EP1715285B1 - Method and simulation of fictitious system states of a system controlled by a central computer of a vehicle system or of a weapon system - Google Patents

Method and simulation of fictitious system states of a system controlled by a central computer of a vehicle system or of a weapon system Download PDF

Info

Publication number
EP1715285B1
EP1715285B1 EP06007783.1A EP06007783A EP1715285B1 EP 1715285 B1 EP1715285 B1 EP 1715285B1 EP 06007783 A EP06007783 A EP 06007783A EP 1715285 B1 EP1715285 B1 EP 1715285B1
Authority
EP
European Patent Office
Prior art keywords
simulation
central computer
data
die
computer
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.)
Not-in-force
Application number
EP06007783.1A
Other languages
German (de)
French (fr)
Other versions
EP1715285A1 (en
EP1715285B2 (en
Inventor
Dirk Dr. Schmidt
Rudolf Schmidt
Norbert Trost
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.)
Krauss Maffei Wegmann GmbH and Co KG
Original Assignee
Krauss Maffei Wegmann GmbH and Co KG
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=36763580&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1715285(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Krauss Maffei Wegmann GmbH and Co KG filed Critical Krauss Maffei Wegmann GmbH and Co KG
Priority to PL06007783T priority Critical patent/PL1715285T3/en
Publication of EP1715285A1 publication Critical patent/EP1715285A1/en
Publication of EP1715285B1 publication Critical patent/EP1715285B1/en
Application granted granted Critical
Publication of EP1715285B2 publication Critical patent/EP1715285B2/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/26—Teaching or practice apparatus for gun-aiming or gun-laying
    • F41G3/2616—Teaching or practice apparatus for gun-aiming or gun-laying using a light emitting device
    • F41G3/2694—Teaching or practice apparatus for gun-aiming or gun-laying using a light emitting device for simulating a target

Definitions

  • the invention relates to a method for simulating fictitious system states of a central computer-controlled vehicle or weapon system, with the features of the preamble of patent claim 1.
  • the central computer has the function here, from data which are supplied on the input side of data-generating devices such as operating devices, sensors or other modules, to calculate new system states by means of logic software and these system states on the output side data receiving devices, such as displays and actuators supply.
  • the central computer thus responds to operator input or to changing environmental conditions.
  • the HMI devices allow an operator to give instructions or make inquiries to the system, for example, the sensors provide the system with information about the environment via the sensors.
  • the other modules may be able to communicate their functional status to the central computer.
  • the central computer processes this information. For example, the displays show the operator the new system state, and the actuators, such as motors, allow actions to be performed according to the new system states.
  • Such a system has the advantage that it can easily be adapted for simulation purposes: because all the data is collected in the central computer, which makes the calculation of the new system states and the new system states are coordinated by him, an intervention at this point for simulation purposes be used.
  • One possibility is to exchange the central computer for a simulation computer.
  • Another possibility is to leave the central computer in the system, but outsource its functions in a simulation computer, or to emulate the logic software for calculating the new system states in a simulation computer.
  • the patent discloses an armored land vehicle system, in particular an armored vehicle system, which is designed as a central computer-controlled system.
  • a simulation computer is connected to the central computer, all model-specific data of the land vehicle and its weapons system are transferred to the simulation computer.
  • a model-specific software is selected and started up on the simulation computer. If the land vehicle system is in simulation mode, then all real operation and movement functions of the land vehicle, such as the engine, the steering, the Weapon system and the like, blocked. This means that if the trainee wants to start, for example, the vehicle does not really start, because this movement function is blocked, but the start is only simulated. However, not only all real motion functions but also all real operating functions are blocked, ie the simulation computer undertakes the calculation of the new system states.
  • the invention is therefore based on the object, a method with the features of the preamble of claim 1 in such a way that a validation of the system by means of a simulation computer is made possible, it being avoided that the logic software of the central computer is simulated in the simulation computer ,
  • a simulation computer is connected to the system, advantageously to the central computer of the system, whereby the system transitions from a normal mode to a simulation mode.
  • the simulation computer has the task of transmitting simulation data to the central computer.
  • the simulation data transmitted by the simulation computer at least partially overwrites the true real data from the input-side data-generating devices.
  • the central computer calculates the new system state by means of the simulation data and the non-overwritten real data and supplies it to the simulation computer so that it also has the corresponding current data.
  • the central computer uses the logic software in the same way as it does in normal mode, i. without a connected simulation computer would use.
  • the simulation data can hereby be specified in any manner for the simulation of fictitious system states from the outside.
  • fictitious system states may represent, for example, fictitious environmental conditions or a fictitious failure of a system element.
  • the invention makes it possible to validate the system in a simple manner. By specifying various fictitious states, it is possible to check how the system reacts to these states.
  • the system can be used for training purposes.
  • the instructor can specify different fictitious states to which the trainee must react.
  • the FIG. 1 shows a central computer-controlled vehicle system in normal mode.
  • the vehicle system has a central computer 1, on which the input side as the data-generating means, an accelerator pedal 3 as a control unit and a speed sensor 4 as a sensor that measures the current speed of the vehicle are connected.
  • On the output side are as data receiving means a consumption display 5 as a display, which indicates the current fuel consumption and an injection system 6 for the engine connected as an actuator.
  • the central computer 1 calculates, by means of a dedicated unit 7, due to the change in the position of the accelerator pedal 3 and the current speed measured by the speed sensor 4, an acceleration and an amount of fuel to be injected into the engine from the injection system 6. It also controls the current fuel consumption displayed on the consumption display 5.
  • the data-generating means transmit real data to the central computer, which calculates new system states by means of a logic software.
  • the new system states are supplied to the data receiving means.
  • FIG. 2 shows the central computer controlled system in simulation mode with connected simulation computer 2.
  • the simulation computer 2 sends simulation data to the central computer 1, wherein the simulation data partially overwrite the real data in the central computer 1.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Feedback Control In General (AREA)
  • Toys (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The method for simulating fictitious system states of a system by a central computer (1), in particular, a vehicle or weapon system involves use of simulation data specified by the simulation computer (2) jointly with real data for production of new system states.

Description

Die Erfindung betrifft ein Verfahren zur Simulation fiktiver Systemzustände eines zentralrechnergesteuerten Fahrzeug- oder Waffensystems, mit den Merkmalen aus dem Oberbegriff des Patentanspruchs 1.The invention relates to a method for simulating fictitious system states of a central computer-controlled vehicle or weapon system, with the features of the preamble of patent claim 1.

Der Zentralrechner hat hierbei die Funktion, aus Daten, welche eingangsseitig von datengenerierenden Vorrichtungen, wie Bediengeräten, Sensoren oder sonstigen Baugruppen zugeführt werden, mittels einer Logik-Software neue Systemzustände zu berechnen und diese Systemzustände ausgangsseitig datenempfangenden Vorrichtungen, wie Anzeigen und Aktuatoren, zuzuführen. Der Zentralrechner reagiert somit auf Bedienereingaben oder auf wechselnde Umgebungsbedingungen. Über die Bediengeräte kann ein Bediener dem System beispielsweise Anweisungen erteilen oder Anfragen stellen, über die Sensoren erhält das System beispielsweise Informationen über die Umgebung. Die sonstigen Baugruppen können in der Lage sein, dem Zentralrechner ihren Funktions-Status mitzuteilen. Der Zentralrechner verarbeitet diese Informationen. Über die Anzeigen wird dem Bediener beispielsweise der neue Systemzustand angezeigt, über die Aktuatoren, beispielsweise Motoren, können Aktionen entsprechend den neuen Systemzuständen durchgeführt werden.The central computer has the function here, from data which are supplied on the input side of data-generating devices such as operating devices, sensors or other modules, to calculate new system states by means of logic software and these system states on the output side data receiving devices, such as displays and actuators supply. The central computer thus responds to operator input or to changing environmental conditions. The HMI devices allow an operator to give instructions or make inquiries to the system, for example, the sensors provide the system with information about the environment via the sensors. The other modules may be able to communicate their functional status to the central computer. The central computer processes this information. For example, the displays show the operator the new system state, and the actuators, such as motors, allow actions to be performed according to the new system states.

Ein solches System hat den Vorteil, dass es in einfacher Weise für Simulationszwecke angepasst werden kann: Weil alle Daten im Zentralrechner gesammelt werden, dieser die Berechnung der neuen Systemzustände leistet und die neuen Systemzustände von ihm koordiniert werden, kann ein Eingriff an dieser Stelle für Simulationszwecke verwendet werden. Eine Möglichkeit ist, den Zentralrechner gegen einen Simulationsrechner auszutauschen. Eine weitere Möglichkeit ist, den Zentralrechner zwar im System zu belassen, dessen Funktionen allerdings in einen Simulationsrechner auszulagern, bzw. die Logik-Software zur Berechnung der neuen Systemzustände in einem Simulationsrechner nachzubilden.Such a system has the advantage that it can easily be adapted for simulation purposes: because all the data is collected in the central computer, which makes the calculation of the new system states and the new system states are coordinated by him, an intervention at this point for simulation purposes be used. One possibility is to exchange the central computer for a simulation computer. Another possibility is to leave the central computer in the system, but outsource its functions in a simulation computer, or to emulate the logic software for calculating the new system states in a simulation computer.

Diese Möglichkeit wird in der Patentschrift EP 0 947 797 B1 beschrieben. Die Patentschrift offenbart ein gepanzertes Landfahrzeugsystem, insbesondere ein Panzerfahrzeugsystem, welches als zentralrechnergesteuertes System ausgeführt ist. Zu Ausbildungszwecken wird ein Simulationsrechner an den Zentralrechner angeschlossen, wobei alle modellspezifischen Daten des Landfahrzeugs sowie dessen Waffenanlage auf den Simulationsrechner überspielt werden. Zentralrechnergesteuert wird auf dem Simulationsrechner eine modellspezifische Software angewählt und hochgefahren. Befindet sich das Landfahrzeugsystem im Simulations-Modus, so werden alle echten Betriebs- und Bewegungsfunktionen des Landfahrzeugs, wie des Motors, der Lenkung, der Waffenanlage und dergleichen, blockiert. Dies bedeutet, dass wenn der Auszubildende beispielsweise anfahren möchte, das Fahrzeug nicht wirklich anfährt, da diese Bewegungsfunktion blockiert wird, sondern das Anfahren wird nur simuliert. Es werden allerdings nicht nur alle echten Bewegungsfunktionen, sondern auch alle echten Betriebsfunktionen blockiert, d.h. der Simulationsrechner übernimmt die Berechnung der neuen Systemzustände.This possibility is described in the patent EP 0 947 797 B1 described. The patent discloses an armored land vehicle system, in particular an armored vehicle system, which is designed as a central computer-controlled system. For training purposes, a simulation computer is connected to the central computer, all model-specific data of the land vehicle and its weapons system are transferred to the simulation computer. Controlled by the central computer, a model-specific software is selected and started up on the simulation computer. If the land vehicle system is in simulation mode, then all real operation and movement functions of the land vehicle, such as the engine, the steering, the Weapon system and the like, blocked. This means that if the trainee wants to start, for example, the vehicle does not really start, because this movement function is blocked, but the start is only simulated. However, not only all real motion functions but also all real operating functions are blocked, ie the simulation computer undertakes the calculation of the new system states.

Nachteilig ist hierbei zum Einen, dass die zum Teil aufwändig entwickelten Betriebsfunktionen im Simulationsrechner nachgebildet werden müssen. Zum Anderen lässt sich hierbei keine Validierung des Systems durchführen, d.h. es ist nicht möglich zu überprüfen, wie das System auf von außen beliebig vorgegebene fiktive Situationen reagiert.The disadvantage here on the one hand, that the sometimes elaborately developed operating functions must be simulated in the simulation computer. On the other hand, no validation of the system can be carried out, i. it is not possible to check how the system responds to fictitious situations specified from outside.

Es wird im Folgenden ein Beispiel für die nachteilige Funktionsweise des in der Patentschrift EP 0 947 797 B1 beschriebenen Verfahrens angegeben.The following is an example of the adverse operation of the in the patent EP 0 947 797 B1 specified method.

Betrachtet werden soll ein Waffensystem mit einem optischen Zielerfassungssystem als Sensor, welches sich unabhängig von der Waffenanlage bewegt. Nach der Erfassung eines sich nicht bewegenden Ziels kann über ein Bedienelement, wie beispielsweise einem Schaltknopf, der Waffenanlage mitgeteilt werden, dass sie automatisch auf das erfasste Ziel einlaufen soll. Befindet sich das System nicht im Simulationseinsatz, so laufen folgende Betriebsabläufe ab:

  1. 1. Die mit dem Zielerfassungssystem ermittelten Winkel Azimuth und Elevation zwischen der Sichtlinie des Zielerfassungssystems und der Fahrzeuglängenachse werden dem Zentralrechner zugeführt.
  2. 2. Der Zentralrechner wartet auf alle weiteren Eingangsdaten, die er für die Berechnungen zur Zielbekämpfung benötigt. Diese Daten werden gegebenenfalls von anderen Sensoren ermittelt oder manuell eingegeben oder sind selbst Resultat anderer Betriebsabläufe. Notwendige Daten sind in diesem Beispiel u.a. die Winkel zwischen Fahrzeuglängenachse und Sichtlinie des Zielerfassungssystems sowie zwischen Fahrzeuglängenachse und Waffenrichtung, die Verkantung der Fahrzeugwanne, die Entfernung zum Ziel, die Munitionsart und daraus abgeleitete ballistische Eigenschaften und Umwelteinwirkungen, wie z.B. Windgeschwindigkeit und Windrichtung.
  3. 3. Der Zentralrechner berechnet auf der Basis der vorliegenden Informationen die ballistische Kurve, die ausgehend von der Waffenanlage unter Berücksichtigung aller Parameter in der vorgegebenen Entfernung das Ziel schneidet.
  4. 4. Der Zentralrechner berechnet die Winkel Azimuth und Elevation, die sich die Waffe aus ihrer aktuellen Position in die berechnete Position bewegen muss.
  5. 5. Der Zentralrechner wartet auf eine Anforderung des Bedieners (z.B. Knopfdruck), dass die Waffenanlage auf das Ziel einlaufen soll.
  6. 6. Sofern die Anforderung erfolgt, werden die berechneten Winkel vom Zentralrechner den Aktuatoren der Waffenanlage zugeführt.
Considered is a weapon system with an optical target detection system as a sensor, which moves independently of the weapon system. After detection of a non-moving target, a control element, such as a switch button, can inform the weapon system that it should automatically run into the detected target. If the system is not in the simulation application, the following operations will take place:
  1. 1. The azimuth and elevation angles between the line of sight of the target detection system and the vehicle's longitudinal axis as determined by the target acquisition system are fed to the central computer.
  2. 2. The central computer waits for all further input data, which it needs for the calculations for target control. If necessary, these data are determined by other sensors or input manually or are themselves the result of other operations. necessary In this example, data includes the angles between the vehicle's longitudinal axis and the line of sight of the target detection system, the vehicle trough tilt, the distance to the target, the type of ammunition and the ballistic properties and environmental effects derived therefrom, such as wind speed and wind direction.
  3. 3. The central computer calculates, on the basis of the available information, the ballistic curve which, starting from the weapon system, intersects the target, taking into account all parameters at the given distance.
  4. 4. The central calculator calculates the azimuth and elevation angles that the weapon must move from its current position to the calculated position.
  5. 5. The central computer waits for a request from the operator (eg push-button) that the weapon system should arrive at the destination.
  6. 6. If the request is made, the calculated angles are fed from the central computer to the actuators of the weapon system.

Befindet sich das System nun im Simulationseinsatz, so wie in der Patentschrift EP 0 947 797 B1 beschrieben, so werden alle Betriebsabläufe im Zentralrechner blockiert. Das Verfahren erfolgt somit nach folgendem Ablauf:

  1. 1. Das Zielerfassungssystem wird im Simulationsrechner für ein virtuelles Ziel simuliert. Das Resultat sind simulierte Winkel Azimuth und Elevation.
  2. 2. Der Zentralrechner führt dem Simulationsrechner alle weiteren Eingangsdaten zu, die er für seine Berechnungen zur Zielbekämpfung benötigt.
  3. 3. Der Simulationsrechner berechnet auf der Basis der vorliegenden Informationen die ballistische Kurve.
  4. 4. Der Simulationsrechner berechnet die Winkel Azimuth und Elevation, die sich die Waffe aus ihrer aktuellen Position bewegen muss.
  5. 5. Der Simulationsrechner wartet auf eine Anforderung des Bedieners (z.B. Knopfdruck), dass die Waffenanlage auf das Ziel einlaufen soll.
  6. 6. Sofern die Anforderung erfolgt, wird zum Einen die Waffenanlage blockiert und zum Anderen das Einlaufen der Waffe auf das Ziel zu simuliert.
The system is now in the simulation use, as in the patent EP 0 947 797 B1 described, all operations are blocked in the central computer. The procedure thus follows the following procedure:
  1. 1. The target acquisition system is simulated in the simulation computer for a virtual target. The result is simulated azimuth and elevation angles.
  2. 2. The central computer supplies the simulation computer with all other input data that it needs for its targeting calculations.
  3. 3. The simulation computer calculates the ballistic curve on the basis of the available information.
  4. 4. The simulation calculator calculates the azimuth and elevation angles that the weapon must move from its current position.
  5. 5. The simulation computer waits for a request from the operator (eg push-button) that the weapon system should arrive at the destination.
  6. 6. If the request is made, on the one hand the weapon system is blocked and on the other simulated the running in of the weapon on the target.

Weil alle Betriebsabläufe im Simulationsrechner nachgebildet werden, entstehen sehr hohe finanzielle Kosten. Nachteilig ist ferner, dass bei einer Änderung einer Betriebsfunktion im Zentralrechner diese Änderung mit hohem Aufwand auch im Simulationsrechner nachgearbeitet werden muss. Des Weiteren ist durch die Nachbildung aller Betriebsabläufe im Simulationsrechner eine zusätzliche Fehlerquelle entstanden.Because all operations are simulated in the simulation computer, very high financial costs arise. Another disadvantage is that when changing an operating function in the central computer, this change must be reworked with great effort in the simulation computer. Furthermore, the simulation of all operating processes in the simulation computer has created an additional source of error.

Der Erfindung liegt also die Aufgabe zu Grunde, ein Verfahren mit den Merkmalen aus dem Oberbegriff des Patentanspruchs 1 so auszugestalten, dass eine Validierung des System mittels eines Simulationsrechners ermöglicht wird, wobei vermieden werden soll, dass die Logik-Software des Zentralrechners im Simulationsrechner nachgebildet wird.The invention is therefore based on the object, a method with the features of the preamble of claim 1 in such a way that a validation of the system by means of a simulation computer is made possible, it being avoided that the logic software of the central computer is simulated in the simulation computer ,

Die Lösung der Aufgabe erfolgt erfindungsgemäß mit den Merkmalen aus dem kennzeichnenden Teil des Patentanspruchs 1. Vorteilhafte Weiterbildungen sind in den abhängigen Ansprüchen beschrieben.The object is achieved according to the invention with the features of the characterizing part of claim 1. Advantageous further developments are described in the dependent claims.

Zur Simulation von fiktiven Systemzuständen eines zentralrechnergesteuertem Systems wird ein Simulationsrechner an das System, vorteilhafter Weise an den Zentralrechner des Systems angeschlossen, wodurch das System aus einem Normalmodus in einen Simulationsmodus übergeht. Der Simulationsrechner hat die Aufgabe, Simulations-Daten an den Zentralrechner zu übermitteln.To simulate fictitious system states of a central computer-controlled system, a simulation computer is connected to the system, advantageously to the central computer of the system, whereby the system transitions from a normal mode to a simulation mode. The simulation computer has the task of transmitting simulation data to the central computer.

Die vom Simulationsrechner übermittelten Simulations-Daten überschreiben zumindest teilweise die echten Real-Daten von den eingangsseitig datengenerierenden Vorrichtungen. Der Zentralrechner berechnet mittels der Simulations-Daten und der nicht überschriebenen Real-Daten den neuen Systemzustand und führt diesen dem Simulationsrechner zu, damit dieser auch über die entsprechenden aktuellen Daten verfügt. Der Zentralrechner verwendet hierfür die Logik-Software in der selben Art und Weise, wie er sie im Normalmodus, d.h. ohne angeschlossenem Simulationsrechner, verwenden würde. Die Simulations-Daten können hierbei in beliebiger Weise zur Simulation von fiktiven System-Zuständen von außen vorgegeben werden. Solche fiktiven SystemZustände können beispielsweise fiktive Umgebungsbedingungen oder ein fiktiver Ausfall eines Systemelementes darstellen.The simulation data transmitted by the simulation computer at least partially overwrites the true real data from the input-side data-generating devices. The central computer calculates the new system state by means of the simulation data and the non-overwritten real data and supplies it to the simulation computer so that it also has the corresponding current data. The central computer uses the logic software in the same way as it does in normal mode, i. without a connected simulation computer would use. The simulation data can hereby be specified in any manner for the simulation of fictitious system states from the outside. Such fictitious system states may represent, for example, fictitious environmental conditions or a fictitious failure of a system element.

Durch die Erfindung ist zum Einen eine Validierung des Systems in einfacher Weise möglich. Durch Vorgabe verschiedener fiktiver Zustände lässt sich überprüfen, wie das System auf diese Zustände reagiert.On the one hand, the invention makes it possible to validate the system in a simple manner. By specifying various fictitious states, it is possible to check how the system reacts to these states.

Zum Anderen lässt sich das System zu Ausbildungszwecken verwenden. Der Ausbilder kann verschiedene fiktive Zustände vorgeben, auf die der Auszubildende reagieren muss.On the other hand, the system can be used for training purposes. The instructor can specify different fictitious states to which the trainee must react.

Im Folgenden soll anhand des bereits geschilderten Beispiels "Waffensystem mit einem optischen Zielerfassungssystem" ein mögliches Ausführungsbeispiel für ein Verfahren nach der Erfindung erläutert werden.In the following, a possible exemplary embodiment of a method according to the invention will be explained on the basis of the already described example "weapon system with an optical target detection system".

Wenn sich das Waffensystem nicht im Simulationsmodus sondern im Normalmodus befindet, so laufen alle Betriebsabläufe genauso wie anfangs beschrieben ab. Wird das System in den Simulationsmodus geschaltet, so bleiben jetzt alle oben beschriebenen Betriebsabläufe im Zentralrechner erhalten, sie werden nicht blockiert.If the weapon system is not in simulation mode but in normal mode, then all operations are the same as described above. If the system is switched to simulation mode, all the operations described above will now be retained in the central computer and will not be blocked.

Das Verfahren erfolgt nunmehr nach folgendem Ablauf:

  1. 1. Das Zielerfassungssystem wird im Simulationsrechner für ein virtuelles Ziel simuliert. Das Resultat sind simulierte Winkel Azimuth und Elevation, die dem Zentralrechner so zugeführt werden, dass sie die tatsächlich ermittelten Werte des Originalsystems überschreiben.
  2. 2. Der Zentralrechner wartet auf alle weiteren Eingangsdaten, die er für die Berechnungen zur Zielbekämpfung benötigt. Dieser Ablaufschritt ist gegenüber dem Normalmodus unverändert.
  3. 3. Der Zentralrechner berechnet auf der Basis der vorliegenden Informationen die ballistische Kurve, die ausgehend von der Waffenanlage unter Berücksichtigung aller Parameter in der vorgegebenen Entfernung das Ziel schneidet. Dieser Ablaufschritt ist gegenüber dem Normahnodus unverändert.
  4. 4. Der Zentralrechner berechnet die Winkel Azimuth und Elevation, die sich die Waffe aus ihrer aktuellen Position in die berechnete Position bewegen muss. Dieser Ablaufschritt ist gegenüber dem Normalmodus unverändert.
  5. 5. Der Zentralrechner wartet auf eine Anforderung des Bedieners (z.B. Knopfdruck), dass die Waffenanlage auf das Ziel einlaufen soll. Dieser Ablaufschritt ist gegenüber dem Normalmodus unverändert.
  6. 6. Sofern die Anforderung erfolgt, werden die berechneten Winkel vom Zentralrechner dem Simulationsrechner zugeführt, um das Einlaufen der Waffe auf das Ziel zu simulieren. Ferner wird weiterhin die Waffenanlage blockiert.
The procedure now follows the following procedure:
  1. 1. The target acquisition system is simulated in the simulation computer for a virtual target. The result is simulated azimuth and elevation angles, which are fed to the central computer to override the actual values of the original system.
  2. 2. The central computer waits for all further input data, which it needs for the calculations for target control. This process step is unchanged from the normal mode.
  3. 3. The central computer calculates, on the basis of the available information, the ballistic curve which, starting from the weapon system, intersects the target, taking into account all parameters at the given distance. This process step is unchanged from the standard mode.
  4. 4. The central calculator calculates the azimuth and elevation angles that the weapon must move from its current position to the calculated position. This process step is unchanged from the normal mode.
  5. 5. The central computer waits for a request from the operator (eg push-button) that the weapon system should arrive at the destination. This process step is unchanged from the normal mode.
  6. 6. If the request is made, the calculated angles from the central computer are fed to the simulation computer to simulate the arrival of the weapon on the target. Furthermore, the weapons system is still blocked.

Im Folgenden soll zusätzlich zum bereits dargestellten Ausführungsbeispiel eine weiteres Ausführungsbeispiels anhand der beigefügten Zeichnungen für ein Verfahren nach der Erfindung näher erläutert werden.In the following, in addition to the already illustrated embodiment, a further embodiment will be explained in more detail with reference to the accompanying drawings for a method according to the invention.

Es zeigen:

Fig.1
ein zentralrechnergesteuertes Fahrzeugsystem im Normalmodus;
Fig. 2
das zentralrechnergesteuerte Fahrzeugsystem aus Fig. 1 im Simulationsmodus.
Show it:
Fig.1
a central computer-controlled vehicle system in normal mode;
Fig. 2
the central computer-controlled vehicle system Fig. 1 in simulation mode.

Die Figur 1 zeigt ein zentralrechnergesteuertes Fahrzeugsystem im Normalmodus. Das Fahrzeugsystem weist einen Zentralrechner 1 auf, an welchen eingangsseitig als datengenerierende Mittel ein Gaspedal 3 als Bediengerät und ein Geschwindigkeitssensor 4 als Sensor, der die aktuelle Geschwindigkeit des Fahrzeugs misst, angeschlossen sind. Ausgangsseitig sind als datenempfangende Mittel eine Verbrauchsanzeige 5 als Anzeige, welche den aktuellen Kraftstoffverbrauch anzeigt und eine Einspritzanlage 6 für den Motor als Aktuator angeschlossen. Der Zentralrechner 1 berechnet mittels einer dafür vorgesehenen Einheit 7 auf Grund der Änderung der Stellung des Gaspedals 3 und der vom Geschwindigkeitssensor 4 gemessenen aktuellen Geschwindigkeit eine Beschleunigung und eine Kraftstoffmenge, die in den Motor von der Einspritzanlage 6 einzuspritzen ist. Ferner steuert er den auf der Verbrauchsanzeige 5 angezeigten aktuellen Kraftstoffverbrauch.The FIG. 1 shows a central computer-controlled vehicle system in normal mode. The vehicle system has a central computer 1, on which the input side as the data-generating means, an accelerator pedal 3 as a control unit and a speed sensor 4 as a sensor that measures the current speed of the vehicle are connected. On the output side are as data receiving means a consumption display 5 as a display, which indicates the current fuel consumption and an injection system 6 for the engine connected as an actuator. The central computer 1 calculates, by means of a dedicated unit 7, due to the change in the position of the accelerator pedal 3 and the current speed measured by the speed sensor 4, an acceleration and an amount of fuel to be injected into the engine from the injection system 6. It also controls the current fuel consumption displayed on the consumption display 5.

Im Normalmodus übermitteln also die datengenerierenden Mittel Real-Daten an den Zentralrechner, welcher mittels einer Logik-Software neue Systemzustände berechnet. Die neuen Systemzustände werden den datenempfangenden Mitteln zugeführt.In normal mode, therefore, the data-generating means transmit real data to the central computer, which calculates new system states by means of a logic software. The new system states are supplied to the data receiving means.

Es laufen folgende Betriebsabläufe ab:

  1. 1. Die aktuelle Änderung der Stellung des Gaspedals 3 wird dem Zentralrechner 1 zugeführt.
  2. 2. Die aktuelle Fahrgeschwindigkeit wird dem Zentralrechner 1 vom Geschwindigkeitssensor 4 zugeführt.
  3. 3. Der Zentralrechner 1 berechnet die aktuelle Beschleunigung und mit diesem Wert eine neue einzuspritzende Kraftstoffmenge in den Motor.
  4. 4. Der Zentralrechner 1 führt den berechneten Wert der einzuspritzenden Kraftstoffmenge der Einspritzanlage 6 und der Verbrauchsanzeige 5 zu.
  5. 5. Die Einspritzanlage 6 spritzt die entsprechende Kraftstoffmenge in den Motor ein.
  6. 6. Die Verbrauchsanzeige 5 zeigt den aktuellen Kraftstoffverbrauchswert an.
The following operations are performed:
  1. 1. The current change in the position of the accelerator pedal 3 is supplied to the central computer 1.
  2. 2. The current driving speed is supplied to the central computer 1 from the speed sensor 4.
  3. 3. The central computer 1 calculates the current acceleration and with this value a new amount of fuel to be injected into the engine.
  4. 4. The central computer 1 supplies the calculated value of the fuel quantity to be injected to the injection system 6 and the consumption indicator 5.
  5. 5. The injection system 6 injects the appropriate amount of fuel into the engine.
  6. 6. The consumption display 5 shows the current fuel consumption value.

Wird nun an den Zentralrechner 1 ein Simulationsrechner 2 angeschlossen, so geht der Zentralrechner 1 vom Normalmodus in den Simulationsmodus über. Die Figur 2 zeigt das zentralrechnergesteuerte System im Simulationsmodus mit angeschlossenem Simulationsrechner 2. Der Simulationsrechner 2 sendet Simulations-Daten an den Zentralrechner 1, wobei die Simulationsdaten teilweise die Real-Daten im Zentralrechner 1 überschreiben.If a simulation computer 2 is now connected to the central computer 1, then the central computer 1 changes from the normal mode to the simulation mode. The FIG. 2 shows the central computer controlled system in simulation mode with connected simulation computer 2. The simulation computer 2 sends simulation data to the central computer 1, wherein the simulation data partially overwrite the real data in the central computer 1.

Der Betriebsablauf ist nunmehr wie folgt:

  1. 1. Die aktuelle Änderung der Stellung des Gaspedals 3 wird dem Zentralrechner 1 zugeführt. Dieser Ablaufschritt ist gegenüber dem Normalmodus unverändert. Zusätzlich führt der Zentralrechner 1 die aktuelle Änderung der Stellung des Gaspedals dem Simulationsrechner 2 zu.
  2. 2. Der Simulationsrechner 2 simuliert die aktuelle Fahrgeschwindigkeit. Dieser Wert kann beispielsweise das Resultat einer virtuellen Bewegung des Fahrzeugs in einer virtuellen Welt sein. Dieser simulierte Wert wird dem Zentralrechner 1 so zugeführt, dass er den originalen Wert der aktuellen Fahrgeschwindigkeit vor der Verarbeitung überschreibt.
  3. 3. Der Zentralrechner 1 berechnet die aktuelle Beschleunigung und mit diesem Wert eine neue einzuspritzende Kraftstoffmenge in den Motor. Dieser Ablaufschritt ist gegenüber dem Normalmodus unverändert.
  4. 4. Der Zentralrechner 1 führt den berechneten Wert der einzuspritzenden Kraftstoffmenge der Einspritzanlage 6 und der Verbrauchsanzeige 5 zu. Dieser Ablaufschritt ist gegenüber dem Normalmodus unverändert. Zusätzlich führt der Zentralrechner 1 dem Simulationsrechner 2 den neu beschriebenen Systemzustand zu.
  5. 5. Die originale Einspritzanlage 6 wird blockiert und der Simulationsrechner 2 simuliert das Einspritzen des Kraftstoffs in den Motor.
  6. 6. Die Verbrauchsanzeige 5 zeigt den simulierten Kraftstoffverbrauchswert an.
The operation is now as follows:
  1. 1. The current change in the position of the accelerator pedal 3 is supplied to the central computer 1. This process step is unchanged from the normal mode. In addition, the central computer 1 supplies the current change in the position of the accelerator pedal to the simulation computer 2.
  2. 2. The simulation computer 2 simulates the current driving speed. This value may, for example, be the result of a virtual movement of the vehicle in a virtual world. This simulated value is fed to the central computer 1 so that it overwrites the original value of the current vehicle speed before processing.
  3. 3. The central computer 1 calculates the current acceleration and with this value a new amount of fuel to be injected into the engine. This process step is unchanged from the normal mode.
  4. 4. The central computer 1 supplies the calculated value of the fuel quantity to be injected to the injection system 6 and the consumption indicator 5. This process step is unchanged from the normal mode. In addition, the central computer 1 supplies the simulation computer 2 with the newly described system state.
  5. 5. The original injection system 6 is blocked and the simulation computer 2 simulates the injection of the fuel into the engine.
  6. 6. The consumption display 5 indicates the simulated fuel consumption value.

Claims (3)

  1. Process for simulating notional system states of a vehicle system or weapon system controlled by a central computer,
    wherein the system exhibits a central computer (1), data-generating sensors (4) and also data-receiving means (5, 6),
    wherein a simulation computer (2) is capable of being connected to the system,
    wherein the system exhibits a normal mode and a simulation mode, and wherein the central computer (1) in the normal mode receives on the input side real data from the sensors (4), these real data are used by means of system-specific logic software for the calculation of new system states, and the new system states are supplied on the output side to the data-receiving means,
    wherein the central computer (1) in the simulation mode receives simulation data predetermined by the simulation computer (2), which are used for calculating the new system states,
    characterised in that
    in the simulation mode the real data of the sensors (4) are overwritten at least partially with the simulation data before the calculation of the new system states, and in that the simulation data together with the non-overwritten real data are used by means of the system-specific logic software for calculating the new system states.
  2. Process according to Claim 1, characterised in that the process is used for training purposes.
  3. Process according to Claim 1, characterised in that the process is used for validation purposes.
EP06007783.1A 2005-04-20 2006-04-13 Method and simulation of fictitious system states of a system controlled by a central computer, especially of a vehicle system or of a weapon system Not-in-force EP1715285B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL06007783T PL1715285T3 (en) 2005-04-20 2006-04-13 Method and simulation of fictitious system states of a system controlled by a central computer of a vehicle system or of a weapon system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005018213A DE102005018213A1 (en) 2005-04-20 2005-04-20 Method for simulating fictitious system states of a central computer-controlled system, in particular a vehicle system or a weapon system

Publications (3)

Publication Number Publication Date
EP1715285A1 EP1715285A1 (en) 2006-10-25
EP1715285B1 true EP1715285B1 (en) 2013-11-20
EP1715285B2 EP1715285B2 (en) 2021-05-26

Family

ID=36763580

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06007783.1A Not-in-force EP1715285B2 (en) 2005-04-20 2006-04-13 Method and simulation of fictitious system states of a system controlled by a central computer, especially of a vehicle system or of a weapon system

Country Status (4)

Country Link
EP (1) EP1715285B2 (en)
DE (1) DE102005018213A1 (en)
NO (1) NO335064B1 (en)
PL (1) PL1715285T3 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008058545A1 (en) 2008-10-13 2010-04-15 Rheinmetall Landsysteme Gmbh Method for increasing the efficiency of vehicles or vehicle systems with and without weapon systems
DE102008051016A1 (en) 2008-10-13 2010-04-15 Rheinmetall Landsysteme Gmbh Method for assisting with training on vehicles or vehicle systems with and without weapon systems
DE102008051017A1 (en) 2008-10-13 2010-04-15 Rheinmetall Landsysteme Gmbh Method for increasing the efficiency of vehicles or vehicle systems with and without weapon systems
SE536364C2 (en) * 2010-03-18 2013-09-17 Bae Systems Haegglunds Ab Exercise equipment simulation device for a vehicle
SE535712C2 (en) 2010-03-18 2012-11-20 Bae Systems Haegglunds Ab Simulation device for training equipment for a vehicle
BE1023736B1 (en) 2015-12-30 2017-07-05 Cockerill Maintenance & Ingenierie S.A. TURRET SIMULATION METHOD AND DEVICE

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2812201C2 (en) * 1978-03-20 1983-02-03 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt Device for the training of gunner for armored vehicles
DE19606685C2 (en) * 1996-01-26 1999-09-30 Industrieanlagen Betriebsges Combat simulation system with a freely operating combat vehicle and a quasi-stationary object simulator
FR2754890B1 (en) * 1996-10-18 1999-01-15 Bertin & Cie SYSTEM FOR THE TRAINING OF MOBILE MACHINERY SUCH AS TANKS FOR EXAMPLE
DE19814998A1 (en) * 1998-04-03 1999-10-07 Diehl Stiftung & Co Procedures for combat training in armored land vehicles
DE10114433B4 (en) * 2001-03-23 2007-03-22 Audi Ag Device for instruction in a function of a vehicle component and simulation method for a vehicle
DE10216599B4 (en) * 2002-04-15 2013-04-18 Eads Deutschland Gmbh Autonomous on-board and in-flight weapon system simulation system for visualizing virtual scenarios
DE10256612B3 (en) * 2002-12-03 2004-07-08 Daimlerchrysler Ag Automobile driver training method using training vehicle with virtual imaging of dangerous driving situations
DE10309934B4 (en) * 2003-03-07 2005-03-17 Audi Ag Driving simulator and method for simulating the driving condition of a vehicle

Also Published As

Publication number Publication date
NO335064B1 (en) 2014-09-01
EP1715285A1 (en) 2006-10-25
PL1715285T3 (en) 2014-04-30
EP1715285B2 (en) 2021-05-26
NO20061710L (en) 2006-10-23
DE102005018213A1 (en) 2006-11-02

Similar Documents

Publication Publication Date Title
EP3970077B1 (en) Method for training at least one algorithm for a control unit of a motor vehicle, computer program product, motor vehicle and system
EP1715285B1 (en) Method and simulation of fictitious system states of a system controlled by a central computer of a vehicle system or of a weapon system
AT520320B1 (en) Method and device for generating a dynamic speed profile of a motor vehicle
DE102006028695B4 (en) Electronic control system with malfunction monitoring
EP2932492B1 (en) Method for determining a common driving strategy, computing unit, and computer program product
DE102016116135A1 (en) Method for simulating a collision situation
DE102007044042B4 (en) Method and device for simulating the driving characteristics of a drive concept of a motor vehicle to be developed
EP2293008B1 (en) Device for managing function tests and/or service procedures for unmanned missiles which can be released from aircraft
DE102018200011A1 (en) Test system and method for testing a control of an at least partially autonomous vehicle in a virtual environment
DE102018212733A1 (en) Detection of deteriorating sensor performance
DE102019203712B4 (en) Method for training at least one algorithm for a control unit of a motor vehicle, computer program product, motor vehicle and system
DE102015224558A1 (en) Method for validating a driver assistance function of a motor vehicle
DE102010035825A1 (en) Control system and apparatus for generating a virtual real-time model
DE102018118437A1 (en) System and method for monitoring the condition of an unmanned aircraft
DE102017216321A1 (en) Method and device for determining a driving function for highly automated driving for a vehicle
DE102018210375A1 (en) Driver assistance system, vehicle, method for operating the driver assistance system, computer program and computer-readable storage medium
DE10114433A1 (en) Simulation system for vehicle has central unit connected to functional unit(s) for exchange of information; one functional unit(s) represents limited functionality functional unit(s) of vehicle
DE102018200232A1 (en) Method for operating a work machine and work machine
DE10208866A1 (en) Establishment and procedure for the assessment and achievement of security in systems as well as corresponding computer program
DE102013224510B4 (en) Motion cueing for evaluating driving dynamics
EP1382956B1 (en) Procedure for simulating the driving performance of vehicles
WO2023057014A1 (en) Method for planning a trajectory of a driving maneuver of a motor vehicle, computer program product, computer-readable storage medium, and vehicle
DE60210373T2 (en) System for generating motion and orbit data of a multi-gimbaled platform
DE102010060178A1 (en) Data writing device and data writing method
DE102010026545A1 (en) Method for operating motor vehicle on roller-type test stand, involves adjusting driving style for simulation of driving route with predetermined speed as function of time using parameter

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR MK YU

17P Request for examination filed

Effective date: 20070329

17Q First examination report despatched

Effective date: 20070427

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20130607

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 641885

Country of ref document: AT

Kind code of ref document: T

Effective date: 20131215

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502006013353

Country of ref document: DE

Effective date: 20140116

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20131120

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140320

REG Reference to a national code

Ref country code: PL

Ref legal event code: T3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: PL

Payment date: 20140303

Year of fee payment: 9

Ref country code: FR

Payment date: 20140110

Year of fee payment: 9

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140320

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20140417

Year of fee payment: 9

REG Reference to a national code

Ref country code: DE

Ref legal event code: R026

Ref document number: 502006013353

Country of ref document: DE

PLBI Opposition filed

Free format text: ORIGINAL CODE: 0009260

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FI

Payment date: 20140416

Year of fee payment: 9

26 Opposition filed

Opponent name: RHEINMETALL LANDSYSTEME GMBH

Effective date: 20140819

PLAX Notice of opposition and request to file observation + time limit sent

Free format text: ORIGINAL CODE: EPIDOSNOBS2

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

REG Reference to a national code

Ref country code: DE

Ref legal event code: R026

Ref document number: 502006013353

Country of ref document: DE

Effective date: 20140819

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

Ref country code: LU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140413

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PLAF Information modified related to communication of a notice of opposition and request to file observations + time limit

Free format text: ORIGINAL CODE: EPIDOSCOBS2

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140430

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140430

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

PLBB Reply of patent proprietor to notice(s) of opposition received

Free format text: ORIGINAL CODE: EPIDOSNOBS3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140413

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 641885

Country of ref document: AT

Kind code of ref document: T

Effective date: 20140413

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140413

REG Reference to a national code

Ref country code: SE

Ref legal event code: EUG

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20150413

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150413

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150413

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20151231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150430

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150414

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140221

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140430

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20131120

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20060413

APBM Appeal reference recorded

Free format text: ORIGINAL CODE: EPIDOSNREFNO

APBP Date of receipt of notice of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA2O

APAH Appeal reference modified

Free format text: ORIGINAL CODE: EPIDOSCREFNO

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150413

APBQ Date of receipt of statement of grounds of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA3O

APBU Appeal procedure closed

Free format text: ORIGINAL CODE: EPIDOSNNOA9O

PUAH Patent maintained in amended form

Free format text: ORIGINAL CODE: 0009272

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: PATENT MAINTAINED AS AMENDED

27A Patent maintained in amended form

Effective date: 20210526

AK Designated contracting states

Kind code of ref document: B2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: DE

Ref legal event code: R102

Ref document number: 502006013353

Country of ref document: DE

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20210430

Year of fee payment: 16

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502006013353

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20221103