EP3161903B1 - Antennenvorrichtung mit einstellbarer abstrahlcharakteristik und verfahren zum betreiben einer antennenvorrichtung - Google Patents

Antennenvorrichtung mit einstellbarer abstrahlcharakteristik und verfahren zum betreiben einer antennenvorrichtung Download PDF

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Publication number
EP3161903B1
EP3161903B1 EP15718481.3A EP15718481A EP3161903B1 EP 3161903 B1 EP3161903 B1 EP 3161903B1 EP 15718481 A EP15718481 A EP 15718481A EP 3161903 B1 EP3161903 B1 EP 3161903B1
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EP
European Patent Office
Prior art keywords
supply
antenna
signal
electrical
supply section
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Active
Application number
EP15718481.3A
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German (de)
English (en)
French (fr)
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EP3161903A1 (de
Inventor
Juergen Hasch
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/0006—Particular feeding systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/061—Two dimensional planar arrays
    • H01Q21/065—Patch antenna array
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H01Q3/2682—Time delay steered arrays

Definitions

  • the present invention relates to an antenna device having an adjustable radiation characteristic, in particular to an antenna device having an antenna arrangement of antenna elements arranged in the form of a matrix.
  • the invention further relates to a method for operating an antenna device, in particular an antenna device according to the invention.
  • Phased array antennas are known in which the antenna pattern is electronically pivotable.
  • Phased array antennas consist of a plurality of antenna elements (array), which are fed from a common signal source.
  • the individual transmission elements of the phased array antenna are driven with a suitably phase-shifted signal.
  • the individual emitted electromagnetic waves are superimposed in the desired direction with a constructive interference, thus forming, for example, a maximum or minimum of radiated energy in the desired direction.
  • phased array antennas have a phase shifter and an attenuator for individually adjusting phase and amplitude for each of the transmitting elements.
  • An antenna suitable for use in radar applications for example, in the DE 10 2010 040 793 A1 shown.
  • an antenna device with adjustable radiation characteristics comprising: a feed signal providing device, by means of which a first, second, third and fourth electrical feed signal can be provided; wherein the electrical feed signals are coherent with each other and adapted to adjust the adjustable radiation characteristic of the antenna device adapted phases relative to each other, wherein the phases are adaptable by means of a feed signal adjusting means; with a first supply path having a first plurality of first branching devices, wherein by means of a first supply connection, which is arranged at a first end of the first supply path, the first electrical feed signal can be fed into the first supply path; and wherein by means of a second feed connection, which is arranged at a second end of the first supply path, the second electrical Infeed signal can be fed into the first supply line; with a second supply path having a second plurality of second branching devices, wherein the third electrical supply signal can be provided
  • a feed line is to be understood in particular as a line which is used for feeding antenna columns with electrical signals, wherein the feed line can also have one or more branches and / or signal-adjusting devices, such as phase shifters or amplifiers.
  • An arrangement of an element A "electrically between" two other elements B should be understood in particular to mean that electrical signals which pass along the electrical path with the least loss, preferably along an electrical conductor, between the two other elements B, inevitably the element Cross A
  • a method for operating an antenna device in particular an antenna device according to the invention, with the steps: generating a first, second, third and fourth electrical Signals which are coherent with each other; Providing first, second, third and fourth electrical injection signals by adjusting at least relative phases of the first, second, third and fourth electrical signals to adjust the radiation characteristic of the antenna device; Applying the first feed signal to a first feed terminal of the antenna device; Applying the second feed signal to a second feed terminal of the antenna device; Applying the third feed signal to a third feed terminal of the antenna device; and applying the fourth feed signal to a fourth feed terminal of the antenna device.
  • the finding underlying the present invention consists in the fact that the radiation characteristic of an antenna device which has antenna elements arranged in a matrix as individual emitters and which is fed with four or more mutually independent and individually variable in amplitude and / or phase feed signals at four or more different feed terminals becomes, is two-dimensionally adaptable. This means that in particular an elevation and an azimuth of the main lobe of the emission characteristic can be adapted and the main lobe thus can be pivoted electronically in two dimensions.
  • the idea on which the present invention is based now consists in taking this knowledge into account and providing a possibility of feeding an antenna device with four or more feed signals, in particular simultaneously, which are adapted such that antenna elements of the antenna device are electrically shifted by phase Signals are stimulated that the radiation characteristic of the antenna device, by superposition of the radiated electromagnetic waves, as desired.
  • the dimensions of the individual antenna elements can then be selected approximately in the millimeter range.
  • the antenna arrangement can be simple in printed circuit board technology will be realized.
  • the antenna device is arranged on a vehicle, in particular a road vehicle or a rail vehicle.
  • a signal adjustment device is arranged between at least one, in particular each pair of two branching devices following one another along the first supply path, by means of which at least one parameter, in particular a phase and / or an amplitude, between the pair of the two along the first feed path successive branching devices along the first supply path extending electrical signal is adjustable.
  • a signal adjustment device is arranged between at least one, in particular each pair of two branching devices following one another along the second supply path, by means of which at least one parameter, in particular a phase and / or an amplitude, one between the pair of the two along the second supply path of successive branching devices along the second supply path extending electrical signal is adjustable.
  • a signal adjustment device is electrically arranged between at least one, in particular each, of the branching devices and a respective antenna column coupled to the at least one branching device, by means of which at least one parameter, in particular a phase and / or an amplitude, a running between the branching device and the antenna column electrical signal is adjustable.
  • At least one signal adjustment device has a phase shifter.
  • the at least one parameter of the electrical signal which can be adapted by means of the signal adaptation device is accordingly a phase of the electrical signal.
  • each of the signal conditioning devices is designed as a phase shifter.
  • the signal adjustment device is advantageously designed as an angular or curved guided deviation of a conductor track from a guide of the conductor track on a shortest path between two branching devices or between a branching device and an antenna column.
  • At least one, preferably all, of the branching devices are designed as simple line nodes, in particular as three-line nodes.
  • At least the first and second feed sections, the first and second branch devices, the antenna columns and the antenna elements are formed in microstrip technology.
  • the entire antenna array is formed in microstrip technology.
  • the application of the first, second, third and fourth feed connection takes place at least partially simultaneously. This is possible by superimposing the antenna elements stimulating signals, which are based on the feed signals, a particularly accurate adjustment of the radiation characteristic.
  • the method comprises the step of: adjusting the phase and / or the amplitude of at least one of the first, second, third and fourth feed signals for adapting the set radiation characteristic. This can be done about an electronic beam swing.
  • Fig. 1 shows a schematic block diagram of an antenna device 100 according to a first embodiment of the present invention.
  • the antenna device 100 has a feed signal providing device 300, which is electrically connected to an antenna arrangement of the antenna device 100 via first to fourth, short ith lines L-1, L2, L3, L4, in short Li.
  • the antenna device 100 according to the first embodiment has a control device 400 for controlling controllable elements of the feed signal providing device 300. Via an interface 500 of the control device 400, the desired radiation characteristic of the antenna device to be set can be entered automatically or by a user.
  • FIG. 12 is a schematic block diagram of the feed signal providing device 300 of the antenna device 100 according to the first embodiment of the present invention.
  • the feed signal providing means 300 includes a feed signal generator 310 and a feed signal adapter 340.
  • the control device 400 controls the feed signal providing device 300, in particular the feed signal adjusting device 340.
  • the feed-signal generator 310 has a signal generator 370, by means of which a coherent original electrical signal D0 with an original phase and an original amplitude can be generated.
  • the original signal D0 is transmitted to a dividing device 320, which divides the original signal into a first to fourth partial signal T1, T2, T3, T4, in short Ti, and transmits these to a respective first to fourth, by means of the control device 400 controllable, phase-adjusting device 360-. 1, 360-2, 360-3, 360-4, 360-i for short.
  • the dividing device 320 is a quadruple conduction splitting, ie a five-conduction node, by means of which the original signal D0 is divided into the four partial signals Ti, each with a power of one quarter of an original signal power.
  • the i-th controllable phase adjuster 360-i is configured to receive an i-th phase of the ith sub-signal Ti by an i-th phase shift value ⁇ - i relative to the original phase of the original signal move.
  • An "i-th phase” or an "i-th amplitude of the i-th sub-signal Ti” should be understood to mean only one designation, not that the i-th sub-signal has a plurality of phases or amplitudes from a first to an i-th sub-signal. has.
  • the third controllable ⁇ Phasenanpassungs worn 360-3 is adapted to the third phase of the third partial signal T-3 for a third phase shift value ⁇ ⁇ -3 to move relative to the original phase of the original signal.
  • One or more of the i-th phase shift values ⁇ -i can also be vanishing, ie equal to zero, so that the corresponding ith partial signal Ti can remain in phase with the original signal.
  • the controllable phase adjusting means 360-i are formed as a phase shifter.
  • the respective i-th controllable phase adjusting device 360-i transmits the ith partial signal with the ith phase shifted by the ith phase shift value ⁇ - i to a respective i-th amplitude adjusting device 380-i, by means of which a respective i-th te amplification of the i-th sub-signal can be amplified or reduced by a respective ith gain value dB-i.
  • the i-th amplification value dB-i can also be one, so that there is essentially no amplification or reduction of the i-th amplitude.
  • the respective i-th sub-signal with the i-th phase shifted by the ith phase shift value ⁇ -i and the i-th amplitude amplified or reduced by the i-th amplification value dB-i becomes i-tes, ie first , second, third or fourth feed-in signal D1, D2, D3, D4 are transmitted to a respective ith output terminal 331-i of the feed-signal providing device 300.
  • the third sub-signal is shifted with the phase shifted by the third phase shift value ⁇ - 3 and the third amplification value dB-3 amplified third amplitude as the third feed signal D3 to the third output terminal 331-3 transmitted.
  • FIG. 12 shows a schematic block diagram of an antenna arrangement 101 of the antenna device 100 according to the first embodiment of the present invention.
  • Fig. 3B shows a schematic plan view of the antenna assembly 101 of the antenna device 100 according to the first embodiment of the present invention.
  • the antenna arrangement 101 is formed according to the first embodiment in microstrip technology with patch antennas.
  • the respective ith output terminal 331-i is electrically connected via electrical lines, in particular directly, to the i-th line L-i via a respective ith feed connection 131, 132, 133, 134.
  • the third output terminal 331-3 is electrically connected to the third feeder terminal 133 via the third line L-3.
  • the antenna arrangement 101 of the antenna device 100 has a first, substantially linearly formed feed path 110 and a second, essentially linear feed path 120.
  • the first supply signal D1 can be fed into the first supply path 110 at a first of two ends of the first supply path 110 by means of the first supply point 131 and the second supply signal D2 can be fed in at a second of the two ends of the first supply path 110 by means of the second supply point 132.
  • the third supply signal D3 can be fed into the second supply path 120 at a first of two ends of the second supply path 120 by means of the third supply point 133, and the fourth supply signal D4 can be fed in at a second of the two ends of the second supply path 120 by means of the fourth supply point 134.
  • the first supply path 110 has a first plurality of first branch devices 150-i, which are arranged along the first supply path 110 spaced apart from one another. According to the first embodiment, the first plurality is four.
  • the first Branch devices 150-1, 150-2, 150-3, 150-4 are each as shown in FIG Fig. 3B shown formed as a simple, T-shaped three-wire knot.
  • the second supply path 120 has a second plurality of second branching devices 151-i, which are arranged along the second supply path 120 spaced apart from each other. According to the first embodiment, the second plurality is four.
  • the second branching devices 151-1, 151-2, 151-3, 151-4 are respectively as shown in FIG Fig. 3B shown formed as a simple, T-shaped three-wire knot.
  • Respective division characteristics of the first and second branching devices 150-i, 151-i may be adjusted, for example, by impedance characteristics and / or different widths of line widths of the three lines converging on the three-line nodes.
  • each of a first branching device 150-i and a second branching device 151-i is electrically one of a third plurality of antenna columns 140-i, here four antenna columns 140-i, coupled.
  • Each of the antenna columns 140-i has a respective fourth plurality of antenna elements 142-ij, which according to the first embodiment are configured as patch antennas. Further, according to the first embodiment, all the fourth pluralities are the same and have the value five.
  • the patch antennas can be made different in size, for example, with relatively larger areas near the first and second feedlines 110, 120 and with relatively smaller areas near a midpoint between the first and second feedlines 110, 120.
  • the antenna columns 140-i are substantially parallel to each other.
  • Antenna elements 142-ij are electrically interconnected to form antenna gaps 140-i within each antenna column 140-i, respectively, via a linear line 144-i formed in microstrip technology.
  • the linearly formed first and second power paths 110, 120 are likewise parallel to one another and advantageously are substantially perpendicular to the antenna gaps 140-i.
  • first phase shifter 160-i which shifts a phase of an electrical signal extending between the respective two first branching devices 150-i.
  • second phase shifter 161-i which shifts a phase of an electrical signal passing between the respective two second branching devices 151-i.
  • the first and second phase shifters 160-i, 161-i are each a rectangular, rectangularly-shaped guided deviation of an electrical trace between the respective first or second branching means 150-i, 151-i from a linear guide of the trace formed on a shortest path between the respective successive first or second branching devices 150-i, 151-i.
  • the rectangular pulse-shaped deviation always takes place in a direction away from the antenna columns 142-ij.
  • dimensions of the phase shifters 160-i, 161-i and the supply paths 110, 120 are selected such that the transit time of at least one feed signal T1, T2, T3, T4 fed into a supply path 110, 120, preferably of all feed signals T1 , T2, T3, T4, between each two along the corresponding feed line 110, 120 successive branching devices 150-i, 150-i always increased by the same transit time differential amount.
  • the dimensions of the phase shifters 160-i, 161-i and the supply paths 110, 120 are selected such that the first feed signal T1 fed in at the first feed point 131 impinges on the first branch device 150-1 at a time t0, along the first feed path 110 at a time t0 + t hits the second branching device 150-2, along the first feeding path 110 at a time t0 + 2 t impinges on the third branching device 150-3 and along the first supply path 110 at a time t0 + 3 t impinges on the fourth branching device 150-4.
  • FIGS. 4A and 4B show exemplary set radiation characteristics of the antenna device 100 according to the first embodiment.
  • elevation angles and azimuth angles ⁇ of a main lobe of the emission characteristic can thus be set.
  • a minimum azimuth angle For example, only the first and second feed signals T1, T2 can be fed to form a maximum azimuth angle max, for example, only the third and fourth feed signals T3, T4 can be fed.
  • the first and third feed signals T1, T3 may be fed, for example, to form a maximum elevation angle, only the second and fourth feed signals T2, T4 may be fed.
  • Fig. 4A shows a directivity d in decibels as a function of the azimuth angle in degrees according to various exemplary emission characteristics A1, A2, A3, A4, A5, including a first emission characteristic A1, whose main lobe K1 the azimuth angle with the minimum azimuth angle min and a fifth radiation characteristic A5 whose main lobe K5 the azimuth angle with the maximum minimum azimuth angle max.
  • Fig. 4B shows the directivity d in decibels as a function of the azimuth angle in degrees according to two further exemplary radiation characteristics A6, A7.
  • the third feed signal T3 as an inverted, that is reversed in the sign, first feed signal T1 and the second feed signal T2 can be formed or adapted as an inverted fourth feed signal T4.
  • the third feed signal T3 as inverted fourth feed signal T4 and the second feed signal T2 as an inverted first feed signal T1 can be formed or adapted.
  • the emission characteristic can be feasible, for example, around an object lying directly in front of the antenna.
  • FIG. 12 shows a schematic block diagram of an antenna arrangement 201 of an antenna device 200 according to a second embodiment of the present invention.
  • the antenna device 200 according to the second embodiment is a variant of the antenna device 100 according to the first embodiment, from which it differs in that the antenna device 201 according to the second embodiment differs from the antenna device 101 according to the first embodiment.
  • Fig. 5B shows a schematic plan view of the antenna assembly 201 of the antenna device 200 according to the second embodiment of the present invention.
  • the antenna arrangement 201 according to the second embodiment is a variant of the antenna arrangement 101 according to the first embodiment and differs therefrom only in the design and arrangement of the phase shifters.
  • the antenna assembly 201 has, as in Fig. 5A shown in each case straight-line electrical connections, which in microstrip technology on the shortest path between two each other along the first or second feed line 210, 220 successive first or second branching devices 150-i, 151-i are performed on.
  • the antenna arrangement 201 has, as in FIG Fig. 5A 1, each show a first phase shifter 260-i electrically between each first branching device 150-i and a respective antenna column 140-i directly coupled to the first supply path 210 via the first branching device 150-i. Furthermore, the antenna arrangement 201 in each case has a second phase shifter 261-i electrically between each of the second branching devices 151-i and a respective antenna column 140-i directly coupled to the second supply path 220 via the second branching device 151-i.
  • the first and second phase shifters 260-i, 261-i are in each case an angled or curved deviation of an electrical trace from a linear guidance of the trace on a shortest path between the respective first or second branching means 150-. i, 151-i and the respective antenna column 140-i.
  • FIG. 12 is a schematic flowchart for explaining a method of operating an antenna device according to a third embodiment of the present invention.
  • FIG. The method according to the third embodiment is particularly suitable for operating the antenna device 100, 200 according to the first or second embodiment of the present invention.
  • the method according to the third embodiment can advantageously be adapted such that the various described variants and advantageous embodiments of the antenna device 100, 200 according to the invention can also be operated therewith.
  • a step S01 the first, second, third and fourth partial electrical signals T1, T2, T3, T4 are generated, as described above with reference to FIG Fig. 2 explained in more detail.
  • the first, second, third and fourth electric feed signals D1, D2, D3, D4 are adjusted by adjusting at least relative phases of the first, second, third and fourth partial electric signals T1, T2, T3, T4 to adjust the radiation characteristic the antenna device 100; 200 provided.
  • the first injection signal D1 is applied to the first supply terminal 131 of the antenna device 100; 200 created; in a step S04, the second feed signal D2 to the second feed terminal 132 of the antenna device 100; 200 created; in a step S05, the third feed signal D3 to the third feed terminal 133 of the antenna device 100; 200 created; and in a step S06, the fourth feed-in signal D1 to the fourth feed-in terminal 134 of the antenna device 100; 200 created.
  • the application S03, S04, S05, S06 may be repeated, permanent and / or always or at least partially simultaneous.
  • a step S07 the phase and / or the amplitude of at least one of the first, second, third and fourth feed-in signals D1, D2, D3, D4 is adapted to adapt the set emission characteristic. This can be done, for example, by the feed signal adaptation device 340, controlled by the control device 400.
  • the antenna columns may each have different fourth plurality of antenna elements from each other.
  • the antenna elements can also have different dimensions within an antenna column, for example, they tend to be smaller towards the edge of a matrix-shaped antenna arrangement than towards the center.

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  • Engineering & Computer Science (AREA)
  • Computer Security & Cryptography (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Details Of Aerials (AREA)
EP15718481.3A 2014-06-27 2015-04-24 Antennenvorrichtung mit einstellbarer abstrahlcharakteristik und verfahren zum betreiben einer antennenvorrichtung Active EP3161903B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014212494.8A DE102014212494A1 (de) 2014-06-27 2014-06-27 Antennenvorrichtung mit einstellbarer Abstrahlcharakteristik und Verfahren zum Betreiben einer Antennenvorrichtung
PCT/EP2015/058884 WO2015197228A1 (de) 2014-06-27 2015-04-24 Antennenvorrichtung mit einstellbarer abstrahlcharakteristik und verfahren zum betreiben einer antennenvorrichtung

Publications (2)

Publication Number Publication Date
EP3161903A1 EP3161903A1 (de) 2017-05-03
EP3161903B1 true EP3161903B1 (de) 2018-06-27

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EP15718481.3A Active EP3161903B1 (de) 2014-06-27 2015-04-24 Antennenvorrichtung mit einstellbarer abstrahlcharakteristik und verfahren zum betreiben einer antennenvorrichtung

Country Status (6)

Country Link
US (1) US10243268B2 (zh)
EP (1) EP3161903B1 (zh)
JP (1) JP2017518721A (zh)
CN (1) CN106463826B (zh)
DE (1) DE102014212494A1 (zh)
WO (1) WO2015197228A1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012210314A1 (de) * 2012-06-19 2013-12-19 Robert Bosch Gmbh Antennenanordnung und Verfahren
US10439297B2 (en) * 2016-06-16 2019-10-08 Sony Corporation Planar antenna array
EP3285334A1 (en) * 2016-08-15 2018-02-21 Nokia Solutions and Networks Oy Beamforming antenna array
JP6411593B1 (ja) * 2017-08-04 2018-10-24 株式会社ヨコオ 車載用アンテナ装置
CN110970721A (zh) * 2019-12-16 2020-04-07 耀登电通科技（昆山）有限公司 共享式天线总成及共享式天线结构

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GB967474A (en) * 1962-03-19 1964-08-19 Marconi Co Ltd Improvements in or relating to doppler navigation aiding equipments
US4746923A (en) * 1982-05-17 1988-05-24 The Singer Company Gamma feed microstrip antenna
GB2184892A (en) * 1985-12-20 1987-07-01 Philips Electronic Associated Antenna
JPH05152825A (ja) * 1991-11-26 1993-06-18 Japan Radio Co Ltd 周波数走査アレーアンテナ
US20060033659A1 (en) * 2004-08-10 2006-02-16 Ems Technologies Canada, Ltd. Mobile satcom antenna discrimination enhancement
BRPI0520358A2 (pt) * 2005-07-04 2009-06-13 Ericsson Telefon Ab L M antena de repetidor para uso em aplicações ponto a ponto em sistemas de telecomunicação
JP5616167B2 (ja) * 2010-08-30 2014-10-29 国立大学法人 名古屋工業大学 進行波励振アンテナ
DE102010040696A1 (de) * 2010-09-14 2012-03-15 Robert Bosch Gmbh Radarsensor für Kraftfahrzeuge, insbesondere RCA-Sensor
DE102010040793A1 (de) 2010-09-15 2012-03-15 Robert Bosch Gmbh Gruppenantenne für Radarsensoren
DE102012210314A1 (de) * 2012-06-19 2013-12-19 Robert Bosch Gmbh Antennenanordnung und Verfahren

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Publication number Publication date
CN106463826B (zh) 2020-12-08
US10243268B2 (en) 2019-03-26
CN106463826A (zh) 2017-02-22
EP3161903A1 (de) 2017-05-03
WO2015197228A1 (de) 2015-12-30
US20170133757A1 (en) 2017-05-11
JP2017518721A (ja) 2017-07-06
DE102014212494A1 (de) 2015-12-31

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