EP2528050A8 - Verfahren und Vorrichtung zur bildlichen Erfassung und Visualisierung von Umgebungsbedingungen an einem von einem Nutzfahrzeug anzufahrenden Hindernis - Google Patents

Verfahren und Vorrichtung zur bildlichen Erfassung und Visualisierung von Umgebungsbedingungen an einem von einem Nutzfahrzeug anzufahrenden Hindernis Download PDF

Info

Publication number
EP2528050A8
EP2528050A8 EP12000752A EP12000752A EP2528050A8 EP 2528050 A8 EP2528050 A8 EP 2528050A8 EP 12000752 A EP12000752 A EP 12000752A EP 12000752 A EP12000752 A EP 12000752A EP 2528050 A8 EP2528050 A8 EP 2528050A8
Authority
EP
European Patent Office
Prior art keywords
obstacle
commercial vehicle
visualising
imaging
ambient conditions
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
Application number
EP12000752A
Other languages
English (en)
French (fr)
Other versions
EP2528050B1 (de
EP2528050A1 (de
Inventor
Karlheinz Dörner
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.)
MAN Truck and Bus SE
Original Assignee
MAN Truck and Bus SE
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 MAN Truck and Bus SE filed Critical MAN Truck and Bus SE
Publication of EP2528050A1 publication Critical patent/EP2528050A1/de
Publication of EP2528050A8 publication Critical patent/EP2528050A8/de
Application granted granted Critical
Publication of EP2528050B1 publication Critical patent/EP2528050B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/161Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/168Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur bildlichen Erfassung und Visualisierung von Umgebungsbedingungen an einem von einem Nutzfahrzeug (10), insbesondere von einem Lastkraftwagen und/oder von einem Bus, anzufahrenden wenigstens einen Hindernis (1), bei dem an dem wenigstens einen Hindernis (1) eine Bilderfassungseinrichtung angebracht ist, mittels der nutzfahrzeugspezifische Daten des sich an das wenigstens eine Hindernis (1) annähernden Nutzfahrzeuges (10) bildlich erfasst und mittels einer Übertragungseinrichtung (11) drahtlos an eine nutzfahrzeugseitige Empfängereinheit (12) übertragen und mittels einer Anzeigeeinrichtung (16) zur Anzeige gebracht werden. Erfindungsgemäß ist die Bilderfassungseinrichtung durch wenigstens eine Kamera (4 bis 9; 18a, 18b, 18c) gebildet, die so an dem wenigstens einen Hindernis (1) angebracht ist, dass diese ein vorzugsweise wenigstens zweidimensionales Bild der Hindernisumgebung mitsamt dem sich an das wenigstens eine Hindernis (1) annähernden Nutzfahrzeug (10) aufnimmt, wobei dieses Bild in Echtzeit an die Empfängereinheit (12) übertragen und von der Anzeigeeinrichtung (16) angezeigt wird.
EP12000752.1A 2011-05-26 2012-02-04 Verfahren und Vorrichtung zur bildlichen Erfassung und Visualisierung von Umgebungsbedingungen an einem von einem Nutzfahrzeug anzufahrenden Hindernis Active EP2528050B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102011102549A DE102011102549A1 (de) 2011-05-26 2011-05-26 Verfahren und Vorrichtung zur bildlichen Erfassung und Visualisierung von Umgebungsbedingungen an einem von einem Nutzfahrzeuge anzufahrenden Hindernis

Publications (3)

Publication Number Publication Date
EP2528050A1 EP2528050A1 (de) 2012-11-28
EP2528050A8 true EP2528050A8 (de) 2013-02-20
EP2528050B1 EP2528050B1 (de) 2017-12-27

Family

ID=45607562

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12000752.1A Active EP2528050B1 (de) 2011-05-26 2012-02-04 Verfahren und Vorrichtung zur bildlichen Erfassung und Visualisierung von Umgebungsbedingungen an einem von einem Nutzfahrzeug anzufahrenden Hindernis

Country Status (5)

Country Link
EP (1) EP2528050B1 (de)
CN (1) CN102795223B (de)
BR (1) BR102012012459B8 (de)
DE (1) DE102011102549A1 (de)
RU (1) RU2613036C2 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013001464A1 (de) * 2013-01-29 2014-07-31 Audi Ag Verfahren zum Betrieb eines Parkassistenzsystems und Kraftfahrzeug
KR102228360B1 (ko) * 2013-10-01 2021-03-15 얀마 파워 테크놀로지 가부시키가이샤 콤바인
US10373503B2 (en) 2015-01-09 2019-08-06 Gentex Corporation Trainable transceiver with single camera park assist
JP6396838B2 (ja) * 2015-03-31 2018-09-26 株式会社デンソー 車両制御装置、及び車両制御方法
DE102016116859A1 (de) 2016-09-08 2018-03-08 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Sensoranordnung für ein autonom betriebenes Nutzfahrzeug und ein Verfahren zur Rundumbilderfassung

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6420977B1 (en) * 2000-04-21 2002-07-16 Bbnt Solutions Llc Video-monitoring safety systems and methods
JP2002054320A (ja) * 2000-08-10 2002-02-20 Yazaki Corp 駐車補助装置
CN1540286A (zh) * 2003-04-25 2004-10-27 王舜清 多功能实时交通安全管理装置及方法
JP2006098983A (ja) * 2004-09-30 2006-04-13 Nippon Seiki Co Ltd 表示装置
DE102005036794A1 (de) 2005-08-02 2007-02-08 Daimlerchrysler Ag Verfahren und Vorrichtung zum Abstellen eines Fahrzeugs an einer Laderampe
JP4827784B2 (ja) * 2007-04-05 2011-11-30 大阪ガスケミカル株式会社 断熱材及びその製造方法
US8170752B2 (en) * 2007-07-31 2012-05-01 Kabushiki Kaisha Toyota Jidoshokki Parking assistance apparatus, vehicle-side apparatus of parking assistance apparatus, parking assist method, and parking assist program
CN201145741Y (zh) * 2007-11-28 2008-11-05 严伟文 2.4g无线屏幕显示语言提示倒车指示器
CN101734242A (zh) * 2008-11-11 2010-06-16 上海迪哈大计算机科技有限公司 一种在交通工具中自动刹车的控制装置及方法
US20100201815A1 (en) * 2009-02-09 2010-08-12 Vitamin D, Inc. Systems and methods for video monitoring
CN201457229U (zh) * 2009-07-09 2010-05-12 浙江师范大学 一种无线可视化倒车辅助系统
RU97092U1 (ru) * 2010-04-21 2010-08-27 Руслан Владимирович Ситников Система мониторинга пространства, окружающего транспортное средство
EP2418123B1 (de) * 2010-08-11 2012-10-24 Valeo Schalter und Sensoren GmbH Verfahren und System zum Unterstützen eines Fahrers eines Fahrzeugs beim Lenken des Fahrzeugs auf einer Fahrstraße und tragbares Kommunikationsgerät

Also Published As

Publication number Publication date
CN102795223B (zh) 2018-06-12
BR102012012459B1 (pt) 2020-09-24
RU2613036C2 (ru) 2017-03-14
DE102011102549A8 (de) 2013-03-07
BR102012012459B8 (pt) 2020-11-17
CN102795223A (zh) 2012-11-28
EP2528050B1 (de) 2017-12-27
EP2528050A1 (de) 2012-11-28
DE102011102549A1 (de) 2012-11-29
RU2012118037A (ru) 2013-11-10
BR102012012459A2 (pt) 2013-06-25

Similar Documents

Publication Publication Date Title
EP2528050A8 (de) Verfahren und Vorrichtung zur bildlichen Erfassung und Visualisierung von Umgebungsbedingungen an einem von einem Nutzfahrzeug anzufahrenden Hindernis
DE102010006323B4 (de) Stereokamera für Fahzeuge mit Anhänger
EP3401166A3 (de) Spiegelersatzsystem als kamera-monitor-system (kms) eines kraftfahrzeugs, insbesondere eines nutzfahrzeugs
EP2607171A3 (de) Verfahren zur Ansteuerung einer Anzeigeeinrichtung eines Kraftfahrzeugs, und Kraftfahrzeug mit einer so angesteuerten Anzeigeeinrichtung
EP2998937A3 (de) Anzeigeeinrichtung für fahrzeuge, insbesondere nutzfahrzeuge
EP2949531A3 (de) Verfahren und fahrerassistenzsystem zur ermittlung fahrdynamischer zustände eines nutzfahrzeugs
EP2949534A3 (de) Fahrerassistenzvorrichtung mit fähigkeit zur diagnose von fahrzeugteilen und fahrzeug damit
EP2404800A3 (de) Verfahren und Vorrichtung zur Durchführung einer Bremsenprüfung an Anhänger- und / oder Aufliegerfahrzeugen
EP2949532A3 (de) Verfahren und Fahrerassistenzsystem zur Unterstützung eines Fahrers eines Nutzfahrzeuges
EP2367152A3 (de) Anzeigesysteme und Verfahren zur Anzeige verbesserter Sicht- und synthetischen Bildern
EP2700567A3 (de) Verfahren und System zum Betreiben eines Fahrzeugs unter Überwachung der Fortbewegung des Fahrzeugs mit Hilfe einer Kameraeinrichtung einer mobilen Bedieneinrichtung
DE102011112577A1 (de) Verfahren und Vorrichtung für ein Assistenzsystem in einem Fahrzeg zur Durchführung eines autonomen oder teilautonomen Fahrmanövers
EP2848502A3 (de) Routenzug sowie Steuerungsverfahren für Routenzug
WO2012110030A2 (de) Reibwertschätzung mittels einer 3d-kamera
EP2361806A3 (de) Kameraüberwachungseinrichtung für ein Kraftfahrzeug
DE102011011048B4 (de) Überwachung des Nahbereichs rund um ein Nutzfahrzeug
EP2366563A3 (de) Anhängekupplung mit einem optischen Sensor
EP2420427A3 (de) Verfahren und vorrichtung zur überwachung eines betriebszustands einer kupplungsvorrichtung
EP2621163A3 (de) Belichtungssteuerung für Kamera an Bord eines Fahrzeuges
EP2982572A3 (de) Verfahren zum unterstützen eines fahrers eines kraftfahrzeugs beim ausparken, fahrerassistenzsystem und kraftfahrzeug
EP2873578A3 (de) Verfahren zur Fahrassistenz
EP2690459A3 (de) Vorrichtung und Verfahren zum Identifizieren und Dokumentieren mindestens eines ein Strahlungsfeld durchfahrenden Objektes
EP2982561A3 (de) Verfahren zum bestimmen einer parkfläche zum abstellen eines kraftfahrzeugs, fahrerassistenzsystem und kraftfahrzeug
EP2857275A3 (de) Verfahren zum Betrieb eines Fahrerassistenzsystems zum Rangieren und/oder Parken
EP2570991A3 (de) Verfahren zur Bildverarbeitung von mit einem optischen Sensor in einem Kraftfahrzeug aufgenommenen Bilddaten und Kraftfahrzeug

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): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RIN1 Information on inventor provided before grant (corrected)

Inventor name: DOERNER, KARLHEINZ

17P Request for examination filed

Effective date: 20130801

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20170719

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM 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: 958918

Country of ref document: AT

Kind code of ref document: T

Effective date: 20180115

REG Reference to a national code

Ref country code: NL

Ref legal event code: FP

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: 502012011885

Country of ref document: DE

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 7

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

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

Ref country code: NO

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: 20180327

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: 20171227

Ref country code: FI

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: 20171227

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: 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: 20171227

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: 20180327

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: 20180328

Ref country code: HR

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: 20171227

Ref country code: RS

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: 20171227

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

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: 20171227

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: 20171227

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: 20171227

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: 20171227

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: 20171227

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

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: 20180427

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: 20171227

Ref country code: SM

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: 20171227

Ref country code: PL

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: 20171227

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

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: 20171227

Ref country code: MT

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: 20171227

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502012011885

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

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

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

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

Effective date: 20180327

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20180228

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

Ref country code: CH

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

Effective date: 20180228

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: 20171227

Ref country code: LU

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

Effective date: 20180204

Ref country code: LI

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

Effective date: 20180228

26N No opposition filed

Effective date: 20180928

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: 20180204

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

Ref country code: GB

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

Effective date: 20180327

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: 20171227

Ref country code: BE

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

Effective date: 20180228

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 958918

Country of ref document: AT

Kind code of ref document: T

Effective date: 20180204

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: 20180204

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 502012011885

Country of ref document: DE

Owner name: MAN TRUCK & BUS SE, DE

Free format text: FORMER OWNER: MAN TRUCK & BUS AG, 80995 MUENCHEN, DE

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

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: 20171227

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

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: 20120204

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: 20171227

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

Ref country code: MK

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

Effective date: 20171227

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

Ref country code: AL

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: 20171227

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

Ref country code: NL

Payment date: 20230222

Year of fee payment: 12

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

Ref country code: FR

Payment date: 20230223

Year of fee payment: 12

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

Ref country code: SE

Payment date: 20230222

Year of fee payment: 12

Ref country code: IT

Payment date: 20230220

Year of fee payment: 12

Ref country code: DE

Payment date: 20230227

Year of fee payment: 12

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

Ref country code: NL

Payment date: 20240226

Year of fee payment: 13