EP2073997A1 - Système de commande pour un véhicule - Google Patents

Système de commande pour un véhicule

Info

Publication number
EP2073997A1
EP2073997A1 EP07835057A EP07835057A EP2073997A1 EP 2073997 A1 EP2073997 A1 EP 2073997A1 EP 07835057 A EP07835057 A EP 07835057A EP 07835057 A EP07835057 A EP 07835057A EP 2073997 A1 EP2073997 A1 EP 2073997A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
control system
reversible restraint
character
road
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.)
Ceased
Application number
EP07835057A
Other languages
German (de)
English (en)
Other versions
EP2073997A4 (fr
Inventor
Christophe Gillet
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.)
Autoliv Development AB
Original Assignee
Autoliv Development AB
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 Autoliv Development AB filed Critical Autoliv Development AB
Publication of EP2073997A1 publication Critical patent/EP2073997A1/fr
Publication of EP2073997A4 publication Critical patent/EP2073997A4/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/34—Belt retractors, e.g. reels
    • B60R22/46—Reels with means to tension the belt in an emergency by forced winding up
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R2021/01204—Actuation parameters of safety arrangents
    • B60R2021/01252—Devices other than bags
    • B60R2021/01265—Seat belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R2021/01204—Actuation parameters of safety arrangents
    • B60R2021/01252—Devices other than bags
    • B60R2021/01265—Seat belts
    • B60R2021/01272—Belt tensioners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R2021/01304—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring rough road condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/02—Occupant safety arrangements or fittings, e.g. crash pads
    • B60R2021/0293—Additional pads or cushions in vehicle compartments, e.g. movably mounted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/02—Occupant safety arrangements or fittings, e.g. crash pads
    • B60R21/16—Inflatable occupant restraints or confinements designed to inflate upon impact or impending impact, e.g. air bags
    • B60R2021/165—Inflatable occupant restraints or confinements designed to inflate upon impact or impending impact, e.g. air bags reusable, e.g. in case of multiple collisions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/34—Belt retractors, e.g. reels
    • B60R22/44—Belt retractors, e.g. reels with means for reducing belt tension during use under normal conditions
    • B60R2022/4473—Belt retractors, e.g. reels with means for reducing belt tension during use under normal conditions using an electric retraction device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/34—Belt retractors, e.g. reels
    • B60R22/46—Reels with means to tension the belt in an emergency by forced winding up
    • B60R2022/4666—Reels with means to tension the belt in an emergency by forced winding up characterised by electric actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/34—Belt retractors, e.g. reels
    • B60R22/46—Reels with means to tension the belt in an emergency by forced winding up
    • B60R2022/469—Reels with means to tension the belt in an emergency by forced winding up reusable

Definitions

  • THIS INVENTION relates to a control system for a vehicle, and in particular concerns a control system for activation of a reversible restraint arrangement for a vehicle occupant.
  • Reversible restraint systems for vehicle occupants are designed to apply a restraining force to an occupant in critical situations, and to remove the restraining force when and if the critical situation is over.
  • a reversible restraint system may be activated if it appears to be likely or unavoidable that the vehicle will be involved in a crash situation, in order to protect the vehicle occupant from the crash itself.
  • such restraint systems may be intended to provide additional support for bracing a vehicle occupant during uncomfortable vehicle dynamic situations, such as under-steering, over-steering, emergency braking and evasive manoeuvring. In most of such cases, there is also an increased risk of an accident occurring even if a crash is not likely.
  • reversible restraint systems are motorised seatbelt retractors and movable support surfaces, such as knee padding, and movable headrests.
  • Other examples of reversible restraint systems will be known to persons skilled in the art.
  • a problem with existing reversible restraint systems is that the systems are generally applied quickly and without warning. Normally, there is not sufficient time to deploy the reversible restraint system gradually, and sudden activations of such systems may be uncomfortable and/or alarming for a vehicle occupant.
  • one aspect of the present invention provides a control system for controlling a reversible restraint arrangement for a vehicle occupant, comprising a processor responsive to detected, received or stored information regarding the character of the road ahead of the vehicle, and operable to generate an output signal to control the reversible restraint arrangement if it is determined from the character of the road ahead of the vehicle that activation of the reversible restraint arrangement is required, characterised in that if it is determined that the character of a section of the road ahead of the vehicle may require the activation of the reversible restraint system, the distance of the vehicle from the section of the road is taken into account in determining whether the vehicle is likely to be involved in a hazardous situation or an uncomfortable dynamic situation.
  • the output signal is generated if it appears, from the detected, received or stored information regarding the character of the road ahead of the vehicle, that the vehicle is likely to be involved in a hazardous situation or an uncomfortable dynamic situation.
  • the radius of curvature of the road ahead of the vehicle is taken into account in determining the likelihood of the vehicle being involved in a hazardous situation or an uncomfortable dynamic situation.
  • the road surface conditions are taken into account in determining the likelihood of the vehicle being involved in a hazardous situation or an uncomfortable dynamic situation.
  • the speed and/or direction of travel of the vehicle is taken into account in determining whether the vehicle is likely to be involved in a hazardous situation or an uncomfortable dynamic situation.
  • detected weather parameters are taken into account in determining whether the vehicle is likely to be involved in a hazardous situation or uncomfortable vehicle dynamic situation.
  • the distance of the vehicle from the section of the road is taken into account in determining whether the vehicle is likely to be involved in a hazardous situation or an uncomfortable dynamic situation.
  • physical parameters of the vehicle are used in determining whether the vehicle is likely to be involved in a hazardous situation or an uncomfortable dynamic situation.
  • information regarding the character of the road ahead of the vehicle is determined by a positioning system in combination with a stored map of the vehicle's surroundings.
  • information received from one or more on-board cameras is used in determining information regarding the character of the road ahead of the vehicle.
  • control signal is generated in response to detected predetermined vehicle dynamic situations.
  • control signal is generated in response to detected emergency manoeuvring of the vehicle.
  • the output signal causes the reversible restraint arrangement to be applied gradually.
  • control system is operable to output a control signal, once the reversible restraint arrangement has been activated, to deactivate the reversible restraint arrangement.
  • control signal to deactivate the reversible restraint arrangement is output if it appears that, within a predetermined time period, the vehicle is unlikely to be involved in a hazardous situation or uncomfortable dynamic situation.
  • control signal causes the reversible restraint arrangement to be deactivated gradually.
  • Another aspect of the present invention provides a reversible restraint system for a vehicle occupant, the system comprising: a reversible restraint arrangement for applying a restraining force to the vehicle occupant; and a control system according to any preceding claim for controlling the reversible restraint arrangement.
  • the reversible restraint arrangement comprises a motorised retractor, capable of applying a restraining force to the occupant's seatbelt which is higher than the restraining force level applied to the belt during normal driving.
  • the reversible restraint arrangement comprises a movable support surface for supporting a knee, head or side of the vehicle occupant.
  • Figure 1 is a schematic representation of elements of a system embodying the present invention.
  • Figure 2 is a schematic representation of an algorithm which may be used in conjunction with the present invention.
  • a reversible restraint system 1 embodying the present invention comprises a processor 2, which is provided within a vehicle (not shown).
  • the processor 2 is connected to a positioning system 3, which in preferred embodiments comprises a GPS receiver, in conjunction with a stored map of the region in which the vehicle is travelling. Using the positioning system 3, the position of the vehicle with respect to surrounding roads and other features may be determined at any point in time.
  • the processor 2 is further connected to an on-board video camera 4.
  • the video camera is positioned such that the field of view thereof includes some or all of the road immediately ahead of the vehicle. More than one on-board camera may be provided to increase the coverage of the vehicle surroundings.
  • the camera 4 may take any convenient form, and for instance may be responsive to optical and/or infrared frequencies.
  • the processor 2 is also connected to a telematic system 5, which is operable to receive continuously updated information regarding the roads and other features and conditions surrounding the vehicle, and to pass this information to the processor 2.
  • the telematics unit 5 may work in conjunction with a positioning system, such as GPS.
  • the control unit 2 is operable to generate a control signal, which is used to control a reversible restraint arrangement 6.
  • the reversible restraint arrangement 6 may comprise a motorised belt retractor, capable of applying a restraining force to an occupant's seat belt which is higher than the restraining force level applied to the belt during normal driving, or may alternatively be a movable support service for supporting (for example) the knees, head of side of a vehicle occupant.
  • the reversible restraint arrangement 6 may also comprise at least one inflatable and deflatable bag.
  • Parameters of the character of the road may include the gradient and/or curvature of the road, the quality and/or smoothness of the road surface, and road surface conditions, for instance the presence of water, ice, snow or other friction-reducing substances such as oil, or a loose road surface, and a maximum safe braking and/or cornering rate can be accordingly determined.
  • the curvature of the road ahead of the vehicle is determined by identifying the location of the vehicle on the stored map of the surrounding roads. Other features, such as lamp posts, may also be stored on the map. From this information, a determination may be made as to the likelihood of the vehicle being involved in a crash situation, or of being involved in uncomfortable dynamic situations, such as under-steer, over-steer, emergency braking and/or evasive manoeuvring.
  • the information received from the video camera 4 may be used to determine the conditions of the road surface ahead of the vehicle, and may also allow the processor 2 to make a determination about the curvature of the road ahead, and a skilled person will appreciate how appropriate determinations may be made from data output by a video camera. Based on this information, a determination may be made as to the likelihood of the vehicle being involved in a crash situation, or in an uncomfortable vehicle dynamic situation, as discussed above.
  • the information received from the telematic system 5 may relate to the layout and conditions of roads around the vehicle, and hence allow the processor 2 to make a determination about the curvature, gradient, road smoothness and road conditions (including weather conditions), and this information can be passed to the processor 2 so that a determination can be made about possible hazardous circumstances, as discussed above.
  • Further parameters may be taken into account by the processor in making a determination as to whether, in view of the character of the road ahead of the vehicle, it may be necessary to activate a reversible restraint system. For instance, the speed and/or bearing of the vehicle, external temperature, detected rain or snowfall, and the weight and location of centre of gravity of the vehicle may be taken into account. A skilled person will appreciate how such parameters may be detected by known onboard systems.
  • On-board sensors such as accelerometers, may also be used to provide information regarding vehicle dynamic situations, such as under-steer, over-steer, skidding, emergency braking or evasive manoeuvring. These signals may be passed to the processor 2, so that the reversible restraint system may be activated in response to such dynamic situations if the forces involved are above one or more appropriate predetermined thresholds.
  • An advantage of embodiments of the present invention is that situations in which a reversible restraint system is to be deployed may be detected at an early stage. For instance, if a vehicle is approaching a tight corner at high speed, information received from the positioning system 3 or telematic system 5, in conjunction with information regarding the speed and direction of travel of the vehicle, may allow the processor 2 to make a determination that the vehicle will not, before the corner is reached, be able to reduce its speed to a level at which the corner may be safely negotiated (taking into account, if appropriate, the conditions of the road leading up to and at the corner). It therefore appears to be likely that a crash or an uncomfortable vehicle dynamic situation will arise when the vehicle reaches the corner.
  • a reversible restraint system may be activated some time before the vehicle is subject to large forces, and hence before the reversible restraint system would be activated by a conventional means. Therefore, the reversible restraint system may be applied gradually, thereby causing less discomfort or alarm to vehicle occupants. By this it is meant that the reversible restraint system is applied less rapidly than the maximum possible rate, and preferably at a rate which causes little or no discomfort to vehicle occupants.
  • a schematic view is shown of an algorithm for use with a restraint system embodying the present invention.
  • the reversible restraint arrangement may be activated in response to the currently-detected dynamics of the vehicle (for instance, detected under steer, over steer or skidding), to initiation of dynamics of the vehicle (such as evasive manoeuvring or emergency braking) or in response to a determination made on the basis of the character of the road ahead of the vehicle, as discussed above.
  • a reversible restraint system will be deployed only if it appears that the system will be of assistance in the event of the type of hazardous situation or uncomfortable dynamic situation that appears to be likely. For instance, a moveable knee support is unlikely to be of assistance in the event of lateral skidding of the vehicle, whereas a moveable support to brace the side of a vehicle occupant will be more helpful during such an event.
  • the system may be subsequently deactivated if it appears that, within a predetermined time period, the vehicle is unlikely to be involved in a crash situation or in an uncomfortable vehicle dynamic situation.
  • the predetermined length of time may be, for example 2 seconds, but the present invention is not limited to this timescale.
  • the deactivation of the reversible restraint system may be gradual.
  • embodiments of the present invention may provide a reversible restraint system that can be activated earlier than is possible with conventional systems of this type, and that can be activated in response to a wider variety of potentially hazardous circumstances.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Automotive Seat Belt Assembly (AREA)

Abstract

L'invention concerne un système de commande pour commander un dispositif de retenue réversible pour un occupant de véhicule, comprenant un processeur sensible à des informations détectées, reçues ou stockées concernant le caractère de la route au-devant du véhicule, et actionnable pour générer un signal de sortie pour commander le dispositif de retenue réversible s'il est déterminé à partir du caractère de la route au-devant du véhicule que l'activation du dispositif de retenue réversible est requise.
EP07835057A 2006-10-05 2007-09-27 Système de commande pour un véhicule Ceased EP2073997A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0619725A GB2442502A (en) 2006-10-05 2006-10-05 Progressive application of vehicle passenger reversible restraints in response to condition of road ahead
PCT/SE2007/000853 WO2008041904A1 (fr) 2006-10-05 2007-09-27 Système de commande pour un véhicule

Publications (2)

Publication Number Publication Date
EP2073997A1 true EP2073997A1 (fr) 2009-07-01
EP2073997A4 EP2073997A4 (fr) 2013-01-23

Family

ID=37454054

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07835057A Ceased EP2073997A4 (fr) 2006-10-05 2007-09-27 Système de commande pour un véhicule

Country Status (3)

Country Link
EP (1) EP2073997A4 (fr)
GB (1) GB2442502A (fr)
WO (1) WO2008041904A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7963602B2 (en) 2008-12-04 2011-06-21 Ford Global Technologies, Llc Vehicle seating system including seat mounted reversible pelvic bolster
EP2427349A4 (fr) 2009-05-08 2012-09-19 Haakan Westerblad Système et procédé d'alerte d'impact
DE102009033689A1 (de) * 2009-07-17 2011-01-20 Trw Automotive Gmbh Fahrzeugsicherheitsgurtsystem
DE102009049195A1 (de) * 2009-10-13 2011-04-21 Daimler Ag Verfahren für eine fahrdynamische Adaption einer Insassenfixierung
DE102011009466A1 (de) * 2011-01-26 2012-07-26 Daimler Ag Verfahren zur fahrdynamischen Abstützung eines Fahrzeuginsassen
EP2808206B1 (fr) 2013-05-27 2017-07-12 Volvo Car Corporation Procédé et système d'un véhicule de rétraction de ceinture de sécurité réversible
CN109760622A (zh) * 2019-01-30 2019-05-17 爱驰汽车有限公司 安全带预紧控制方法、装置及车载控制器
DE102020006623A1 (de) * 2020-10-28 2022-04-28 Daimler Ag Verfahren zur dynamischen Fixierung eines mit einem Sicherheitsgurt auf einem Fahrzeugsitz angeschnallten Insassen

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US20040016870A1 (en) * 2002-05-03 2004-01-29 Pawlicki John A. Object detection system for vehicle
US20050033516A1 (en) * 2003-05-30 2005-02-10 Tomoya Kawasaki Collision prediction apparatus
US20050090955A1 (en) * 2003-10-27 2005-04-28 Engelman Gerald H. Threat level identification and quantifying system
US20050107955A1 (en) * 2003-11-13 2005-05-19 Denso Corporation Collision-prediction unit for a vehicle
EP1577177A1 (fr) * 2002-12-26 2005-09-21 Denso Corporation Dispositif de securite pour vehicule a moteur

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JP3865182B2 (ja) * 1998-12-25 2007-01-10 タカタ株式会社 シートベルトシステム
DE10231362A1 (de) * 2002-07-11 2004-01-22 Robert Bosch Gmbh Vorrichtung zur Umfeldüberwachung in einem Fahrzeug
DE102004045838A1 (de) * 2004-03-18 2005-11-10 Volkswagen Ag Vorrichtung und Verfahren zum Ansteuern zumindest einer Fahrzeug-Schutzeinrichtung
DE102004026638B4 (de) * 2004-04-08 2007-03-29 Daimlerchrysler Ag Verfahren zum Steuern von Insassenrückhaltemitteln in einem Fahrzeug
DE102004038734A1 (de) * 2004-08-10 2006-02-23 Robert Bosch Gmbh Verfahren und Vorrichtung zur Auslösung einer Notbremsung
DE102005003354B4 (de) * 2005-01-25 2014-05-15 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Erfassung der Relativgeschwindigkeit zwischen einem Kollisionsobjekt und einem Fahrzeug

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040016870A1 (en) * 2002-05-03 2004-01-29 Pawlicki John A. Object detection system for vehicle
EP1577177A1 (fr) * 2002-12-26 2005-09-21 Denso Corporation Dispositif de securite pour vehicule a moteur
US20050033516A1 (en) * 2003-05-30 2005-02-10 Tomoya Kawasaki Collision prediction apparatus
US20050090955A1 (en) * 2003-10-27 2005-04-28 Engelman Gerald H. Threat level identification and quantifying system
US20050107955A1 (en) * 2003-11-13 2005-05-19 Denso Corporation Collision-prediction unit for a vehicle

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Title
See also references of WO2008041904A1 *

Also Published As

Publication number Publication date
GB0619725D0 (en) 2006-11-15
EP2073997A4 (fr) 2013-01-23
GB2442502A (en) 2008-04-09
WO2008041904A1 (fr) 2008-04-10

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