EP2872365A1 - Verfahren zur steuerung einer innenraumbeleuchtung in einem fahrzeug sowie innenraumbeleuchtung - Google Patents
Verfahren zur steuerung einer innenraumbeleuchtung in einem fahrzeug sowie innenraumbeleuchtungInfo
- Publication number
- EP2872365A1 EP2872365A1 EP13736863.5A EP13736863A EP2872365A1 EP 2872365 A1 EP2872365 A1 EP 2872365A1 EP 13736863 A EP13736863 A EP 13736863A EP 2872365 A1 EP2872365 A1 EP 2872365A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- light pattern
- light
- lighting means
- lighting
- 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.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000007613 environmental effect Effects 0.000 claims abstract description 5
- 230000001133 acceleration Effects 0.000 claims description 10
- 230000001419 dependent effect Effects 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000002238 attenuated effect Effects 0.000 description 3
- 206010052804 Drug tolerance Diseases 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 230000026781 habituation Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004313 glare Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q3/00—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q3/00—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors
- B60Q3/10—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors for dashboards
- B60Q3/16—Circuits; Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q3/00—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors
- B60Q3/80—Circuits; Control arrangements
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/105—Controlling the light source in response to determined parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2900/00—Features of lamps not covered by other groups in B60Q
- B60Q2900/40—Several lamps activated in sequence, e.g. sweep effect, progressive activation
Definitions
- the invention relates to a method for controlling an interior lighting in a vehicle with a plurality of separately controllable bulbs and such an interior lighting.
- Modern vehicles have always better noise insulation and better suspension, so that driving noise, such as wind, rolling or engine noise, are effectively reduced in the vehicle interior. Although this increases the ride comfort of the vehicle. For the driver of the vehicle, but this makes it difficult to correctly estimate the speed or acceleration of the vehicle.
- the driver receives feedback about the driving state, for example about the speed of the vehicle, via the control instruments of the vehicle, for example via the speedometer.
- the driver can be distracted by other indicators and controls in the vehicle or by the traffic situation of these control instruments, so that the driver can not perceive a speed change in time.
- the driver's attention may decrease, so that it is difficult for the driver to perceive all the information of the control instruments.
- the object of the invention is to provide a system and a method which allows the driver to better estimate the driving condition of the vehicle.
- a method for controlling an interior lighting in a vehicle with a plurality of separately controllable bulbs wherein a motion light pattern, in particular a wave pattern, is generated as a function of vehicle operating data by separately driving the individual bulbs.
- the basic idea of the invention is to provide an interior lighting that illuminates the interior of the vehicle indirectly or directly lit, to use for information of the driver on various vehicle operating conditions, such as the driving speed.
- the motion light pattern is generated by separately driving the light source, wherein a light duration, a turn-off and a light pause and the luminosity can be set separately for each light source.
- the vehicle operation data includes environmental data captured via a light sensor.
- the ambient brightness can be measured, and the brightness and / or the light pattern of the individual light sources can be controlled accordingly.
- the natural motion light pattern can be detected by a sensor and the bulbs are controlled so that they are turned on in dark areas or turned off in bright areas, whereby the brightness changes for the driver are attenuated.
- the driver is not distracted so much by the strong light changes.
- the driver's brain can be stimulated by a corresponding motion light pattern, so that fatigue of the driver can be prevented by the method according to the invention or it can at least be delayed.
- the period of this light pattern can in particular have a defined variance, so that the lighting duration or the switch-off duration of the individual lighting means is varied within a certain defined range.
- all bulbs are preferably driven with a same or at least similar light pattern, wherein the bulbs are controlled in a time-shifted manner with the light pattern.
- a feedback about the driving speed or an acceleration in the longitudinal direction of the vehicle can be given, for example, by the lamps in the vehicle longitudinal direction, in particular in the direction of travel, in time be offset offset so that a running in the vehicle longitudinal direction of motion light pattern is generated.
- the time offset of the lighting means is preferably selected so that the motion light pattern moves with the speed of the vehicle opposite to the direction of travel, whereby a motion light pattern is generated, the natural light-shadow change when passing through a wooded area imitated.
- the lighting means are controlled in the vehicle transverse direction offset in time so that a motion light pattern running in the vehicle transverse direction of the vehicle is generated.
- the time offset with which the light sources are controlled may be dependent on the driving speed of the vehicle, for example.
- This time offset can be controlled such that the speed of the moving light pattern in the vehicle longitudinal direction or in the vehicle transverse direction corresponds to the actual speed of the vehicle in this direction.
- the time offset is controlled so that the motion light pattern is faster or slower than the actual speed of the vehicle and the driver thus, for example, a too high or too low speed is simulated. For example, by simulating too high a speed, the driver may be made to slow down.
- the time offset with which the lighting means are controlled can also be dependent on the acceleration of the vehicle in the longitudinal or transverse direction, so that the driver receives feedback about the acceleration of the vehicle.
- the vehicle operating data can be stored in a memory, so that for various operating conditions of the vehicle, the corresponding data can be read from this memory. It is for example It is conceivable for this vehicle operating data to be compared with a positioning system, for example a GPS, so that for certain routes a defined motion light pattern is stored or determined, which can be called up when driving through the corresponding route.
- the vehicle operating data can also be determined, for example, via the location system.
- the light pattern of the individual light sources may also depend on the driving speed of the vehicle. At a higher speed, the natural alternations between brightness and darkness are correspondingly shorter, so that the light sources are controlled so that the lighting duration or the lighting pauses are correspondingly shorter.
- the light pattern of the individual lamps can also be dependent on the acceleration of the vehicle in the longitudinal or in the transverse direction.
- an interior lighting for a vehicle with a lighting device which has at least two light sources, which can be controlled separately, and with a controller that can control the lamps separately.
- the lighting means are controlled by a method according to the invention and at least one sensor is provided for detecting vehicle operating data.
- the interior lighting preferably has a memory for vehicle-specific data, so that for certain driving conditions, a motion light pattern can be retrieved or cached, with which the light source or the interior lighting can be controlled.
- the lighting means are arranged in the vehicle longitudinal direction or in the vehicle transverse direction, so that a feedback about the driving speed or the acceleration of the vehicle is possible by a time-delayed control of the lighting means.
- FIG. 1 shows a representation of a natural light pattern of a vehicle when driving through a wooded road
- FIG. 2 shows a representation of a light pattern at a point of the moving vehicle when driving through the road from FIG. 1
- FIG. 3 shows a movement light pattern in a moving vehicle when driving through the road from FIG.
- FIG. 4 shows an interior lighting according to the invention
- FIG. 5 is a schematic representation of the control of the interior lighting of Figure 3
- FIG. 6 is a detailed representation of the method according to the invention for driving a lamp of the interior lighting of Figure 3
- FIG. 7 shows the driving method for a further light source of the interior lighting from FIG. 3.
- FIG. 1 schematically shows a road 10 that leads through a wooded area 12. Due to the incidence of light 10 areas 14 with low brightness or shadows and areas 16 with direct light, so with high brightness arise on the street. A vehicle 18 which travels on the road 10 in a direction of movement L traverses these dark or light areas 14, 16. At a measuring point arbitrarily positioned in the vehicle 18, the light pattern 24 illustrated in FIG the measurement point is the areas 14 with low brightness, the light intensity at the measurement point for this period is lower (sections 20). If the measuring point crosses bright areas, the light intensity at the measuring point is correspondingly higher for this period (sections 22). The duration of the sections 20, 22 depends on the width of the bright or dark areas 14, 16 of the road and the speed of the vehicle 18. In principle, the sections 20, 22 become shorter as the speed increases.
- FIG. 3 illustrates a motion light pattern that is composed of the light patterns 24A-24G of different measurement points that are shown in FIG Longitudinal direction of the vehicle 18 are distributed uniformly in the vehicle 18.
- the course of the light patterns 24A-24G is approximately the same since the measurement points traverse the same dark and light regions 14, 16.
- a slight variation is possible, for example, in the case of an avenue by the movements of the trees, which can lead to a slightly altered light-dark pattern.
- the measuring points are arranged offset in the direction of travel, they occur with a time offset in a light or dark area, so that the light patterns at the individual points A to G are offset in time to each other. This time offset is thus dependent on the speed of the vehicle 18.
- the invention is based on the idea to dampen these natural light changes, so that the driver is not distracted by this or at least less.
- the natural motion light pattern is detected by a sensor and the bulbs are controlled so that they are turned on in dark areas 14 or turned off in bright areas 16, whereby the brightness changes are attenuated for the driver.
- the interior lighting 25 has a plurality of lighting means 26a to 26g, which are arranged one behind the other in the vehicle longitudinal direction L in the embodiment shown here.
- the interior lighting 25 furthermore has at least one sensor (not illustrated here) for detecting environmental data, ie the ambient brightness outside the car, and also a control 28 shown schematically in FIG.
- the controller 28 can control the lighting means 26a to 26g separately from one another, wherein the controller 28 can control the lighting duration, lighting pauses and the luminous intensity of the individual lighting means 26a to 26g.
- controller 28 can record or process environmental data such as the ambient brightness or corresponding brightness changes.
- the controller 28 controls the individual lamps 26a to 26g depending on the measured ambient brightness separately from each other.
- a motion light pattern is generated by the controller 28 in the vehicle, the opposite of the natural motion light pattern shown in Figure 3 when passing a road 10 through a wooded area acts. If the lighting means 26a to 26g are in a dark region 16, the lighting means 26a to 26g are thus switched on. If the lamps 26a to 26g are in a bright area 14, they are switched off.
- the light-dark change is damped in the vehicle interior, since in the dark areas 16 by the bulbs 26a to 26g, the brightness in the vehicle interior of the brightness in the bright areas 14 is adjusted.
- the driver or the eyes of the driver thus need not get used to the constant changes of light, so that the driver is slower tired, less distracted and can focus better on the traffic and the road.
- the movement light pattern or the variation of the motion light pattern can also be a stimulation of the brain of the driver done, which can counteract fatigue of the driver.
- the light pattern of the individual light sources 26a to 26g may be a periodically recurring light pattern.
- the lighting duration or the switch-off duration of the individual lighting means 26a to 26g can, however, be within a defined range, randomly, for example, to counteract a habituation effect and / or to make the motion light pattern more natural.
- a driving method of the lighting means 26a to 26g is shown by way of example with reference to a lighting means 26a.
- a probable light width of a bright area 16 is generated via a random number generator 30.
- the luminous duration of the luminous means 26a is calculated. This is added to the current time and thus determines the time at which the bulb 26a is turned off, so the simulated entry into a dark area 14 takes place. This value is stored in a time-controlled memory 32.
- This memory 32 performs a constant comparison of the time values of the stored events with the current time and triggers when applicable comparison, switching on the lamp or off the bulb.
- a second random number generator 34 generates a value for a probable shadow width of the area 14. This shadow width is divided by the speed of the vehicle 18 and thus determines the duration of the switching off of the light source 26a. Addition to the current time results in the time at which the vehicle exits the simulated shadow and the light source 26 is switched on again.
- the driving of two adjacent lighting means 26a, 26b is shown schematically in FIG.
- the distance between the light sources 26a, 26b is divided by the speed of the vehicle, resulting in the time lag between the light patterns of the individual bulbs 26a, 26g.
- the time-delayed switch-on or switch-off times for the individual lighting means 26a, 26g are calculated and stored in the memory 32.
- the switch-on and switch-off times are compared with the actual time. Corresponds to the actual time of the determined switch-on or Off time, the corresponding event for the respective bulbs 26a, 26b is triggered.
- the lighting means 26a to 26g are arranged in the vehicle longitudinal direction L. As a result, light changes can be attenuated in the vehicle longitudinal direction.
- the bulbs 26a to 26g are arranged in the transverse direction in the vehicle, so that a damping of the light-dark change is possible even when changing light transverse to the direction of travel.
- the lighting means 26a to 26g are arranged on the headliner of the vehicle 18 in the embodiment shown here. But it is also conceivable that these are arranged at a different location in the vehicle, for example on the vehicle floor.
- the lighting means 26a to 26g for example, illuminate the interior directly, but it is conceivable that these, in order to avoid glare of the vehicle occupants, indirectly illuminate the interior by reflection.
- the light sources 26a to 26g are, for example, LEDs that enable large-area illumination of the interior. Preferably, these are dimmable, so that it is possible to adapt the brightness of the light patterns 26a to 26g, for example to the brightness outside or inside the vehicle. The driver can also adjust the brightness of the light pattern itself, for example via an operating unit. If the lamps 26a to 26g are dimmable, a slow transition between light phases and dark phases is also possible, which is more pleasant for the driver. This can be done for example by a sinusoidal curve between brightness and darkness.
- the controller 28 may, for example, have a memory in which corresponding motion light patterns are stored for different operating states of the vehicle. It is also conceivable for the controller 28 to precalculate the motion light pattern or the light patterns for the individual light sources 26a to 26g and, for example, to resort to route data of a GPS. The interior lighting can also be permanently switched on for another use of the vehicle, for example for reading. It is also conceivable for the controller to determine the number of vehicle occupants and to control the lighting means 26a to 26g only in areas in which vehicle occupants are located.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Arrangements Of Lighting Devices For Vehicle Interiors, Mounting And Supporting Thereof, Circuits Therefore (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012013783.4A DE102012013783C5 (de) | 2012-07-11 | 2012-07-11 | Verfahren zur Steuerung einer Innenraumbeleuchtung in einem Fahrzeug sowie Innenraumbeleuchtung |
| PCT/EP2013/064228 WO2014009264A1 (de) | 2012-07-11 | 2013-07-05 | Verfahren zur steuerung einer innenraumbeleuchtung in einem fahrzeug sowie innenraumbeleuchtung |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP2872365A1 true EP2872365A1 (de) | 2015-05-20 |
Family
ID=48790414
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP13736863.5A Withdrawn EP2872365A1 (de) | 2012-07-11 | 2013-07-05 | Verfahren zur steuerung einer innenraumbeleuchtung in einem fahrzeug sowie innenraumbeleuchtung |
| EP13736859.3A Withdrawn EP2872364A1 (de) | 2012-07-11 | 2013-07-05 | Verfahren zur steuerung einer innenraumbeleuchtung in einem fahrzeug sowie innenraumbeleuchtung |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP13736859.3A Withdrawn EP2872364A1 (de) | 2012-07-11 | 2013-07-05 | Verfahren zur steuerung einer innenraumbeleuchtung in einem fahrzeug sowie innenraumbeleuchtung |
Country Status (6)
| Country | Link |
|---|---|
| US (2) | US9758093B2 (de) |
| EP (2) | EP2872365A1 (de) |
| JP (2) | JP2015528768A (de) |
| CN (2) | CN104428167B (de) |
| DE (1) | DE102012013783C5 (de) |
| WO (2) | WO2014009264A1 (de) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012013783C5 (de) * | 2012-07-11 | 2017-11-02 | Trw Automotive Electronics & Components Gmbh | Verfahren zur Steuerung einer Innenraumbeleuchtung in einem Fahrzeug sowie Innenraumbeleuchtung |
| US9549441B2 (en) * | 2014-03-20 | 2017-01-17 | The Boeing Company | Lighting device to simulate natural motion |
| KR101704170B1 (ko) * | 2015-02-27 | 2017-02-07 | 현대자동차주식회사 | 차량 내 램프 제어 시스템 및 방법 |
| CN104986101B (zh) * | 2015-06-18 | 2017-12-12 | 奇瑞汽车股份有限公司 | 车辆室内灯控制系统及其控制方法 |
| JP6500197B2 (ja) * | 2015-10-01 | 2019-04-17 | 豊田合成株式会社 | 車室内用照明装置 |
| DE102016210512A1 (de) * | 2015-12-07 | 2017-06-08 | Volkswagen Aktiengesellschaft | Verfahren und System zum Steuern einer Innenraumbeleuchtung in einem Fahrzeug |
| EP3231667A1 (de) * | 2016-04-11 | 2017-10-18 | Philips Lighting Holding B.V. | Fahrzeuginnenbeleuchtungssteuerungsmodul und verfahren zur steuerung einer fahrzeuginnenbeleuchtung |
| FR3056535B1 (fr) * | 2016-09-28 | 2021-08-20 | Valeo Vision | Dispositif d'eclairage a effets lumineux dynamiques pour un habitacle de vehicule automobile |
| US10020844B2 (en) | 2016-12-06 | 2018-07-10 | T&T Intellectual Property I, L.P. | Method and apparatus for broadcast communication via guided waves |
| DE102017207436B4 (de) * | 2017-05-03 | 2019-03-14 | Volkswagen Aktiengesellschaft | Verfahren zum Betreiben einer Beleuchtung eines Kraftfahrzeugs sowie Kraftfahrzeug zur Durchführung des Verfahrens |
| DE102017129629A1 (de) | 2017-12-12 | 2019-06-13 | Dr. Schneider Kunststoffwerke Gmbh | Verfahren zur Steuerung einer Innenraumbeleuchtung in einem Fahrzeug und Fahrzeug mit einer Innenraumbeleuchtung |
| JP2019107939A (ja) * | 2017-12-15 | 2019-07-04 | 株式会社オートネットワーク技術研究所 | 照度調整装置、照度調整方法及びコンピュータプログラム |
| KR102024861B1 (ko) * | 2018-05-10 | 2019-09-24 | 한국과학기술연구원 | 멀미 완화를 위한 전자 장치 및 이를 이용한 멀미 완화 방법 |
| EP3590762B1 (de) * | 2018-07-02 | 2024-09-11 | Volvo Car Corporation | Verfahren und system zur anzeige einer autonomen fahraktion eines fahrzeugs |
| WO2020125943A1 (en) * | 2018-12-18 | 2020-06-25 | Toyota Motor Europe | Automated driving system and method for controlling a cabin illumination |
| FR3107222B1 (fr) * | 2020-02-19 | 2023-10-27 | Valeo Vision | Méthode de projection de lumière à l'intérieur d'un véhicule, projecteur de lumière automobile et assemblage de lumière automobile |
| KR102370492B1 (ko) | 2020-02-24 | 2022-03-07 | 현대자동차주식회사 | 공조기능이 구비된 차량의 인테리어 트림 |
| WO2022056264A1 (en) | 2020-09-11 | 2022-03-17 | Shanghai Yanfeng Jinqiao Automotive Trim Systems Co. Ltd. | Vehicle interior component |
| KR20230109254A (ko) * | 2022-01-13 | 2023-07-20 | 현대자동차주식회사 | 차량 내부의 조명환경을 제어하는 장치 및 방법 |
| JP2025079996A (ja) * | 2023-11-13 | 2025-05-23 | トヨタ自動車株式会社 | 車両制御方法、車両制御装置及び電気自動車 |
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2013
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- 2013-07-05 CN CN201380036380.8A patent/CN104428167B/zh not_active Expired - Fee Related
- 2013-07-05 JP JP2015520924A patent/JP2015528768A/ja active Pending
- 2013-07-05 WO PCT/EP2013/064228 patent/WO2014009264A1/de not_active Ceased
- 2013-07-05 JP JP2015520923A patent/JP6280547B2/ja not_active Expired - Fee Related
- 2013-07-05 US US14/402,403 patent/US9950659B2/en not_active Expired - Fee Related
- 2013-07-05 EP EP13736863.5A patent/EP2872365A1/de not_active Withdrawn
- 2013-07-05 EP EP13736859.3A patent/EP2872364A1/de not_active Withdrawn
- 2013-07-05 CN CN201380036573.3A patent/CN104428168B/zh not_active Expired - Fee Related
- 2013-07-05 WO PCT/EP2013/064219 patent/WO2014009262A1/de not_active Ceased
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| None * |
| See also references of WO2014009264A1 * |
Also Published As
| Publication number | Publication date |
|---|---|
| US20150224924A1 (en) | 2015-08-13 |
| DE102012013783A1 (de) | 2014-01-16 |
| EP2872364A1 (de) | 2015-05-20 |
| JP2015525706A (ja) | 2015-09-07 |
| DE102012013783C5 (de) | 2017-11-02 |
| WO2014009264A1 (de) | 2014-01-16 |
| CN104428167A (zh) | 2015-03-18 |
| CN104428167B (zh) | 2019-04-19 |
| DE102012013783B4 (de) | 2015-06-18 |
| US9758093B2 (en) | 2017-09-12 |
| US9950659B2 (en) | 2018-04-24 |
| US20150145410A1 (en) | 2015-05-28 |
| CN104428168A (zh) | 2015-03-18 |
| JP2015528768A (ja) | 2015-10-01 |
| JP6280547B2 (ja) | 2018-02-14 |
| CN104428168B (zh) | 2017-06-06 |
| WO2014009262A1 (de) | 2014-01-16 |
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