EP2473391A1 - Verfahren zur übertragung von daten von einer streckenseitigen einrichtung an ein fahrzeug sowie fahrzeugseitige und streckenseitige einrichtung - Google Patents
Verfahren zur übertragung von daten von einer streckenseitigen einrichtung an ein fahrzeug sowie fahrzeugseitige und streckenseitige einrichtungInfo
- Publication number
- EP2473391A1 EP2473391A1 EP10739569A EP10739569A EP2473391A1 EP 2473391 A1 EP2473391 A1 EP 2473391A1 EP 10739569 A EP10739569 A EP 10739569A EP 10739569 A EP10739569 A EP 10739569A EP 2473391 A1 EP2473391 A1 EP 2473391A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- identifier
- data
- trackside
- transmitted
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000005540 biological transmission Effects 0.000 description 16
- 238000011161 development Methods 0.000 description 6
- 230000018109 developmental process Effects 0.000 description 6
- 238000011156 evaluation Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000005286 illumination Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000011664 signaling Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000000873 masking effect Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L3/00—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal
- B61L3/02—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control
- B61L3/06—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling by electromagnetic or particle radiation, e.g. by light beam
- B61L3/065—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling by electromagnetic or particle radiation, e.g. by light beam controlling optically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L5/00—Local operating mechanisms for points or track-mounted scotch-blocks; Visible or audible signals; Local operating mechanisms for visible or audible signals
- B61L5/12—Visible signals
- B61L5/18—Light signals; Mechanisms associated therewith, e.g. blinders
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
Definitions
- VLC Visible Light Communication
- light sources for example, conventional light bulbs or - due to the achievable high transmission rates - especially fast switching LEDs (Light Emitting Diodes) used.
- transmission of the data takes place in the context of VLC by means of a modulation of the light emitted by the light source, wherein the modulation preferably takes place in such a way that it is not recognizable or disturbing to the human eye.
- VLC virtualized local area network
- the task of corresponding traffic signal systems is usually to transmit to the driver or captain of the respective vehicle information necessary for operation, which information is to be subsequently implemented or taken into account by the driver or captain.
- this is a driver indicated by a corresponding signal that he has to slow down or stop his traction vehicle due to an existing occupancy of lying in front of him in the direction of travel track section.
- VLC now offers the possibility of extending the existing infrastructure so that the visually transmitted signal information can also be transmitted in an automatic form evaluable from a track facility to a vehicle.
- a corresponding method, in which data are transmitted by means of visible light from a trackside device to a vehicle or a vehicle-side device is known, for example, from the article "Visible Light Communication Systems Conception and VIDAS", IETE Technical Review, Vol , Issue 6, November - December 2008 by Navin Kumar, Nuno Lourening, Michael Spiez and Rui L. Aguiar, describing an intelligent transport system where roadside equipment in the form of traffic lights equipped with LEDs provides data to vehicles in Form of cars are transmitted.
- the object of the present invention is to specify a method for transmitting data from a track-side device to a vehicle, which can be used in many different ways and, because of its reliability, is also suitable for safety-critical requirements.
- This object is achieved by a method for transmitting data from a trackside device to a vehicle, wherein from the trackside device, a light signal in the form of modulated with the data to be transmitted visible light is emitted, wherein the data to be transmitted to a trackside device Identifying identifier, the received by the light signal identifier by the vehicle is compared with an expected identifier and the data received with the light signal from the vehicle are discarded, if the comparison, a deviation between the received identifier and the expected identifier is determined ,
- the invention is based on the recognition that the use of visible light for the transmission of data in practice is very difficult in many applications in the field of mobility. For example, a plurality of light-emitting track-side devices, for example in the form of traffic signal systems, are frequently encountered, so that a superposition of the light of different light sources takes place. In addition, other disturbances, such as those caused by reflections, can also lead to errors in the transmission of data from the link-side device to the vehicle by means of visible light. Principally applicable methods for optical focusing and / or interference evaluation for masking out or eliminating unwanted portions of the received light have the fundamental disadvantage that it is not ensured that these methods function reliably under all conditions. This is especially true for safety critical requirements, i. For example, in the case of the transmission of control data from the trackside facilities to the vehicle, problematic or unacceptable.
- the trackside device In order to avoid the triggering of false or undesired actions by data received from the vehicle on the one hand on the one hand versatile and on the other hand particularly reliable way, the trackside device according to the invention generates a light signal in the form of modulated with the data to be transmitted. emitted clear light, wherein the data comprise the track-side device identifying identifier.
- the identification identifying the route-side device advantageously provides the precondition for enabling the vehicle to identify the transmitting track-side device.
- the identifier received by means of the light signal for this purpose is compared by the vehicle with an expected identifier.
- the invention advantageously makes use of the fact that in many cases or operational situations it is known from which trackside device a received light signal should have been transmitted. This applies both to traffic systems with vehicles in the form of cars, aircraft or ships, and in particular in the case of a traffic system with track-bound vehicles, for example in the form of rail vehicles. Thus, especially in the latter case, the route through the
- Track guidance clearly defined.
- the data received by the light signal is transmitted by the user Vehicle discarded.
- the vehicle in particular with simultaneous reception of a plurality of light signals, to reliably recognize the operationally relevant signal even in situations which are difficult due to the transmission conditions and to continue to consider only the data received with this light signal in the following.
- the method according to the invention furthermore offers the advantage that it creates the prerequisite for a considerable simplification of the infrastructure of existing traffic systems. For example, in railroad technology so far signal concepts are transmitted visually to a driver of a rail vehicle.
- the method according to the invention makes it possible, even for security-relevant applications, to use a link from a trackside emitted light device both for visual signaling to a driver and for simultaneous data transmission to a receiving or sensor device of the vehicle can be used.
- a link from a trackside emitted light device both for visual signaling to a driver and for simultaneous data transmission to a receiving or sensor device of the vehicle can be used.
- a video camera in conjunction with a processing device can be used as the sensor device.
- the data transmitted to the vehicle by the trackside device is preferably control data which acts directly or indirectly on a vehicle control of the vehicle.
- the data transmitted to the vehicle by the trackside device within the scope of the method according to the invention can basically also consist exclusively of the identifier identifying the trackside device.
- the data is transmitted from a plug-side device in the form of a traffic signal system.
- traffic signal system encompasses devices of any type used for signaling by means of visible light. This includes, in particular, traffic lights or electronic signs of road traffic, train signals, components of runway lighting in air traffic or also in the
- the data are transmitted from a trackside device in the form of a lighting device. sent out.
- a lighting device whose emitted light usually serves exclusively or substantially for illumination purposes.
- corresponding lighting devices in the form of lamps in human everyday life both inside and outside of buildings in a variety of forms are available.
- the method according to the invention can also be developed in such a way that the data is transmitted by a lighting device arranged in a tunnel. This is advantageous since, in the case of vehicles in the form of rail vehicles, for example, this makes possible a particularly simple and at the same time reliable localization of the vehicle in the tunnel.
- the data transmitted to the vehicle by the trackside device it is basically sufficient for the data transmitted to the vehicle by the trackside device to consist exclusively of the identifier identifying the trackside device.
- further information can be transmitted by means of the data to the vehicle even in the event that the data is transmitted by a lighting device arranged in a tunnel. This may be, for example, the distance to the nearest in the direction of travel lighting device or other relevant to the vehicle information or dependencies.
- the data is transmitted to a vehicle in the form of a track-bound vehicle, in particular a rail vehicle.
- a vehicle in the form of a track-bound vehicle, in particular a rail vehicle.
- the method according to the invention can also be so pronounced that the expected identifier is determined by the vehicle by means of an electronic route atlas.
- the vehicle knowing its position, for example its location along a railway track, makes it possible in a simple and simple manner to determine the link-side device from which the reception of a light signal can be expected at the given time or at the given location ,
- the expected identifier itself can be taken from the electronic route atlas itself or, based on the information from the electronic route atlas, from another storage device of the rail vehicle.
- the method according to the invention may advantageously also be designed such that the expected identifier is determined by the vehicle by means of a navigation device.
- the trackside facilities or their expected identifiers can advantageously also in navigation devices, for example in the form of satellite-based navigation devices using GPS (Global Positioning System), are deposited.
- the expected identifier is determined by the vehicle on the basis of an announcement signal previously received from a trackside device.
- the announcement signal can be received by the vehicle by means of visible light or by means of other transmission paths. This includes, for example, inductive or radio-based transmission of the advertisement signal.
- the position of the vehicle is determined on the basis of the received identifier. This means that further evaluation and use by the vehicle can not only take place with regard to data received in addition to the identifier of the trackside device.
- the position of the vehicle can also be determined on the basis of the received identifier itself by the vehicle or - after prior transmission of the corresponding information - for example, also by a central control device of a traffic system, for example in the form of a control center.
- a central control device of a traffic system for example in the form of a control center.
- the invention also relates to a vehicle-side device.
- the present invention has for its object to provide a vehicle-side device that supports a versatile and also very reliable method for transmitting data from a trackside device to a vehicle.
- a vehicle-side device with means for receiving a
- Means identifying identification for comparing the identifier received by the light signal with an expected identifier and discarding the data received with the light signal, if in the comparison of a deviation between the received identifier and the expected identifier is detected.
- the vehicle-side device according to the invention is designed such that it is a device of a train control system.
- the vehicle-side device according to the invention for determining the expected identifier is formed by means of an electronic Streckenatlasses.
- the vehicle-mounted device according to the invention may also be so pronounced that it is designed to determine the expected identifier by means of a navigation device.
- this device is designed to determine the expected identifier on the basis of an announcement signal previously received by a trackside device.
- the vehicle-mounted device according to the invention can also be developed such that it is designed to determine its position on the basis of the received identifier. Since the vehicle-mounted device is arranged in and / or on the vehicle, this corresponds directly to a determination of the position of the vehicle as such.
- the invention further relates to a trackside device.
- the present invention has for its object to provide a trackside device, which is a versatile and at the same time particularly reliable method for transmitting Supports data from the trackside facility to a vehicle.
- the trackside device according to the invention is designed such that it is a traffic signal system.
- the traffic signal system advantageously part of a system for influencing a track-bound vehicle, in particular a rail vehicle, i. of a train control system.
- the trackside device is a lighting device.
- the illumination device is preferably arranged in a tunnel.
- the invention further comprises a system for influencing vehicles with at least one vehicle-side according to the invention.
- the system is a train control system.
- FIG. 1 shows a schematic representation for explaining an exemplary embodiment of the method according to the invention, an exemplary embodiment of a system according to the invention for
- the figure shows a trackside device 10 in the form of a set up on a railway light signal system in the form of a signal.
- the trackside device 10 in the form of the signal emits visible light 11, which is visually perceived by a driver 21 of a vehicle 20 approaching the trackside device 10 in the form of a rail vehicle. This allows the driver 21, for example, a stop signal to to be observed by the driver 21 and the vehicle 20, respectively.
- train control systems In the context of train control systems is usually a partial or complete automatic control of rail vehicles.
- additional components are usually provided in or on the track, by means of which information, such as in the form of signal information, are transmitted to the vehicle 20.
- information such as in the form of signal information
- track double coils or balises can be used for the transmission of the corresponding control data.
- a light signal in the form of visible light 11 modulated by the data to be transmitted is now emitted by the trackside device 10.
- the modulation may be a pulsing of the visible light, for example by rapid switching on and off of the signal lamp of the trackside device 10 that is imperceptible to the human eye.
- a corresponding pulsation can also take place, for example, by a variation of the light intensity, whereby data or information can be transmitted in digital or analog form in the form of intensity fluctuations.
- other modulation methods known per se for the transmission of the data by modulation of the visible light can be used.
- the data to be transmitted are preferably transmitted continuously by the trackside device 10, and are emitted cyclically and repetitively.
- the method according to the invention advantageously makes use of the fact that in many operational situations it is known which route the vehicle 20 should travel or cover. This applies in particular when the travel path of the vehicle, as in the case of a rail vehicle, is clearly defined by a tracking system. This makes it possible to unambiguously determine or determine in advance the trackside device 10 relevant for the respective situation.
- Light signals 11 to the vehicle 20 transmitted data include, ie, include the trackside device 20 identifying identifier.
- the identifier received by means of the light signal is compared by the vehicle 20 with an expected identifier, for example by means of a route atlas provided on the vehicle 20, an announcement signal transmitted by further trackside devices, for example for signal preannouncement, or by deposit of the expected Identifiers of the trackside devices 20 can be determined in a navigation device. If the comparison of the received identifier with the expected identifier results in a deviation, the data received by the light signal is discarded by the vehicle 20, that is, in particular is not used to control the vehicle 20.
- the data acquired by means of the sensor device which may be a video camera, for further processing and control of the vehicle 20 via an electrical signal line 24 to a processing device 23 passed.
- the processing device 23 may be, for example, a computer-aided device for train control.
- the demodulation of the received light signal ie the extraction of the received data
- the invention makes it possible, in particular even with simultaneous reception of different light signals or other difficult conditions, to reliably recognize the operationally relevant signal and, accordingly, to evaluate and further process only this signal in the following.
- a clear signal detection is guaranteed even in operationally unclear situations, whereby only a corresponding transmission of data by means of visible light from a trackside device to a vehicle in safety-critical applications or systems, such as systems for train control, can be used.
- the method according to the invention offers the advantage that it functions reliably at any time and independently of the respective operating or ambient conditions.
- the inventive method is advantageously versatile, since it can be used everywhere there using a simple migration concept, where already now data or signal information is visually or visually transmitted to a driver.
- data which in the simplest case only contain a few bytes of information, can be transmitted from a trackside device to a vehicle.
- the data can be detected or received in a technically comparatively simple manner by a sensor device, for example in the form of a camera, and forwarded for evaluation or consideration to the respective application, ie for example a train-influencing device.
- a sensor device for example in the form of a camera
- the respective application ie for example a train-influencing device.
- train-influencing device for example a train impact
- additional evaluation or speed information can be transmitted to a rail vehicle, for example.
Landscapes
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Optical Communication System (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009039701A DE102009039701A1 (de) | 2009-08-31 | 2009-08-31 | Verfahren zur Übertragung von Daten von einer streckenseitigen Einrichtung an ein Fahrzeug sowie fahrzeugseitige und streckenseitige Einrichtung |
PCT/EP2010/060890 WO2011023481A1 (de) | 2009-08-31 | 2010-07-27 | Verfahren zur übertragung von daten von einer streckenseitigen einrichtung an ein fahrzeug sowie fahrzeugseitige und streckenseitige einrichtung |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2473391A1 true EP2473391A1 (de) | 2012-07-11 |
EP2473391B1 EP2473391B1 (de) | 2015-04-01 |
Family
ID=42980198
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10739569.1A Not-in-force EP2473391B1 (de) | 2009-08-31 | 2010-07-27 | Verfahren zur übertragung von daten von einer streckenseitigen einrichtung an ein fahrzeug sowie fahrzeugseitige und streckenseitige einrichtung |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP2473391B1 (de) |
CN (1) | CN102481943B (de) |
DE (1) | DE102009039701A1 (de) |
ES (1) | ES2537824T3 (de) |
WO (1) | WO2011023481A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110361713A (zh) * | 2019-08-13 | 2019-10-22 | 上海禾赛光电科技有限公司 | 控制车辆无人驾驶的方法、装置及系统 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103208200A (zh) * | 2013-04-08 | 2013-07-17 | 胡达广 | 汽车助驾系统 |
DE102015205175A1 (de) * | 2015-03-23 | 2016-09-29 | Siemens Aktiengesellschaft | Verfahren und Vorrichtung zur fahrzeugseitigen Positionsdatenerfassung bei einem Schienenfahrzeug |
DE102016217190A1 (de) * | 2016-09-09 | 2018-03-15 | Siemens Aktiengesellschaft | Verfahren zum Übermitteln einer Information von einer streckenseitigen Einrichtung zu einem Fahrzeug sowie Einrichtungen zum Durchführen eines solchen Verfahrens |
DE102017202453A1 (de) * | 2017-02-15 | 2018-08-16 | Siemens Aktiengesellschaft | Anzeigesystem für eine fahrzeugseitige Anordnung |
DE102019003786A1 (de) | 2019-05-29 | 2020-01-02 | Daimler Ag | Verfahren zur Kommunikation einer Ampel mit einem Fahrzeug, insbesondere einem autonom fahrenden Fahrzeug |
FR3110271B1 (fr) * | 2020-05-18 | 2022-12-30 | Alstom Transp Tech | Procédé de contrôle de l’occupation des sièges d’un véhicule par des passagers et dispositifs associés |
DE102021213704A1 (de) | 2021-12-02 | 2023-06-07 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Betreiben eines Schienenfahrzeugs |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CH394279A (fr) * | 1961-10-25 | 1965-06-30 | Rene Haas Dit Rolle Pierre | Dispositif de transmission d'informations pour exploitation ferroviaire |
DE2552507C3 (de) * | 1975-11-22 | 1978-08-31 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | Informationsübertragungseinrichtung, insbesondere für das Eisenbahnwesen |
DE3248544C2 (de) * | 1982-12-29 | 1984-11-22 | Siemens AG, 1000 Berlin und 8000 München | System zur Informationsübertragung mittels Infrarotstrahlung |
US5398894B1 (en) * | 1993-08-10 | 1998-09-29 | Union Switch & Signal Inc | Virtual block control system for railway vehicle |
DE4420215A1 (de) * | 1994-06-06 | 1995-12-07 | Siemens Ag | Zugbeeinflussungseinrichtung |
DE10063979C9 (de) * | 2000-12-14 | 2007-06-06 | Siemens Ag | Zugbeeinflussungseinrichtung |
GB2374188B (en) * | 2001-07-11 | 2003-10-29 | John Alexander Scott | J.A Scotts Train drivers safety signal display |
US6666411B1 (en) * | 2002-05-31 | 2003-12-23 | Alcatel | Communications-based vehicle control system and method |
ITFI20020220A1 (it) * | 2002-11-08 | 2004-05-09 | Ge Transportations Systems S P A | Apparato di segnalamento di sicurezza per convogli ferroviari |
US20080137910A1 (en) * | 2006-11-27 | 2008-06-12 | Hanae Suzuki | Locating method for locating a predetermined spot on a road and a locating apparatus using the method |
-
2009
- 2009-08-31 DE DE102009039701A patent/DE102009039701A1/de not_active Withdrawn
-
2010
- 2010-07-27 EP EP10739569.1A patent/EP2473391B1/de not_active Not-in-force
- 2010-07-27 WO PCT/EP2010/060890 patent/WO2011023481A1/de active Application Filing
- 2010-07-27 CN CN201080037664.5A patent/CN102481943B/zh not_active Expired - Fee Related
- 2010-07-27 ES ES10739569.1T patent/ES2537824T3/es active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2011023481A1 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110361713A (zh) * | 2019-08-13 | 2019-10-22 | 上海禾赛光电科技有限公司 | 控制车辆无人驾驶的方法、装置及系统 |
Also Published As
Publication number | Publication date |
---|---|
CN102481943B (zh) | 2016-01-13 |
WO2011023481A1 (de) | 2011-03-03 |
EP2473391B1 (de) | 2015-04-01 |
ES2537824T3 (es) | 2015-06-12 |
CN102481943A (zh) | 2012-05-30 |
DE102009039701A1 (de) | 2011-03-17 |
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