EP2834798B1 - Verfahren und vorrichtung zur automatischen erfassung und verwaltung von strassenunterbrechungen - Google Patents

Verfahren und vorrichtung zur automatischen erfassung und verwaltung von strassenunterbrechungen Download PDF

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Publication number
EP2834798B1
EP2834798B1 EP13719584.8A EP13719584A EP2834798B1 EP 2834798 B1 EP2834798 B1 EP 2834798B1 EP 13719584 A EP13719584 A EP 13719584A EP 2834798 B1 EP2834798 B1 EP 2834798B1
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Prior art keywords
remote server
traffic jam
acquiring
vehicle
frame
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English (en)
French (fr)
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EP2834798A1 (de
Inventor
Jean-Marc Van Laethem
Fabien Pierlot
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Coyote System SAS
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Coyote System SAS
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination

Definitions

  • the present invention relates to a method of automatic acquisition and management by a remote server of data relating to road disturbances causing a slowdown of vehicles on a section of a road network, commonly referred to as a traffic jam.
  • the present invention also relates to a method making it possible to communicate said disturbance information to a device on board these vehicles.
  • the object of the present invention is to carry out automatically by a server, in particular a remote server, the real-time acquisition of the position of any traffic jams capable of forming, lasting or being absorbed over a network.
  • the present invention also aims to communicate the existence of such plugs to the drivers of the vehicles who are approaching them, and to communicate to the drivers of the vehicles which are within this plug their positioning inside the latter.
  • the remote server by comparing the information of a braking frame in progress coming from the "braking base" with the data of a "cartographic database", will be able to determine the section and the direction of circulation. of the vehicle associated with said braking frame in progress in progress.
  • the remote server will be able to set up performs a filtering step aimed at establishing whether said determined section is located in an active area, that is to say an area for which there is no natural deceleration, such as, for example, a toll area . If this is not the case, it will delete, in the "braking database", the braking frame associated with the above-mentioned determined section.
  • the remote server will then be able to consult the "braking database” in order to determine whether there exists, upstream and at a predetermined maximum distance from the vehicle concerned, on said section, for a short determined period of time, at least one braking frame. preexisting, and, in the affirmative, it will be able to create, in a database known as "disturbance base", a record in which it will qualify as “cork tail” the position associated with the current braking frame.
  • the remote server will then be able to consult the "disturbance database" in order to determine whether it exists upstream and at a predetermined maximum distance from the vehicle concerned, on said section, for a short determined period of time, at least one pre-existing traffic jam, and , in the affirmative, it will modify, in the "disturbance database" the existing cork tail registration to replace it, as cork tail, the position associated with the current braking frame.
  • the remote server will be able to create a record in the "disturbance database" in which it will describe the position associated with the pre-existing braking frame as "plug head”.
  • the remote server can then ask the vehicles located between the head and the tail of a traffic jam to transmit to it, at a determined frequency, an information frame, in particular of GPS type. From said information frames the remote server will be able to determine the average speed inside the traffic jam as well as manage the movements of the traffic jam head and tail.
  • the remote server will be able to determine the distance separating each of the vehicles located between the head and the tail of a plug, from the head thereof and communicate this information to the on-board device.
  • the remote server can determine the time it will take to reach the head of this traffic jam and communicate it to each device on board the traffic jam.
  • the on-board device of a vehicle can communicate this information to the driver thereof in voice and / or visual form.
  • each of the vehicles will periodically send an information frame to the remote server (2) and, upon receipt , the latter, by comparing the information of this frame with the data of the "cartographic base", will determine the section and the direction of circulation of the vehicle associated with said frame in progress.
  • the remote server will then determine whether there is, in the disturbance database, a traffic jam located upstream of the position of the vehicle corresponding to the said frame, and at a distance less than a determined distance from it, in particular from the range from 5 to 10 kilometers.
  • the remote server will be able to determine the distance separating said position of the vehicle from the tail end of the disturbance situated upstream. Similarly, he can calculate the length of the plug and communicate this information to the on-board device.
  • the remote server will determine whether, between the position of the vehicle and the tail of the traffic jam, there is an exit route in the "cartographic base" and, if it exists, it will communicate the distance to the on-board device.
  • the system according to the invention which is shown in the figure 1 , includes a device 1 on board a vehicle and a remote server 2.
  • the on-board device 1 comprises a microprocessor 3 which provides logical management of various peripheral elements, namely geolocation means 5, in particular of the GPS type, and means of communication 7 with the remote server 2, in particular of the GSM type.
  • the on-board device 1 also comprises means capable of enabling the driver to receive messages from the remote server 2 in sound form by means of a loudspeaker 9, and / or in visual form by means of a screen 11.
  • the remote server 2 comprises a processor 15 which ensures the management of several databases, namely a database 17 called “cartographic base” in which the information allowing it is stored, from the GPS frame provided by the means of geolocation 5, to position the vehicles on road sections, a database 18 called “braking base”, as well as a database 19 called “disturbance base” whose functions will be specified below.
  • the remote server also includes communication means 21 able to put it in contact with the communication means 7 of the various on-board devices 1.
  • the on-board device 1 on vehicles moving on a road network collects, periodically, for example every second, the GPS type information frame supplied to it by its geolocation means 5 and which, in known manner, includes the location of the vehicle, the instant (hour, minutes, seconds), its speed, and its direction of movement. From this information it also calculates the acceleration of the vehicle.
  • the management means 3 of the on-board device 1 determine the variation in acceleration of the vehicle over the last seconds, for example over the last ten and, in the event that it detects a deceleration and provided that the latter is greater than one given threshold level ⁇ a, for example of the order of 2 to 8 m / s 2 (which indicates significant braking), the system performs then a control of the value of the speed difference of the vehicle between its high speed and its low speed, that is to say the speed of the vehicle before and after deceleration. It is thus possible to do this by measuring the speed difference of the vehicle over a short close period, in particular of the order of ten seconds.
  • braking frame this information frame
  • the latter's management device 15 On receipt of this information frame, the latter's management device 15 performs a location operation during which it consults the "cartographic base" 17 in order to determine the section of road lane on which the vehicle concerned is located. A section or a part of a road lane situated between two intersections of this lane with intersecting lanes will be understood below.
  • the management system 15 of the remote server 2 then performs a filtering in order to eliminate the so-called "out of scope” areas, that is to say the areas where it is normal to perform braking followed by a significant slowdown, such as including urban areas, highway rest areas, toll gates, etc.
  • the braking pattern is deleted and the acquisition process begins again at the beginning.
  • the braking frame received by the remote server 2 is recorded in the database called "braking base”.
  • the management system 15 of the remote server 2 searches the so-called "disturbance base" database if, upstream of the area determined by the last recorded braking frame and in an area close to it of the order for example from 1 to 2 km there is already a recorded disturbance, hereinafter called a traffic jam.
  • the system considers that it is the last recorded frame which constitutes the tail of this plug, that is to say the end of it and saves it as such in the "disturbance database". " 19 and it is the position associated with the pre-existing frame which constitutes the head of the plug.
  • the system is therefore able to determine the length Lb of the latter.
  • the remote server 2 selects the vehicles which are inside the traffic jam and requests them to communicate to it periodically, in particular every minute, their GPS type information frame. On the basis of the values of the speeds contained in each of these, the management system of the remote server 2 calculates the value of the average speed Vm inside the plug.
  • the remote server 2 then sends this information to each of the vehicles in the traffic jam, information that the on-board device 1 thereof communicates to the driver of the vehicle using its display 11 and / or audio means 9 .
  • the driver of a vehicle located in a traffic jam and which is equipped with the system according to the invention is kept constantly informed of his situation inside it, both as regards the distance Dt which separates it from the head of the stopper than the time Tt which will be necessary for it to reach the latter.
  • each on-board device will calculate the crossing time Tt which separates it from the head of the stopper by dividing the distance Dt which separates it from the head that it knows from the information it previously received from the server, by its speed which is the average speed Vm in the traffic jam.
  • the present invention also makes it possible to take into account the situation of vehicles which are outside a traffic jam and that are moving towards it by indicating on the one hand the distance Dq which separates them from the tail of the traffic jam and d on the other hand the length Lb of it.
  • each of the vehicles in circulation sends, periodically, in particular with time intervals of the order of one to five minutes, a frame of information of GPS type to the remote server 2 and, on reception, the latter, by comparing the information in this frame with the data in the "cartographic base" 17, determines the section and the direction of movement of the vehicle concerned.
  • the remote server 2 then consults the "disturbance database" 19 in order to determine if there is a traffic jam upstream of the position of the vehicle concerned and, if such a traffic jam exists, the remote server 2 checks whether the latter is located at a distance less than a determined threshold value, in particular of the order of five to ten kilometers.
  • the remote server calculates at this instant the distance Dq separating the vehicle in progress from the tail of the traffic jam, since these two positions are known to it.
  • the remote server 2 calculates at this instant the length Lb of the plug, that is to say the distance separating the head and the tail thereof.
  • the remote server 2 then communicates these two values to the on-board device 1 and the latter, via its information means, informs the driver of the vehicle in audible form by means of the loudspeaker 9 and / or in visual form to the screen 11.
  • the remote server determines whether, between said position of the vehicle and the tail of the traffic jam, there is a route for exit allowing the user to leave the traffic lane on which he is and thus avoid the traffic jam. If this is the case, the remote server determines the distance Ds separating the vehicle concerned from the exit route and communicates the latter to the on-board device which, on reception, informs the driver of the vehicle.
  • the driver of a vehicle approaching a traffic jam will receive information of the existence thereof, its length Lb , the distance Dq which separates it from the tail of traffic jam as well than the possibility of avoiding it.
  • the on-board device 1 is provided with a cartographic database which allows the latter to carry out the previously said filtering operation itself, and to send to the server 2 the braking frame only if the zone considered is located in a so-called active zone.
  • a cartographic database which allows the latter to carry out the previously said filtering operation itself, and to send to the server 2 the braking frame only if the zone considered is located in a so-called active zone.

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  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Claims (22)

  1. Erwerbs- und Verwaltungsverfahren von Daten durch einen entfernen Server (2) über Behinderungen im Straßenverkehr, die eine Verlangsamung von Fahrzeugen auf wenigstens einem Straßenabschnitt hervorrufen, bei dem
    - eine integrierte Vorrichtung (1) auf einem Fahrzeug zum Übertragen eines Informationsrasters auf den entfernten Server (2) geeignet ist,
    - wobei der entfernte Server (2) geeignet ist, dasselbe zu verarbeiten und Informationen an die integrierte Vorrichtung (1) zurückzusenden, zu deren Übertragung an den Fahrer des Fahrzeugs Letztere geeignet ist,
    dadurch gekennzeichnet, dass:
    - die integrierte Vorrichtung (1) periodisch ein Informationsraster von einem Ortungssystem (5) empfängt,
    - die integrierte Vorrichtung (1) die Beschleunigung bestimmt, der das Fahrzeug unterworfen ist, und an den entfernten Server (2) ein als "Bremsraster" bezeichnetes Informationsraster sendet, wenn:
    ∘ a) die Beschleunigung negativ und höher ist als ein erster bestimmter Schwellenwert (δa) und wenn
    ∘ b) die Variation der Geschwindigkeit des Fahrzeugs aufgrund der genannten negativen Geschwindigkeit vor und nach derselben höher ist als ein zweiter Schwellenwert (δv)
    - der entfernte Server (2) beim Empfang des Bremsrasters dasselbe in einer als "Bremsdatenbank" bezeichneten Datenbank speichert.
  2. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 1, dadurch gekennzeichnet, dass der entferne Server (2) per Vergleich der Informationen eines aus der "Bremsdatenbank" stammenden laufenden Bremsrasters mit den Daten einer "kartographischen Datenbank" den Abschnitt und die Fahrtrichtung des der genannten laufenden Bremsdatenbank zugeordneten Fahrzeugs bestimmt.
  3. Erwerbs- und Verwaltungsverfahren gemäß einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass der entfernte Server (2) die "Bremsdatenbank" befragt, um zu bestimmen, ob vor und in einer vorbestimmten maximalen Entfernung von dem betroffenen Fahrzeug auf dem genannten Abschnitt während eines bestimmten kurzen Zeitraums wenigstens ein vorab vorhandener Bremsabschnitt vorhanden ist, und wenn ja, legt er in einer als "Störungsdatenbank" bezeichneten Datenbank eine Abspeicherung an, in der die dem laufenden Bremsraster zugeordnete Position ein "Ende eines Verkehrsstaus" bildet.
  4. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 3, dadurch gekennzeichnet, dass der entfernte Server (2) die "Störungsdatenbank" befragt, um zu bestimmen, ob vorgeschaltet und in einer vorbestimmten maximalen Entfernung des betroffenen Fahrzeugs auf dem genannten Abschnitt während einer bestimmten kurzen Zeitdauer wenigstens ein vorab vorhandener Stau vorhanden ist, und wenn ja, ändert er in der "Störungsdatenbank" die Abspeicherung des vorhandenen Endes eines Verkehrsstaus, um sie durch die dem laufenden Bremsraster zugeordnete Position als Ende eines Verkehrsstaus zu ersetzen.
  5. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 3, dadurch gekennzeichnet, dass die dem vorab vorhandenen Erwerbsraster zugeordnete Position in der "Störungsdatenbank" einen Beginn eines Verkehrsstaus darstellt.
  6. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 5, dadurch gekennzeichnet, dass der entfernte Server (2) den Fahrzeugen, die sich zwischen dem Beginn und dem Ende eines Verkehrsstaus befinden, befiehlt, ihm in einer bestimmten Frequenz ein Informationsraster zukommen zu lassen.
  7. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 6, dadurch gekennzeichnet, dass der entfernte Server (2) ausgehend von den genannten Informationsrastern die durchschnittliche Geschwindigkeit (Vm) der Fahrzeuge im Innern des Verkehrsstatus bestimmt.
  8. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 5 und 6, dadurch gekennzeichnet, dass der entfernte Server (2) für jedes der Fahrzeuge, die sich zwischen dem Beginn und dem Ende eines Verkehrsstaus befinden, die Entfernung (Dt) bestimmt, die ihn von dem Beginn dieses Verkehrsstaus trennt.
  9. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 8, dadurch gekennzeichnet, dass der entfernte Server (2) jeder integrierten Vorrichtung (1) für jedes der o. g. Fahrzeuge die Entfernung (Dt) mitteilt, die ihn von dem Beginn des Verkehrsstaus trennt.
  10. Erwerbs- und Verwaltungsverfahren gemäß einem der Ansprüche 7 bis 9, dadurch gekennzeichnet, dass der entfernte Server (2) für jedes der Fahrzeuge, die sich zwischen dem Beginn und dem Ende eines Verkehrsstaus befinden, die Zeit (Tt) bestimmt, die es benötigen wird, um den Beginn dieses Verkehrsstaus zu erreichen.
  11. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 10, dadurch gekennzeichnet, dass der entfernte Server (2) jedem der o. g. Fahrzeuge die Zeit (Tt) übermittelt, die es benötigen wird, um den Beginn des Verkehrsstaus zu erreichen.
  12. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 5, dadurch gekennzeichnet, dass der entfernte Server (2) im Anschluss an eine Verschiebung des Beginns des Verkehrsstaus jedem der Fahrzeuge, die sich zwischen dem Beginn und dem Ende des genannten Verkehrsstaus befinden, die Lokalisierung des Beginns des Verkehrsstaus übermittelt.
  13. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 12, dadurch gekennzeichnet, dass die integrierte Vorrichtung eines Fahrzeugs, das sich im Innern eines Verkehrsstaus befindet, die Durchfahrtszeit durch den Verkehrsstau per Dividieren der Entfernung (Dt), die es von dem Beginn des Verkehrsstaus trennt, durch seine durchschnittliche Geschwindigkeit (Vm) in dem Verkehrsstau berechnet.
  14. Erwerbs- und Verwaltungsverfahren gemäß einem der Ansprüche 8, 10 oder 13, dadurch gekennzeichnet, dass bei Empfang der Entfernung (Dt) und / oder der notwendigen Zeit (Tt) die integrierte Vorrichtung (1) eines Fahrzeugs diese Informationen dem Fahrer desselben in sprachlicher und / oder visueller Form übermittelt.
  15. Erwerbs- und Verwaltungsverfahren gemäß einem der Ansprüche 2 bis 14, dadurch gekennzeichnet, dass der entfernte Server (2) einen Filterschritt umsetzt, der zum Feststellen bestimmt ist, ob der genannte bestimmte Abschnitt sich in einer aktiven Zone befindet und wenn das nicht der Fall ist, löscht er das dem o. g. bestimmten Abschnitt zugeordnete Raster in der "Bremsdatenbank".
  16. Erwerbs- und Verwaltungsverfahren gemäß einem der voranstehenden Ansprüche, dadurch gekennzeichnet, dass jedes der Fahrzeuge periodisch ein Informationsraster an den entfernten Server (2) sendet und Letzterer per Vergleich der Informationen dieses Rasters mit den Daten der "kartographischen Datenbank" (17) den Abschnitt und die Fahrtrichtung des dem genannten laufenden Raster zugeordneten Fahrzeugs bestimmt.
  17. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 16, dadurch gekennzeichnet, dass der entfernte Server (2) bestimmt, ob in der Störungsdatenbank (19) eine Verkehrsstörung vor der Position des dem genannten Raster entsprechenden Fahrzeugs und in einer kleineren Entfernung als einer bestimmten Entfernung derselben und insbesondere in der Größenordnung von 5 bis 10 Kilometern vorhanden ist.
  18. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 17, dadurch gekennzeichnet, dass der entfernte Server (2) die Entfernung (Dq) bestimmt, die die genannte Position des Fahrzeugs von dem vorgeschalteten Ende des Verkehrsstaus trennt.
  19. Erwerbs- und Verwaltungsverfahren gemäß Anspruch 18, dadurch gekennzeichnet, dass der entfernte Server (2) die Länge (Lb) des vorgeschalteten Verkehrsstaus berechnet.
  20. Erwerbs- und Verwaltungsverfahren gemäß einem der Ansprüche 18 oder 19, dadurch gekennzeichnet, dass der entfernte Server (2) der integrierten Vorrichtung (1) die o. g. Entfernung (Dq) und / oder die Länge (Lb) des vorgeschalteten Verkehrsstaus übermittelt.
  21. Erwerbs- und Verwaltungsverfahren gemäß einem der Ansprüche 18 bis 20, dadurch gekennzeichnet, dass der entfernte Server bestimmt, ob zwischen der Position des Fahrzeugs und dem Ende des Verkehrsstaus in der "kartographischen Datenbank" ein Ausweg vorhanden ist und wenn er vorhanden ist, übermittelt er der integrierten Vorrichtung (1) die Entfernung (Ds).
  22. Erwerbs- und Verwaltungsverfahren von Daten durch einen entfernen Server (2) über Behinderungen im Straßenverkehr, die eine Verlangsamung von Fahrzeugen auf wenigstens einem Straßenabschnitt hervorrufen, bei dem
    - eine integrierte Vorrichtung (1) auf einem Fahrzeug zum Übertragen eines Informationsrasters auf den entfernten Server (2) geeignet ist,
    - wobei der entfernte Server (2) geeignet ist, dasselbe zu verarbeiten und Informationen an die integrierte Vorrichtung (1) zurückzusenden, zu deren Übertragung an den Fahrer des Fahrzeugs Letztere geeignet ist,
    dadurch gekennzeichnet, dass:
    - eine Bremsdatenbank (18), die Informationen enthält, welche aus Bremsinformations-Rastern resultieren, die von der integrierten Vorrichtung (1) der Fahrzeuge übermittelt sind,
    - eine Datenbank der Verkehrsstörungen, die wenigstens die Lokalisierung der Enden und / oder des jeweiligen Beginns dieser Verkehrsstörungen enthalten, wobei die integrierte Vorrichtung (1) periodisch ein lnformationsraster von einem Ortungssystem (5) empfängt,
    wobei die integrierte Vorrichtung (1) die Beschleunigung bestimmt, der das Fahrzeug unterworfen ist, und an den entfernten Server (2) ein als "Bremsraster" bezeichnetes Informationsraster sendet, wenn:
    ∘ a) die Beschleunigung negativ und höher ist als ein erster bestimmter Schwellenwert (δa) und wenn
    ∘ b) die Variation der Geschwindigkeit des Fahrzeugs aufgrund der genannten negativen Geschwindigkeit vor und nach derselben höher ist als ein zweiter Schwellenwert (δv)
    wobei der entfernte Server (2) beim Empfang des Bremsrasters dasselbe in der Bremsdatenbank (18) speichert.
EP13719584.8A 2012-04-03 2013-03-29 Verfahren und vorrichtung zur automatischen erfassung und verwaltung von strassenunterbrechungen Active EP2834798B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1200984A FR2988893B1 (fr) 2012-04-03 2012-04-03 Procede d'acquisition et de gestion de donnees relatives a des perturbations routieres
PCT/FR2013/050716 WO2013150230A1 (fr) 2012-04-03 2013-03-29 Procédé et dispositif d'acquisition et de gestion automatique de perturbations routières

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EP2834798A1 EP2834798A1 (de) 2015-02-11
EP2834798B1 true EP2834798B1 (de) 2020-04-29

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EP (1) EP2834798B1 (de)
ES (1) ES2808402T3 (de)
FR (1) FR2988893B1 (de)
PT (1) PT2834798T (de)
WO (1) WO2013150230A1 (de)

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CN112071092A (zh) * 2020-09-21 2020-12-11 汪秒 一种基于云计算的道路交通智能缓解控制系统

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Publication number Priority date Publication date Assignee Title
US6810321B1 (en) * 2003-03-17 2004-10-26 Sprint Communications Company L.P. Vehicle traffic monitoring using cellular telephone location and velocity data
US8423255B2 (en) * 2008-01-30 2013-04-16 Microsoft Corporation System for sensing road and traffic conditions

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Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112071092A (zh) * 2020-09-21 2020-12-11 汪秒 一种基于云计算的道路交通智能缓解控制系统

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ES2808402T3 (es) 2021-02-26
EP2834798A1 (de) 2015-02-11
FR2988893A1 (fr) 2013-10-04
FR2988893B1 (fr) 2022-05-20
PT2834798T (pt) 2020-07-31
WO2013150230A1 (fr) 2013-10-10

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