EP3007952A1 - Procédé et dispositif permettant de faire fonctionner un véhicule - Google Patents
Procédé et dispositif permettant de faire fonctionner un véhiculeInfo
- Publication number
- EP3007952A1 EP3007952A1 EP14718370.1A EP14718370A EP3007952A1 EP 3007952 A1 EP3007952 A1 EP 3007952A1 EP 14718370 A EP14718370 A EP 14718370A EP 3007952 A1 EP3007952 A1 EP 3007952A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- driving
- strategies
- driving strategy
- strategy
- 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- Withdrawn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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/087—Interaction between the driver and the control system where the control system corrects or modifies a request from the driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/10—Interpretation of driver requests or demands
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/209—Fuel quantity remaining in tank
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/215—Selection or confirmation of options
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/30—Driving style
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013210883.4A DE102013210883A1 (de) | 2013-06-11 | 2013-06-11 | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs |
PCT/EP2014/057537 WO2014198439A1 (fr) | 2013-06-11 | 2014-04-14 | Procédé et dispositif permettant de faire fonctionner un véhicule |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3007952A1 true EP3007952A1 (fr) | 2016-04-20 |
Family
ID=50513903
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14718370.1A Withdrawn EP3007952A1 (fr) | 2013-06-11 | 2014-04-14 | Procédé et dispositif permettant de faire fonctionner un véhicule |
Country Status (6)
Country | Link |
---|---|
US (1) | US20160137203A1 (fr) |
EP (1) | EP3007952A1 (fr) |
JP (1) | JP2016523199A (fr) |
CN (1) | CN105492289B (fr) |
DE (1) | DE102013210883A1 (fr) |
WO (1) | WO2014198439A1 (fr) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3029878B1 (fr) * | 2014-12-16 | 2017-01-13 | Michelin & Cie | Procede de prediction de la vitesse d'un conducteur au volant d'un vehicule |
DE102015201878A1 (de) * | 2015-02-04 | 2016-08-04 | Continental Teves Ag & Co. Ohg | Halbautomatisierter Spurwechsel |
JP6565615B2 (ja) * | 2015-11-06 | 2019-08-28 | 株式会社デンソー | 車両制御装置 |
DE102016212055A1 (de) * | 2016-07-01 | 2018-01-04 | Continental Automotive Gmbh | System zum automatisierten Fahren eines Fahrzeugs |
MX2019003860A (es) * | 2016-10-04 | 2019-07-04 | Nissan Motor | Metodo de control de estacionamiento y aparato de control de estacionamiento. |
DE102020200133A1 (de) * | 2020-01-08 | 2021-07-08 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren und Vorrichtung zum Betreiben eines automatisierten Fahrzeugs |
Family Cites Families (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0299959B1 (fr) * | 1986-03-27 | 1989-11-15 | ZF FRIEDRICHSHAFEN Aktiengesellschaft | Systeme de regulation de vitesse et de fonctionnement d'un vehicule |
JPH0686188B2 (ja) * | 1989-04-04 | 1994-11-02 | 株式会社ユニシアジェックス | 運転状態認識装置及びこれを用いた自動変速機の変速制御装置 |
JPH0828673A (ja) * | 1994-07-22 | 1996-02-02 | Jatco Corp | 自動変速制御装置 |
CA2182630C (fr) * | 1996-08-02 | 2003-02-11 | Piotr Drozdz | Commande pour vehicule a moteur hybride |
DE19732369B4 (de) * | 1997-07-28 | 2007-02-15 | Volkswagen Ag | Verfahren zur Ansteuerung eines Automatikgetriebes und eine Schaltvorrichtung zur Auswahl der Fahrstrategien |
DE19843395A1 (de) * | 1998-09-22 | 2000-03-23 | Volkswagen Ag | Verfahren zur Geschwindigkeits- und/oder Abstandsregelung bei Kraftfahrzeugen |
DE10029816A1 (de) * | 2000-06-16 | 2002-01-03 | Daimler Chrysler Ag | Fahrerunterstützendes Assistenzsystem |
JP2007038933A (ja) * | 2005-08-04 | 2007-02-15 | Toyota Motor Corp | 車両走行制御装置 |
TWI317629B (en) * | 2005-09-26 | 2009-12-01 | Nat Health Research Institutes | A sensor device for detecting leeg signals and detecting method thereof |
CN1986306B (zh) * | 2005-12-22 | 2013-01-09 | 日产自动车株式会社 | 车辆用驾驶操作辅助装置以及具备它的车辆 |
DE102007029594B4 (de) * | 2007-06-27 | 2016-11-10 | Volkswagen Ag | Gangwahlvorrichtung und Verfahren zur Auswahl einer Funktion eines Kraftfahrzeugs |
JP4687698B2 (ja) * | 2007-09-06 | 2011-05-25 | トヨタ自動車株式会社 | 省燃費運転支援装置 |
JP2009093431A (ja) * | 2007-10-09 | 2009-04-30 | Toyota Motor Corp | 速度規制システム |
JP2009126433A (ja) * | 2007-11-27 | 2009-06-11 | Toyota Motor Corp | 車両制御装置 |
US20100023265A1 (en) * | 2008-07-24 | 2010-01-28 | Gm Global Technology Operations, Inc. | Adaptive vehicle control system with integrated driving style recognition |
US9179875B2 (en) * | 2009-12-21 | 2015-11-10 | Sherwin Hua | Insertion of medical devices through non-orthogonal and orthogonal trajectories within the cranium and methods of using |
JP5353763B2 (ja) * | 2010-03-01 | 2013-11-27 | トヨタ自動車株式会社 | 変速制御装置及び車両制御装置 |
DE102010041620A1 (de) * | 2010-09-29 | 2012-03-29 | Ford Global Technologies, Llc | Verfahren und Vorrichtung zur Unterstützung eines Fahrers bei einem Überholvorgang |
JP2012216069A (ja) * | 2011-03-31 | 2012-11-08 | Equos Research Co Ltd | 車両および車両制御プログラム |
JP5756329B2 (ja) * | 2011-04-20 | 2015-07-29 | 本田技研工業株式会社 | パワートレイン制御装置 |
WO2012160591A1 (fr) * | 2011-05-20 | 2012-11-29 | 本田技研工業株式会社 | Système d'aide au changement de file |
US9751529B2 (en) * | 2011-06-09 | 2017-09-05 | GM Global Technology Operations LLC | Lane sensing through lane marker identification for lane centering/keeping |
US8788113B2 (en) * | 2011-06-13 | 2014-07-22 | Ford Global Technologies, Llc | Vehicle driver advisory system and method |
GB2492748B (en) * | 2011-07-04 | 2014-05-07 | Jaguar Land Rover Ltd | Vehicle control system and method for controlling a vehicle |
GB2499252A (en) * | 2012-02-13 | 2013-08-14 | Jaguar Cars | Driver advice system for a vehicle |
DE102012005245A1 (de) * | 2012-03-14 | 2012-09-20 | Daimler Ag | Unterstützen eines Fahrers eines Kraftfahrzeugs bei einem Überholvorgang |
JP2014198517A (ja) * | 2013-03-29 | 2014-10-23 | 本田技研工業株式会社 | 制御仕様変更システム、制御仕様データサーバ及び仕様可変車両 |
-
2013
- 2013-06-11 DE DE102013210883.4A patent/DE102013210883A1/de active Pending
-
2014
- 2014-04-14 CN CN201480033558.8A patent/CN105492289B/zh active Active
- 2014-04-14 US US14/896,851 patent/US20160137203A1/en not_active Abandoned
- 2014-04-14 EP EP14718370.1A patent/EP3007952A1/fr not_active Withdrawn
- 2014-04-14 JP JP2016518875A patent/JP2016523199A/ja active Pending
- 2014-04-14 WO PCT/EP2014/057537 patent/WO2014198439A1/fr active Application Filing
Non-Patent Citations (2)
Title |
---|
None * |
See also references of WO2014198439A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2014198439A1 (fr) | 2014-12-18 |
CN105492289A (zh) | 2016-04-13 |
US20160137203A1 (en) | 2016-05-19 |
JP2016523199A (ja) | 2016-08-08 |
CN105492289B (zh) | 2019-06-11 |
DE102013210883A1 (de) | 2014-12-11 |
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