Classifications

• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
  • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
  • H04L41/08—Configuration management of networks or network elements
  • H04L41/0803—Configuration setting
  • H04L41/0813—Configuration setting characterised by the conditions triggering a change of settings
  • H04L41/0816—Configuration setting characterised by the conditions triggering a change of settings the condition being an adaptation, e.g. in response to network events
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
  • H04L12/00—Data switching networks
  • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
  • H04L12/40—Bus networks
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
  • H04L12/00—Data switching networks
  • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
  • H04L12/46—Interconnection of networks
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
  • H04L43/00—Arrangements for monitoring or testing data switching networks
  • H04L43/12—Network monitoring probes
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
  • H04L49/00—Packet switching elements
  • H04L49/15—Interconnection of switching modules

Definitions

• the invention relates to a connection node according to the preamble of claim 1, and a control unit, a communication network and a method according to the independent claims.
• Modern motor vehicles are known bus systems which connect a plurality of electrical units with each other.
• various systems of bus guardians and / or software-based solutions are known.
• Advantageous developments are specified in the subclaims.
• connection node for a communication network, wherein the connection node connects a network element of the communication network with the communication network.
• this may be a bus system of a motor vehicle.
• Connection node has a first interface to connect the
• connection node to the connection node and a second interface for connecting the connection node to the communication network.
• the connection node is configured to exchange data between the communication network and the network element via the first and second Enable interface.
• the connection node has facilities to connect between the communication network and the network element
• connection node according to the invention the data exchanged via him in general, completely unchanged (“transparent") on.
• connection node according to the invention for example, by means of an electronic identifier or identity in the protected
• connection node can be its
• connection nodes act, so to speak, as distributed in the communication network "mini-firewalls”.
• connection node can also monitor, inter alia, a time behavior of the respectively associated network element, for example a number of messages per time unit can be determined and compared with a specification.
• a time behavior of the respectively associated network element for example a number of messages per time unit can be determined and compared with a specification.
• connection node may be embodied in arbitrary parts as an electronic circuit or by means of a computer program.
• the connection node may be embodied in arbitrary parts as an electronic circuit or by means of a computer program.
• the connection node may be embodied in arbitrary parts as an electronic circuit or by means of a computer program.
• Connection node at least partially as a so-called "ASIC"
• connection node can be designed such that it automatically authenticates the associated network element, for example with a so-called "PUF method"("physical unclonable function").
• PAF method physical unclonable function
• connection node according to the invention can monitor the power supply line of the communication network and, if appropriate, report any faults to the control unit.
• the communication network or the bus system can be designed almost arbitrarily, for example as a serial or as a parallel bus, or as an optical network.
• the connections made by the communication network can also be carried out in a variety of ways.
• the communication network may have a simple linear or line structure, wherein two or more connection nodes, which represent the subscribers of the communication network as it were, are connected along the line.
• the communication network can be branched or arranged in a star shape, or it can at least partially comprise a ring structure.
• connection node can be operated in addition to and independently of other monitoring devices of the communication network and has the advantage that it can protect a communication network, in particular a bus system of a motor vehicle, particularly well. This makes it possible to increase the availability of the communication network.
• the communication network can be protected against malicious manipulation or a faulty permanent occupancy of one or more network elements, or a sending of unauthorized messages by modified or sabotaged network elements can be prevented.
• the communication network can also be monitored against any other malfunction of a network element and possibly protected.
• the decentralized protection function effected by the invention can be carried out "real-time capable" and, for example, change or block the data exchange to be monitored without a significant additional delay.
• the invention can also be applied to subnetworks of a
• connection node is in each case arranged in a decentralized manner between the communication network and the respectively connected network element, and can thus monitor the data exchange independently of the connected network element. Furthermore, the connection node according to the invention is in each case arranged in a decentralized manner between the communication network and the respectively connected network element, and can thus monitor the data exchange independently of the connected network element. Furthermore, the connection node according to the invention is in each case arranged in a decentralized manner between the communication network and the respectively connected network element, and can thus monitor the data exchange independently of the connected network element. Furthermore, the
• connection node can be permanently configured or in operation by the Control unit can be flexibly reconfigured. Also an encrypted
• connection node Data exchange with the control unit is possible.
• the scope of the invention is thus “scalable" within comparatively wide limits.
• connection node a dynamic configuration of the communication network during operation is made possible by switching between different modes of operation of the communication network.
• the invention makes it possible to operate the communication network in an operating mode designated as "degraded mode" if required, or an exclusive communication channel for a subnetwork of the
• the invention can be carried out particularly inexpensively, i.a. because existing network elements do not need to be modified.
• connection node has a third one
• Control unit has. According to the invention, a "control” is understood to mean that a data exchange takes place between the control unit and the connection node in such a way that both elements interact with one another
• Control unit can be initialized at start of operation or configured during operation. During this initialization or configuration, the connection node may temporarily disconnect the associated network element from the communication network as needed. If malfunctions of the associated network element and / or of the communication network are detected by the connection node, the connection node can send a corresponding message to the control unit via the third interface, which may include, inter alia, an error code or a device identity.
• the third interface is preferably separated logically and / or physically from the communication network or from the data transmitted via the communication network.
• connection node can be controlled or communicate via a separate channel independently of a state of the communication network.
• the connection node according to the invention acts independently of the object to be monitored. This is very advantageous especially in case of an error.
• the connection node can also be controlled via the communication network itself become.
• the separate channel for example by means of "frequency division multiple access", FDMA, or a comparable technology - use the physical lines of the communication network. This creates an additional security function and ultimately increases the availability of the communication network again.
• connection node according to the invention is structurally and / or electrically independent of the communication network and of the network element. This may cause possible disruptions of the
• Network element does not affect the function of the connection node.
• connection node according to the invention can be designed to read and / or modify and / or block data of an OSI-2 layer, and / or an OSI-3 layer and / or an OSI-7 layer.
• OSI stands for "open system interconnection” and refers to a layer model of the International Organization for Standardization (ISO), which was developed as the basis for various communication protocols.
• ISO International Organization for Standardization
• connection node according to the invention is designed to perform at least one of the following functions:
• Additional information in particular a CAN identity or an Ethernet and / or IP address and / or a MAC (media access control) address;
• connection node This describes a large number of advantageous properties or functions of the connection node with which it can protect the communication network particularly well and increase the availability accordingly.
• connection node is designed to receive control commands from the control unit alternatively or in addition to the third interface via the communication network. In this way, the control of the at least one connection node in the communication network can be carried out redundantly and thus particularly securely.
• Connection nodes designed to log read data or derived information.
• the data exchanged via the connection node can be read, linked, with specifications ("filter patterns”). be compared and evaluated.
• the results determined in this way can be stored locally in the connection node, and / or transmitted to higher-level elements of the communication network, in particular to the control unit. There, the results can be linked in addition, compared with specifications, evaluated and / or stored.
• a protocol (“logging") or an error message can be transmitted from the connection node to the control unit or from the control unit to a control and / or regulating device of the motor vehicle. Even an acoustic or optical information to the driver of the motor vehicle is possible.
• Vehicle safety-critical bus messages can be signed, increasing data authenticity and secure logging
• the communication network or in a connector of the wiring harness of the communication network.
• the wiring harness of the communication network For example, the
• the connection node according to the invention generally continues to transmit the data exchanged over it completely unchanged ("transparent").
• the connection node may alternatively be structurally combined with the network element. It is the
• Connection node however, functional and in terms of electrical
• the third interface for connection to the control unit is executed independently of the network element. Because of the spatial proximity achieved thereby, the first interface for connecting the network element to the connection node on both sides without a complex electrical
• Control unit communicates.
• control unit for a communication network, which is designed to communicate with at least one connection node and / or to control the at least one connection node.
• the control unit is a superordinated unit, by means of which the
• Connection nodes are tuned to each other.
• the structure of the communication network as a whole can be monitored and if necessary coordinatedly changed in order to achieve the best possible operation of the communication network even in the event of a fault. This can be done, for example, by reconfiguration or reinitialization of the connection nodes and / or the network elements.
• the control unit with other
• Control units communicate or, if necessary, automatically messages to the
• Dispensing instrument panel or the like Dispensing instrument panel or the like.
• control unit at least partially encrypts the communication with the at least one connection node and / or the controller and / or performs a signing.
• the function of the connection nodes according to the invention is additionally secured and, for example, protected against malicious manipulation.
• Communication network separated channel and / or control over the communication network, or via these connections with the at least one
• connection node Communicate connection node.
• the separate channel which is connected to the said third interface of the respective connection nodes, enables a preferred and particularly simple and secure communication between the control unit and the connection nodes.
• Communication network can not affect the communication between the control unit and the connection node.
• the separate channel may be linear, star-shaped or annular.
• the channel can optionally be structurally integrated into the wiring harness of the communication network and / or use the same physical lines and be decoupled by means of an F DMA method.
• the invention relates to a communication network, in particular a
• Bus system of a motor vehicle which interconnects at least two network elements, wherein at least one network element via a
• Connection node according to the invention to the communication network
• the communication network may be a CAN bus system of a motor vehicle.
• the invention may affect the availability of
• the communication network according to the invention can be equipped such that the at least one connection node complementary to one in a
• Network element arranged monitoring is arranged in the communication network. Due to the above-described characteristics of the at least one connection node and the control unit, other bus guardians, for example a "bus guardian" of a "flex-ray” system, are not impaired. Thus, the availability of the communication network can be further increased overall. In addition, protection against deliberate malicious manipulation of the network element is achieved.
• the communication network according to the invention is preferably designed to process asynchronous and / or undeterministic protocols, in particular so-called CSMA protocols in a CAN bus system or in one
• CSMA Carrier Sense Multiple Access
• CAN CAN
• the invention relates to a method for operating a
• Communication network in which using a control unit and an independent channel and at least one connection node data be read and / or changed and / or disabled between the communication network and at least one network element.
• a communication structure of the communication network is changed by the control unit controlling the at least one connection node.
• the structure of the communication network can be changed in a coordinated manner, for example as a dynamic response to overloads or other disturbances in the network.
• less important bus messages may be discarded and / or less important transmitting network elements from
• FIG. 1 shows a block circuit of a connection node
• Figure 2 shows an embodiment of an inventive
• FIG. 3 shows a flow chart for carrying out a method for operating the communication network.
• FIG. 1 shows a connection node 10 according to the invention in one
• connection node 10 has a first interface 12 for connection to a network element 14 (see FIG. 2), and has a second interface 16 for connecting the connection node 10 to
• Connection node 10 has a third interface 20 for connection to a control node 22 controlling connection node 10 (see FIG. 2).
• the connection node 10 is in a preferred embodiment in
• connection node 10 comprises a bidirectional data path 24 between the first interface 12 and the second interface 16, wherein the data path 24 can be separated by means of two switches 26 and 28. Via the data path 24, data 25 between the first interface 12 and the second
• a circuit 30 comprises further devices of the
• Connection node 10 including a memory 32.
• a bidirectional control line 40 connects the circuit 30 to the third interface 20.
• connection node 10 is preferably arranged close to its associated network element 14, but executed independently of the network element 14.
• connection node 10 is structurally separated from the network element 14 and also has an independent of the network element 14
• Connection node 10 as a structural unit with the network element 14th
• connection node 10 is not connected to the control unit 22 and thus operates automatically.
• 18 data for the configuration of the connection node 10 were stored in the memory 32 in the preparation of the connection node 10 and / or at startup of the communication network. With this data is the operation of the connection node 10
• connection node 10 predetermined. In another embodiment, the connection node 10 is connected to the
• Control unit 22 is connected and can be controlled by the control unit 22, that is, the connection node 10 may communicate with the control unit 22 and / or be initialized and / or configured by the control unit 22. This takes place, for example, by means of a bidirectional data traffic between the connection node 10 and the control unit 22.
• This connection preferably takes place via the third interface 20 and via a separate channel 42 from the communication network 18 (see FIG. 2).
• connection node 10 is not connected by means of the third interface 20 to the control unit 22, but via the
• connection node 10 During normal operation of the connection node 10, the switches 26 and 28 are closed, that is, the data path 24 is connected between the first interface 12 and that between the interface 16. The data transmission between the first interface 12 and between the interface 16 is thus unchanged ("transparent").
• the connection node 10 includes one or more amplifiers, level shifters, pulse shaping means, shift registers, or the like to pass the bidirectional signals exchanged via the interfaces 12 and 16 as accurately as possible. However, these elements are not shown in FIG.
• the circuit 30 may read the data 25 exchanged at the interfaces 12 and 16 by means of data lines 34 and 36 and continuously compare and rate with presets stored in the memory 32.
• the additional information accompanying data 25 such as a CAN identity or an Ethernet (e.g., MAC) and / or IP address, may be read, compared and evaluated. This can be a condition and / or a
• Behavior of the connected network element 14 can be determined.
• the data 25 can be changed by means of the data line 38, that is, written or deleted. Changing the data 25 may be single bits, bytes or even whole
• Data packets concern. Furthermore, data 25 which are sent by the network element 14 and have a certain predetermined CAN identity or Ethernet IP address, with a signature, for example by a so-called HMAC method ("keyed-hash message authentication code"). be supplemented.
• HMAC method keyed-hash message authentication code
• received data 25 can be checked for its signature. If the respective signature was recognized as correct, the data 25 can be forwarded to the associated network element 14. On the other hand, if the signature is not correct, the connection node 10 can modify or at least partially block this data 25.
• the circuit 30 or the connection node 10 is designed to read data 25 of an OSI-2 layer ("open system interconnection"), and / or an OSI-3 layer and / or an OSI-7 layer and / or to modify and / or block as needed.
• data 25 which deviate impermissibly from a respective specification are "filtered out", for example blocked or replaced by zeros.
• connection node 10 it is also possible to change the data 25 exchanged via the connection node 10 if necessary, so that these correspond to the respective specification and thus the network elements 14 can receive or transmit data which is as correct as possible. This is preferably done with knowledge of the communication network 18 underlying
• the circuit 30 has to
• connection node 10 or the circuit 30 are in the present case designed as an ASIC (application-specific integrated circuit). Accordingly, the two switches 26 and 28 are integrated and designed, for example, as a transistor, as a digital gate, as a multiplexer or the like. Alternatively, it is possible to implement the connection node 10 at least partially as an FPGA (Freely Programmable Integrated Circuit) or by another suitable technique. It should be noted that in the figure 1, the data path 24 and the switches 26 and 28 are shown only schematically, and that because of If necessary, a deviating circuit structure may be useful for bidirectional data exchange.
• ASIC application-specific integrated circuit
• FIG. 2 shows an example of the communications network 18, which in the present case is a bus system of a motor vehicle (not shown).
• the communications network 18 in the present case is a bus system of a motor vehicle (not shown).
• Communication network 18 of Figure 2 is executed in the form of two subnetworks 18a and 18b respectively in the left and right of the drawing.
• Subnetworks 18a and 18b are each implemented by means of a wiring harness 29a and 29b.
• connection nodes 10 have for this purpose a first interface 12 and a second interface 16, as has already been shown in FIG.
• An uppermost in the drawing of Figure 2 network element 14 is independent of two
• Connection node 10 connected to each one of the two subnets 18a and 18b. Three of the remaining six network elements 14 are each connected via a connection node 10 to the subnet 18a and three network elements 14 are each connected via a connection node 10 to the subnet 18b.
• the control unit 22 shown in the upper right area of the drawing is connected by means of the channel 42 to the eight connection nodes 10.
• the channel 42 is connected to the respective third interfaces 20 of the connection nodes 10.
• the channel 42 is executed separately from the communication network 18 or from the subnetworks 18a and 18b. In particular, the channel 42 has no direct electrical connection to the communication network 18.
• the separate channel 42 may, for example, be an electrical or optical connection independent of the communication network 18, which is designed separately or structurally in the cable harness 29a or 29b of the
• the separate channel 42 may at least partially have a linear, a branched, a star-shaped and / or an annular structure.
• the network elements 14 shown in FIG. 2 are, for example, control devices for controlling an internal combustion engine, an exhaust system and / or a Automatic transmission of the motor vehicle. Likewise, the network elements 14 may also be other smaller units connected to the CAN bus system.
• the control unit 22 is preferably a structurally independent device of the motor vehicle, as shown in the drawing. Alternatively, the control unit 22 in one of the network elements 14 and the control units of the
• connection nodes 10 can advantageously in the wiring harness 29 a and 29 b of the
• Harness 29a and 29b to be fixed. This is particularly easy if the connection nodes 10 as described above by means of a
• ASICs are executed.
• the control unit 22 and optionally the connection nodes 10 have memory 32, in which, inter alia, the communication structure of the communication network 18 is stored. It can be a specific
• Control unit 22 can be changed during operation.
• the communication network 18 shown in FIG. 2 is electrically designed as a CAN bus system as described above, but according to the invention an optical embodiment of the communication network 18 is also possible.
• connection nodes 10 are also designed to log the data 25 exchanged via the data path 24 or information derived therefrom.
• the exchanged data 25 can be read, linked, compared with specifications and / or evaluated.
• the results determined in this way can be transmitted via the channel 42 to the control unit 22.
• the results can be linked in addition, compared with specifications, evaluated and / or stored.
• a protocol or an error message can be transmitted to one or more control units of the motor vehicle. Even an acoustic or optical information to the driver of the motor vehicle is possible.
• the control unit 22 can communicate with the connection nodes 10 of the
• Communication network 18 communicate in almost any way and / or the connection node 10 after switching on a supply voltage initialize.
• the control unit 22 the
• Communication structure of the communication network 18 to optimize or adapt to any disturbances.
• connection nodes 10 according to the invention.
• Communication network 18 allows the illustrated bus system of
• connection nodes 10 may also have a different number of connection nodes 10. It is also possible that not all of the connection nodes 10 used are connected via the channel 42, for example when the connection nodes 10 are fixedly configured for a particular task, and transmission of protocols to the control unit 22 is not required. It is also conceivable not to assign a connection node 10 to all network elements 14.
• connection nodes 10 can also be made possible in the event of disruptions of the channel 42. It is also conceivable, by a general abandonment of the channel 42 to carry out the invention particularly cost.
• the invention can be suitably “scaled” according to the respective requirements in terms of cost on the one hand and the function on the other hand.
• connection node 10 is structurally combined with the network element 14.
• the connection node 10 is designed to be functional and independent of the network element 14 with respect to the electrical power supply.
• the third interface 20 for connection to the control unit 22 is executed independently of the network element 14.
• a comparatively complex electrical circuit English, "physical layer”
• the connection node 10 may even be integrated into the electrical circuit ("physical layer") of the network element 14 used for connection to the communication network 18.
• the connection node 10 may be functionally connected between the electrical circuit connected to the
• Communication network 18 is used, and the remaining network element 14 may be arranged. This is likewise not shown in FIG. In addition, it is not absolutely necessary to form the third interface 20 as a separate connection to the connection node 10 when the
• Connection node 10 physically over the communication network 18 with the
• Control unit 22 communicates.
• FIG. 3 shows a simple flow chart for carrying out a method 50 for operating the communication network 18.
• a start block 52 which is shown in the upper area of the drawing, the sequence shown in FIG.
• Connection node 10 characterized.
• the data 25 exchanged via the data path 24 are read and accompanying additional information, such as a CAN identity, evaluated.
• additional information such as a CAN identity
• a communication structure describing the exchange of the data 25 is also determined and evaluated, in particular a direction of the data flow in relation to the respectively associated one
• Network element 14 Furthermore, a state or a behavior of the
• the exchanged data 25 or the state of the network element 14 is compared with predetermined data 25 or a predetermined state of the network element 14 and evaluated. If the comparison does not result in any data 25 evaluated as being faulty or a faulty state of the network element 14, then the processing of the
• Control unit 22 transmitted. This can reduce the availability of the
• Control unit 22 for initialization and / or configuration of
• Connection node 10 are received. Thereafter, the method 50 branches back to the input of the block 54.
• the processing in the block 58 may optionally also be carried out directly after the start (start block 52), for example during a first initialization of the connection node 10 and / or during the ongoing operation of the Communication network 18.
• Connection node 10 fulfill at least one of the following functions, or the connection node 10 has at least one of the following properties:
• connection node 10 can be inexpensively manufactured as a configurable ASIC and preferably installed in the wiring harness, for example in a harness connector or alternatively in a housing of the network element 14;
• connection node 10 can monitor the communication behavior of each connected network element 14;
• connection node 10 works transparently for the network elements 14, that is, the network elements 14 need not have knowledge about the connection nodes 10;
• connection node 10 may have a predetermined communication behavior by filtering the deviating from the default data packets force.
• the following criteria are used as filtering criteria for the transmission behavior of a network element 14:
• the transmission direction represents a specific to the network element 14 section of the communication matrix, which as
• Development artifact is present, such as a CAN communication matrix or an AUTOSAR communication matrix;
• CAN-ID CAN identity
• IP IP address for Ethernet networks or Internet networks
• time behavior of the network element 14 for example a maximum number of messages per unit of time
• connection node 10 which (optionally) in the network
• Start phase can be configured. This allows network problems to be remedied by restarting the communications network 18 as an alternative to dynamic reconfiguration.
• Connection node 10 establish an exclusive network mode for the configuration by the respective network elements 14 for this phase from
• bus messages with specific CAN ID or MAC / IP address, which are classified as critical to safety, are detected. These bus messages are only forwarded to the network element 14 when their signatures (eg HMAC) have been verified;
• Control unit 22 Communication behavior, a message to the control unit 22 with control information, such as a device identification, ID, an error code or the like, sent over the separate channel 42;
• connection nodes 10 also control the
• control unit 22 monitors and controls the functions of the network elements 14.
• the control unit 22 can fulfill at least one of the following functions, or the control unit 22 has at least one of the following properties:
• Be configured communication network 18 - Specification of filter patterns for permissible or prohibited, incoming and / or outgoing communication for the respective connection nodes 10;
• Control unit 22 a new communication structure configuration, which is distributed to the existing connection nodes 10 at the network restart.
• the control unit 22 may notify the driver of the detected problem via the instrument panel of the motor vehicle and request a restart;
• connection nodes 10 Coordination and control of the connection nodes 10 at runtime of the system, for example by means of a reconfiguration.
• connection node 10 in each case the same protocol (CAN, Ethernet / IP).
• the connection node 10 does not function as a communication participant.
• the control of the connection node 10 via the separate channel 42.
• An initiation phase of the communication network 18 can be used for configuration of the connection node 10. In this case, the connection nodes 10 disconnect the network elements 14 from the communication network 18 until a
• Synchronization signal of the control unit 22 has been received.
• an exclusive medium for the configuration of the connection nodes 10 is made.
• different physical communication methods can be used on the same physical line.
• the channel 42 represents a separate physical line.

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• Computer Networks & Wireless Communication (AREA)
• Signal Processing (AREA)
• Small-Scale Networks (AREA)
• Data Exchanges In Wide-Area Networks (AREA)

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• 2011
  • 2011-06-10 DE DE102011077409A patent/DE102011077409A1/de active Pending
• 2012
  • 2012-04-25 WO PCT/EP2012/057563 patent/WO2012167995A2/de active Application Filing
  • 2012-04-25 CN CN201280028165.9A patent/CN103583019B/zh active Active
  • 2012-04-25 JP JP2014513960A patent/JP2014520441A/ja active Pending
  • 2012-04-25 US US14/125,235 patent/US10044564B2/en not_active Expired - Fee Related
  • 2012-04-25 KR KR1020137032576A patent/KR101879014B1/ko active IP Right Grant
  • 2012-04-25 EP EP12721201.7A patent/EP2719127A2/de not_active Withdrawn

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