EP2877987A1 - Procédé et dispositif permettant d'éviter des collisions - Google Patents

Procédé et dispositif permettant d'éviter des collisions

Info

Publication number
EP2877987A1
EP2877987A1 EP13727831.3A EP13727831A EP2877987A1 EP 2877987 A1 EP2877987 A1 EP 2877987A1 EP 13727831 A EP13727831 A EP 13727831A EP 2877987 A1 EP2877987 A1 EP 2877987A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
environment
collision
movement
area
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
EP13727831.3A
Other languages
German (de)
English (en)
Other versions
EP2877987B1 (fr
Inventor
Reiner Katzwinkel
Claudia PRAUßE
Marc-Michael Meinecke
Stephan Max
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.)
Volkswagen AG
Original Assignee
Volkswagen AG
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=48579026&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2877987(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Volkswagen AG filed Critical Volkswagen AG
Publication of EP2877987A1 publication Critical patent/EP2877987A1/fr
Application granted granted Critical
Publication of EP2877987B1 publication Critical patent/EP2877987B1/fr
Revoked legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05C—BOLTS OR FASTENING DEVICES FOR WINGS, SPECIALLY FOR DOORS OR WINDOWS
    • E05C17/00—Devices for holding wings open; Devices for limiting opening of wings or for holding wings open by a movable member extending between frame and wing; Braking devices, stops or buffers, combined therewith
    • E05C17/003—Power-actuated devices for limiting the opening of vehicle doors
    • E05C17/006—Power-actuated devices for limiting the opening of vehicle doors with means for detecting obstacles outside the doors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Definitions

  • the invention relates to a method and a device for collision avoidance of movable vehicle components during a standstill of the vehicle or immediately after a standstill of the vehicle.
  • the invention relates to a device and a
  • Ultrasonic sensors or classic radar sensors are used to detect obstacles in the environment.
  • many of these sensor types emit the transmit pulse in a relatively wide solid angle range and / or receive reflected pulses from a large solid angle range. Therefore, a precise localization of the object relative to the vehicle is not possible.
  • Based on a single measurement can only be made the statement that an object on a circular sector elements or an element of an ellipse, if the transmitter and the receiver of the sensor are spaced from each other. Via a so-called measurement data fusion, which measures results of different sequential and / or detected with different sensors
  • a localization of the objects relative to the vehicle can be significantly improved. It is customary to determine, based on a large number of measurements, positions of objects in the surroundings of the vehicle and to record them in a so-called environment map.
  • the environment of the vehicle is divided into areas or cells. Regions or cells of the environment map are assigned probability information, which is a measure of the fact that an object is located at a location in the vicinity of the vehicle, which corresponds to the corresponding area or cell of the environment map of the vehicle.
  • Parking assistance system are assigned, an approach to obstacles when parking recognize and signal the approach via the parking assistance system.
  • Parking boxes of parked vehicles measured and entered in the environment map. At the time when the vehicle comes to a standstill in the parking space designed as a parking box, there is thus a reliable environment map of the vehicle. This usually also contains information about areas around the vehicle, which of the or
  • Measuring sensors which were used to capture the environment map, can not be currently recorded.
  • ultrasonic sensors for example, obstacles, which are located in a lateral distance to a driver or passenger door of a motor vehicle, do not detect in the parked, parked state.
  • a warning of such an obstacle is desirable.
  • the previously collected information about the environment is necessary and helpful. The same applies to automatically or from the inside reveal tailgates and / or trunk lid etc.
  • US Pat. No. 7,209,221 B discloses a method for determining vehicles in a blind spot, which describes different measuring methods for detecting the surroundings.
  • the method comprises a step of providing a transmission signal of the first vehicle at a first time at an interface, wherein the transmission signal comprises a signal sequence and an identification of the first vehicle. Furthermore, the method comprises a step of receiving a
  • the method includes a step of determining a distance between the first vehicle and the object from the first and second times and a delay time, the delay time defining a time duration between receiving the transmit signal and transmitting the response signal through the object.
  • information about the object of the first vehicle can be transmitted in the response signal.
  • Vehicle self-movement and determining the collision probability of the vehicle with environmental objects located in the environment of the vehicle from the environment objects depicted in the environment map, taking into account the vehicle own movement. It is also described to check using the environment map even when the vehicle is stationary, whether a door would collide when opening with an environment object according to the information of the environment map. In particular, a maximum permissible door opening angle for a collision-free opening of the door can be determined in this way. However, situations in which the environment changes immediately after the vehicle has come to a standstill, due to an intrinsic movement of the objects, are not taken into account.
  • the invention is therefore based on the technical object to provide an improved method and improved apparatus for collision avoidance.
  • Advantageous embodiments of the invention will become apparent from the dependent claims.
  • the invention is based on the idea of validating the environment map after the vehicle has come to a standstill for a region in which there are areas of the environment map which are not detectable by those environmental sensors, which are referred to here as first environment sensors, which represent the original detection of the environment Environment map are used. For example, if a vehicle has ultrasonic sensors in the area of a front and a rear bumper, the contours of vehicles parked in adjacent parking boxes can be detected during the parking process by the ultrasonic measurement sensors in the front or rear bumper and displayed correctly in the environment map.
  • Movement of a vehicle component is important, is now monitored with a second sensor or a plurality of second sensors, if there is a movement of objects in this area relative to the stationary vehicle. If this is the case, then the environment map is modified accordingly, for example, the areas of the so surveyed area as no longer current and no longer reliable or marked as invalid. This information can be used to provide control or warning information for a collision-free
  • a device for a vehicle for collision avoidance in particular for collision avoidance of a vehicle door with an object of the environment during opening, which comprises: one or more first environment sensors whose measurement data provide information about a distance of objects in the surroundings of the vehicle, and an evaluation and fusion device, which determines an environment map of the vehicle on the basis of the measurement data of the one or more first environment sensors, on the basis of which a probability indication for an existence of an object in this single area can be derived for individual areas in the environment of the vehicle, as well as a
  • Prediction device which is designed to determine and provide control and / or warning information for a collision-free predicted movement of the vehicle component, wherein the collision freedom of the predicted movement of the probability of existence of an object in at least one excellent area depends
  • at least one second environment sensor is coupled to the evaluation and fusion device, which is designed to detect after a standstill of the vehicle movement of an object relative to the vehicle at least in an area of the environment of the vehicle, which comprises the at least one excellent area
  • the evaluation - And fusion device is adapted to change the environment map at a detected movement of an object relative to the vehicle in the one area so that at least derive from the environment map for the at least one excellent area
  • Probability indication is changed.
  • An identification of the environment map or of areas of the environment map as invalid represents such a change.
  • Such a device is capable of plausibility with the at least one second environment sensor the environment map for a large area and in case of a detected movement in the monitored area to provide information indicating that the environment card information is no longer reliable.
  • the control and warning information which can be used either for controlling, actively limiting a door opening or only for outputting a warning signal in conjunction with a recognized opening by a corresponding opening angle, can thus be adapted adequately to the current situation. Far away the at least one excellent area is usually not in the current one
  • Measuring range of the one or more first environment sensors In particular, when this additional condition is satisfied with respect to the at least one designated area, plausibility of the probability information for that at least one designated area with the first environmental sensors is not possible.
  • a corresponding method for collision avoidance of components of a vehicle comprises the steps: acquiring surrounding data by means of first environmental sensors during the driving operation of the vehicle, creating an environment map by measuring data fusion, with reference to which for individual areas in the environment of the vehicle one
  • Probability indication for an existence of an object in this single area is derivable, predicting a collision-free movement of the vehicle or a
  • Vehicle component based on the environment map, the collision freedom of the predicted movement of the likelihood of an object in at least one
  • Warning information for the predicted collision-free movement wherein by means of at least one second environmental sensor is measured at standstill of the vehicle, whether in an area comprising the at least one excellent area, an object relative to the
  • the environment map in the one area is changed so that at least that from the environment map for the at least one
  • the first environment sensors are measurement sensors which operate according to an echo pulse measurement method.
  • these may be ultrasound sensors, which are installed, for example, in a front and / or a rear bumper of the vehicle and are used in a parking assistance system, for example for approach recognition to objects.
  • the at least one second environment sensor is preferably a Doppler radar sensor. In this, a frequency shift between the transmitted radar signal and the received reflected radar signal is evaluated to be at
  • Measuring range can be reliably monitored for relative movements of objects in the environment.
  • detection of the surroundings by means of the at least one second surroundings sensor is carried out for a predetermined period of time after the vehicle has come to a standstill and is at a standstill, even if the ignition of the vehicle is stopped Vehicle is switched off.
  • this predetermined period of time which may preferably be a few minutes, for example up to 5 minutes or 15 minutes, the environment of the vehicle is monitored.
  • the measurement of the environment is set by means of a second environment sensor, if one or all vehicle components whose
  • collision-free predicted motion is dependent on the likelihood of existence of an object in the at least one designated area or another designated area, the further distinguished area not being within the current measuring range of the
  • one or more first environmental sensors lies in the area in which the at least one second environmental sensor detects movement of an object, is opened and closed again. In this case, it is assumed that the person has left the vehicle and a renewed exit process is not expected.
  • Surround sensor to be arranged on the movable vehicle component, for which a
  • the at least one second environment sensor for example a Doppler radar sensor
  • Vehicle door arranged.
  • the arrangement is such that it is preferably arranged in a region of the door which has the greatest possible distance from the pivot axis of the door.
  • a plausibility check during the door opening can be characterized in that even when opening the door no relative movement of the at least one second sensor which is attached to the door detected becomes.
  • a second environment sensor which is designed as a Doppler radar sensor, due to the proper movement of the vehicle component during opening, for example, the swung open door, detect a relative movement between this swung door and the stationary object located in the surrounding.
  • a Doppler radar initially only provides velocity information. However, it is also desirable to determine a distance information. Therefore, it is provided in a particularly preferred embodiment that at least during the movement of the
  • the reflected radar signal is evaluated only in evaluation time windows which are shorter than the transmission time window during which the radar signal is emitted.
  • the location and length of the evaluation time window relative to a start of the transmission time window i.e., at the beginning of the radar signal transmission, determines the distance range in which an object can be located which has caused the reflection of the radar signal.
  • only the onset of the reflected radar signal is important because a transmission of the radar signal, i. a transmission duration is longer than the time span which requires a radar signal to travel the distances relevant for a collision warning.
  • the decisive factor is whether in one
  • Ausenseintervall the onset of a reflection signal can be determined. Since very short distances are of interest, an evaluation window is as close as possible to a beginning of the
  • An object freedom or an object existence can also be determined by means of a Doppler radar. In order to comply with the legal requirements regarding a frequency width of the radar signal emitted, this is repeatedly transmitted in the form of a CW signal. A sampling frequency of the reflected signal must be adjusted according to the sampling theorem so that a frequency shift due to the Doppler effect can be determined.
  • Radar transmission although executed in repeated steps, is considered CW transmission because a transmission duration is much greater than a period of the transmitted vibrations.
  • an amplitude of the reflected radar signal is evaluated to derive a distance therefrom.
  • this method is less accurate because the amplitude also includes properties of the object which influence a reflection strength.
  • Fig. 1 is a schematic representation of a vehicle at a standstill in a
  • Fig. 2a - 2d a vehicle at a standstill in a parking lot environment, wherein the
  • a vehicle 1 is shown schematically in an environment 2 in a parking lot.
  • the vehicle 1 is parked on a parking box 301, which is partially bounded at a front end 302 by a wall 3.
  • the wall 3 represents an object in the environment 2 of
  • Vehicle 1 is located laterally next to the vehicle 1 at the time of parking a neighboring vehicle A 4, which is parked in a neighboring parking box 303.
  • the vehicle 1 comprises a parking assistance system 10, which comprises first environmental sensors 11, which are arranged on a front bumper 12 and a rear bumper 13. At least some of the first environmental sensors 11 are designed to be in use during the parking assistance system 10.
  • the first environment sensors 11 are preferably measuring sensors which operate according to a pulse-echo measuring method.
  • it may be ultrasonic sensors. These emit a short ultrasonic pulse and evaluate a time between the emission of the ultrasonic pulse and a reception of a reflected ultrasonic pulse. In this way, a distance to an object 3, 4 in the environment 2 of the vehicle 1 from the corresponding first environment sensor 1 1 can be determined.
  • An environment map 30 can be created via a measurement data sensor fusion of many measurements. This is done by an evaluation and
  • Fusion device 22 of a controller 20 executed.
  • This control unit 20 additionally evaluates information about the intrinsic motion of the vehicle in order to be able to fuse the measurement data acquired at different times and at different positions in the surroundings of the vehicle assumed to be stationary.
  • the environment map 30 is shown schematically, which has detected the vehicle 1 during the parking process of the environment 2.
  • the detected wall 32 and the other vehicle A 33 are recognizable as contours.
  • a person skilled in the art knows from the prior art how an environment map can be derived on the basis of measurement data of first environment sensors 11 which operate according to a pulse-echo measurement method. This is preferably subdivided into individual cells or regions, for which, based on the measurement data, probability information for the individual regions or cells is derived, which indicate whether an object is located in the region of the environment to which the cell or the region of the environment map is assigned or the corresponding area is free of objects.
  • probability information for the individual regions or cells is derived, which indicate whether an object is located in the region of the environment to which the cell or the region of the environment map is assigned or the corresponding area is free of objects.
  • only the outer contours of the objects 3, 4 in the environment 2 of the vehicle 1 are of interest for collision avoidance.
  • a collision avoidance device 40 which is at least partially implemented by means of the control device 20, additionally comprises a prediction device 24, which can predict movement based on data from the environment map 30 for a vehicle component, for example a front vehicle door 61 or a rear vehicle door 62.
  • a prediction device 24 which can predict movement based on data from the environment map 30 for a vehicle component, for example a front vehicle door 61 or a rear vehicle door 62.
  • Prediction device 24 determines which movements of the vehicle components, here the doors 61, 62, are possible without colliding with one of the objects 3, 4 in the environment 2 of the vehicle 1. In this case, the prediction device 24 determines, for example, those region of the environment or the associated environment map through which the vehicle component moves during a movement. Checked on the basis of the probability data of the environment map, whether a collision with an object is to be expected or not.
  • the vehicle components, the front door 61 and the rear door 62 are each shown in an open position. About circular arcs 63, 64 are the corresponding
  • Neighboring vehicle A 4 exists. Remains the driver or a passenger after the immediate parking still for a certain time in the vehicle, so the environment 2 of the vehicle 1 may change.
  • the neighboring vehicle A 4 can park out of the neighboring parking box 303 and park another neighboring vehicle B 5 in the same neighboring parking box 303, but come to a standstill in another position.
  • the further neighboring vehicle B 5 has different dimensions and thus a different outer contour 7 than the neighboring vehicle A 4 originally located in the neighboring parking box 303. It can be clearly seen that swiveling the doors 61, 62 now leads to a collision with the other one
  • the collision avoidance device which is partially implemented in the controller 20, should help to avoid these situations.
  • at least one second surroundings sensor in the illustrated embodiment, two further second environment sensors 51, 52 are provided, which are arranged on the vehicle doors 61, 62 as close as possible to those locations which define the maximum pivot radius.
  • the second environment sensors 51, 52 are as
  • Doppler radar sensors formed. These are able to monitor each a larger area 1 10 laterally adjacent to the vehicle 1 with respect to moving objects relative to the vehicle.
  • This area 10 comprises at least one excellent area 162 which, on the one hand, is essential for a collision-free movement possibility
  • Environment sensor 51, 52 the area 1 10 with regard to possible movements that make an environment map implausible, take over for several moving vehicle components. It is possible that a second environment sensor 51, 52 several movable
  • Vehicle components are assigned to plausibility monitoring environment map and several excellent areas 161, 162 by means of a single second
  • Envelope detection sensor is detected and monitored. Is after parking and standstill of the vehicle 1 by means of the second environment sensors 51, 52 or only one of these second environment sensors 51, 52 a
  • Relative movement of an object for example, detected here the ausparkenden neighboring vehicle A 4, the information in the environment map 30, the objects laterally adjacent to the vehicle 1, 31, marked as invalid.
  • the prediction device 24 immediately after parking in the parking box 301 for opening the front vehicle door 61 and the rear vehicle door 62 each predicts that they can be opened up to a maximum possible opening angle and this information as control and / or warning information about a Provided interface 26, after the detection of the vehicle movement and the invalidation of part of the environment information of the environment map 30 by the prediction means 24 modified control and / or warning information is provided via the interface 26.
  • the control and / or warning information can be forwarded, for example, to a further control unit 70 which monitors angle measuring sensors 81, 82.
  • the further control device 70 thus determines a current opening angle of the front vehicle door 61 via the
  • a warning signal at an output device 100 which is designed for example as a speaker output. It is also possible, via an actuator 91 or 92, which are associated with the vehicle doors 61 and 62, a door opening up to the determined maximum allowable angle for a collision-free opening at the request of a vehicle occupant causes. Likewise, the actuators may be configured to prevent opening of the doors 61, 62 beyond the determined maximum opening angle for collision-free opening of the corresponding vehicle doors 61, 62.
  • a warning signal via the output device can be issued to inform the driver or the passenger that the collision avoidance device 40th is unable to determine the maximum allowable angle for a collision-free opening.
  • the second environment sensors 51, 52 can also be operated so that they are used during the opening movement of the vehicle components, here the vehicle doors 61, 62, to a
  • the second environment sensors 51, 52 are designed as Doppler radar sensors, then, for example, only a very short
  • Time window are evaluated after a start of the transmission of the radar signal to received reflected radar signals. This makes it possible, only a specific one
  • Distance range before the second environment sensor 51, 52 with regard to existing objects or an approach to objects evaluate It is likewise possible to set and evaluate a plurality of different time windows one after the other or in an iterative manner in order to determine in each case for different distance intervals whether an approach to an object located in the respective distance interval is detected. If an object is determined, for example, in the shortest monitored distance interval, control and / or warning information is provided via the prediction unit, which causes the further control unit 70 to output a warning signal via the output device 100 or a movement of the front vehicle door or the rear vehicle door to limit the corresponding associated actuator 91 and 92, respectively.
  • to detect associated second environment sensors 51 and 52 is to evaluate an amplitude of the detected reflected radar signal or the corresponding Doppler radar signal. The greater the amplitude, the closer the object is in the environment 2 of the vehicle 1 to the corresponding moving second environment sensor 51 or 52.
  • the described collision avoidance device 40 comprises a plurality of components, which in turn may be components of other inputs or devices.
  • Fusion device 22 as well as the further control device 70 and the output device 100, together form, for example, the parking assistance device 10 in many vehicles.
  • the embodiment of the device for collision avoidance 40 described here comprises the second environment sensors 51, 52 and the prediction device 24 ,
  • the individual devices can be used in different control devices, here with the
  • Reference numerals 20 and 70 are marked, or a control device to be formed.
  • the evaluation and fusion device 22 and the prediction device 24 can with one or more specialized electronic circuit, a programmable processor unit coupled to a memory, or a combination of both.
  • a programmable processor unit coupled to a memory
  • To store the environment map memory is provided in any case. This can be combined with a memory of a
  • Processor unit or be formed separately from such.
  • FIG. 2 a the vehicle 1, which comprises first environment sensors 11 and second environment sensors 51, 52, is next to one in a parked situation
  • FIG. 2 b shows the situation in which the neighboring vehicle A 4 leaves its parking position.
  • the outer contour 6, in which the vehicle was originally located, which is measured by means of the first environmental sensors 11, is also shown in FIG. 2b.
  • the second environment sensors 51, 52 or one of the two second environmental sensors 51, 52, which are designed as Doppler radar sensors, already detect during the Ausparkvorgangs the neighboring vehicle A 4 movement in the environment 2, which implies that the determined contour 6 of the neighboring vehicle A 4 not is more valid.
  • FIG. 2 c shows the situation in which another neighboring vehicle B 5 is parked next to the vehicle 1. Its contour 7 is unknown.
  • FIG. 2 d illustrates the situation in which the driver wishes to open the front vehicle door 61.
  • the vehicle door 61 can be up to an opening angle without intervention of the collision avoidance device, d. H. without opening a mechanical limit or without issuing a warning signal that should have been possible according to the originally determined vehicle contour.
  • a further opening is possible, or not possible, even without releasing a lock, even if during the pivoting operation no obstacle is detected by the second environment sensor 51, which would hinder further collision-free pivoting.
  • the collision avoidance device does not respond to the outdated information of the environment map, but leaves a vehicle door opening, as long as due to the second
  • Environment sensor 51 is detected no approach to an object 5, which could hinder a collision-free movement.
  • the collision avoidance device can not only on a lateral Vehicle doors, but especially on tailgates, trunk lids,
  • Ausstelldambaer or the like can be applied, it is advantageous if the first environment sensors detect not only information in a plane, but also, for example, for a ceiling height or the like.
  • Parking assistance device first environment sensors
  • Collision avoidance device 52 second environment sensors
  • Circular arcs (swivel radius)

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un dispositif permettant d'éviter des collisions et un procédé permettant d'éviter des collisions, lesquels comportent au moins un premier capteur d'environnement (11) dont les données de mesure fournissent une information sur une distance d'objets (4, 5) situés dans l'environnement (2) du véhicule (1), et un système d'analyse et de fusion lequel établit une carte (30) de l'environnement du véhicule laquelle est basée sur les données de mesure de l'au moins un premier capteur d'environnement (11) et laquelle permet de déterminer, pour chacune des différentes zones faisant partie de l'environnement (2) du véhicule (1), la probabilité de présence d'un objet (3, 4, 5) dans la zone concernée, ainsi qu'un système de prédiction (20) qui est conçu pour déterminer et fournir, sur la base de la carte (30) de l'environnement, des informations de commande et/ou d'avertissement permettant à un constituant de véhicule (61, 62) d'effectuer selon la prédiction un déplacement sans subir de collisions, les collisions pouvant être évitées lors du déplacement sujet de la prédiction en tenant compte de la probabilité de présence d'un objet (3, 4, 5) dans l'au moins une zone (161, 162) indiquée. Au moins un deuxième capteur d'environnement (51, 52) est couplé au système d'analyse et de fusion (22), ledit capteur étant conçu pour détecter, lorsque ledit véhicule est à l'arrêt, un déplacement d'un objet (4, 5) par rapport au véhicule (1) et cela dans au moins une région (110) qui fait partie de l'environnement (2) du véhicule (1) et qui comprend au moins une zone (161, 162) indiquée, et ledit système d'analyse et de fusion étant conçu pour de procéder, lorsqu'un déplacement est détecté dans la région (110) concernée, à une modification de ladite carte de l'environnement, de manière à modifier au moins la probabilité pouvant être déterminée à partir de la carte d'environnement (30) et concernant ladite au moins une zone indiquée.
EP13727831.3A 2012-07-27 2013-05-24 Procédé et dispositif permettant d'éviter des collisions Revoked EP2877987B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012014939.5A DE102012014939A1 (de) 2012-07-27 2012-07-27 Verfahren und Vorrichtung zur Kollisionsvermeidung
PCT/EP2013/060780 WO2014016012A1 (fr) 2012-07-27 2013-05-24 Procédé et dispositif permettant d'éviter des collisions

Publications (2)

Publication Number Publication Date
EP2877987A1 true EP2877987A1 (fr) 2015-06-03
EP2877987B1 EP2877987B1 (fr) 2016-11-23

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EP13727831.3A Revoked EP2877987B1 (fr) 2012-07-27 2013-05-24 Procédé et dispositif permettant d'éviter des collisions

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Country Link
EP (1) EP2877987B1 (fr)
CN (1) CN104508724B (fr)
DE (1) DE102012014939A1 (fr)
WO (1) WO2014016012A1 (fr)

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DE102012014939A1 (de) 2014-01-30
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CN104508724B (zh) 2016-09-07
EP2877987B1 (fr) 2016-11-23

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