zielgebiet (Z3) erfasst, während der zweite Sender (S2) inaktiv ist, undIn a first operating phase, the first transmitter (S1) transmits and the first receiver (E1) detects the first target area (Z1) and second receiver (E2) the third target area (Z3) while the second transmitter (S2) is inactive, and
• in einer zweiten Betriebsphase der zweite Sender (S2) sendet und der erste Empfänger (E1) das dritte Zielgebiet (Z3) und der zweite Empfänger (E2) das zweite Zielgebiet (Z2)' erfasst' 4) Umgebungserfassungssystem nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass das dritte Zielgebiet (Z3) zumindest teilweise einen zwischen dem ersten und zweiten Zielgebiet (Z1 ,Z2) liegenden Nahbereich erfassen.In a second operating phase the second transmitter (S2) transmits and the first receiver (E1) ' detects ' the third target area (Z3) and the second receiver (E2) the second target area (Z2) 4) Environment detection system according to one of the preceding claims, characterized in that the third target area (Z3) at least partially detect a near area lying between the first and second target area (Z1, Z2).
5) Kraftfahrzeug mit einem Umgebungserfassungssystem nach einem der vorangehenden Ansprüche. 5) Motor vehicle with an environment detection system according to one of the preceding claims.
EP04762686A 2003-09-17 2004-08-19 Environmental detection system comprising two transmitters and receivers placed at a distance from one another Withdrawn EP1664842A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10342836A DE10342836A1 (en) 2003-09-17 2003-09-17 Environment detection system with two spaced transmitters and receivers
PCT/DE2004/001845 WO2005029124A1 (en) 2003-09-17 2004-08-19 Environmental detection system comprising two transmitters and receivers placed at a distance from one another

Publications (1)

Publication Number Publication Date
EP1664842A1 true EP1664842A1 (en) 2006-06-07

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US (1) US20070115454A1 (en)
EP (1) EP1664842A1 (en)
JP (1) JP2007506117A (en)
KR (1) KR20060070562A (en)
CN (1) CN1853116A (en)
DE (2) DE10342836A1 (en)
WO (1) WO2005029124A1 (en)

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CN1853116A (en) 2006-10-25
US20070115454A1 (en) 2007-05-24
JP2007506117A (en) 2007-03-15
WO2005029124A1 (en) 2005-03-31
DE112004002283D2 (en) 2006-08-10
KR20060070562A (en) 2006-06-23
DE10342836A1 (en) 2005-04-28

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