EP3481695B1 - Procédé et système d'avertissement de risque de collision pour la détection de véhicules venant en sens inverse - Google Patents

Procédé et système d'avertissement de risque de collision pour la détection de véhicules venant en sens inverse Download PDF

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Publication number
EP3481695B1
EP3481695B1 EP17755154.6A EP17755154A EP3481695B1 EP 3481695 B1 EP3481695 B1 EP 3481695B1 EP 17755154 A EP17755154 A EP 17755154A EP 3481695 B1 EP3481695 B1 EP 3481695B1
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Prior art keywords
transport
transport vehicle
sensor signals
vehicles
vehicle
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EP17755154.6A
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German (de)
English (en)
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EP3481695A1 (fr
Inventor
Gisbert Berger
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Siemens Mobility GmbH
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Siemens Mobility GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/34—Control, warning or like safety means along the route or between vehicles or trains for indicating the distance between vehicles or trains by the transmission of signals therebetween
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • 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 for the detection of oncoming transport vehicles in a route-bound transport system.
  • the invention further relates to a collision warning system for a route-bound transport system.
  • the invention also relates to a route-based transport system.
  • Route-bound transport systems are characterized by a fixed route of the routes used by the transport vehicles of these systems.
  • Systems of this type are, for example, rail systems whose routes are precisely defined by the rails.
  • a transport system should be understood to mean both a system for transporting freight and a system for transporting passengers, or a combination of both.
  • the driver of a vehicle usually cannot change his direction of travel independently, since his direction of travel is clearly defined by guide elements, such as railroad tracks.
  • guide elements such as railroad tracks.
  • the driver can still react to unforeseen events by braking or accelerating or passing on warning information to higher-level units that can influence the routes on the transport system, for example via switches.
  • Newer solutions include assistance systems which can use suitable sensors to detect obstacles and thus oncoming vehicles at an early stage and thus either warn the driver or initiate automatic braking themselves.
  • ADAS Advanced Driver Assistance System
  • the trains are equipped with sensors and evaluation units.
  • the trains are also supported with signaling information from signaling devices positioned on the railway line, some of which are processed by the driver and some which are already automated.
  • a method and a system for determining insurance premiums are known, in which correlations between recorded data, the are associated with the driver's behavior for the vehicle, and image data are used. Events during a journey are identified and put into context based on the image data. The events are then classified using the ratings of the classifications to determine driver behavior and these in turn are used to set the car insurance rates for the driver and the associated vehicle.
  • sensors are built into the vehicle in an Advanced Driver Assistance System (ADAS), which supports the driver while driving.
  • ADAS Advanced Driver Assistance System
  • the ADAS system includes, for example, a collision avoidance system (pre-crash system).
  • the ADAS system also includes a forward-facing camera that can perform proximity detection and obstacle detection (object detection) by detecting objects such as vehicles, pedestrians and animals and objects and their distance from the vehicle.
  • object detection object detection
  • the ADAS system can also include RADAR and LIDAR (Light Detection and Ranging) to perform proximity and object detection and is part of the obstacle sensors.
  • the collision warnings serve as reference points for a driver's reaction to the warning.
  • the sensors in the system can also detect how long the driver has been on the way to a collision, from driving up, crossing the lane, drifting off the road, and the like, until he realizes that he needs to respond to avoid the collision .
  • ADAS systems use sensors such as video cameras, radar systems or lidar systems utilized.
  • a computing unit connected to the aforementioned sensors can also track detected moving obstacles and objects and thus determine further possible collision risks and transmit them to the driver or an automatic train control system, which react taking into account the type of obstacle. For example, depending on the risk situation, emergency braking, for example using extremely decelerating rail brakes with a corresponding possible risk to cargo and passengers, can be triggered or only a comparatively safe service braking can be carried out.
  • sensors are used which are firmly connected to the transport vehicles and therefore scan a narrowly limited area of the travel path of the respective transport vehicle.
  • Active sensors are also used, which actively send out a signal, which is then reflected by any objects that may be present and is reflected back in the direction of the transport path and can be detected there.
  • the emitted signals have to cover approximately twice the distance to the object (e.g. reduced by the distance covered by the transport vehicle during the transmission time).
  • the detection with the aid of such sensors therefore has detection fields and ranges limited to half of the maximum possible range, so that a reliable detection of obstacles and other objects can currently only be carried out up to a maximum distance of 400 m. If more precise information about the type and condition of the obstacle or the object is to be recorded, the reachable ranges are often still far below.
  • This object is achieved by a method for the detection of oncoming transport vehicles in a track-bound transport system according to claim 1, a collision warning system for a track-bound transport system according to claim 10 and a track-bound transport system according to claim 11.
  • detectable sensor signals are actively transmitted by a first transport vehicle located on a route.
  • Detectable sensor signals are to be understood as electromagnetic waves that can be detected by another transport vehicle with a receiving unit that is complementary to the active sensor unit.
  • a route area lying in the forward direction is scanned by a second transportation vehicle located on the route and approaching the first transportation vehicle with regard to the occurrence of detectable sensor signals.
  • the scanning can take place, for example, with the aid of a passive sensor which is suitable for detecting sensor signals with a wavelength which corresponds to the wavelength of the sensor signals emitted by the first transport vehicle.
  • the sensor signals emitted by the first transport vehicle are detected by the second transport vehicle.
  • detection should be understood to mean that with the aid of the passive sensors of the second transport vehicle, a sensor signal is received which is interpreted as an indication of an oncoming vehicle.
  • detection should also be understood to mean that the sensor signal from the first transport vehicle is reliably identified as a sensor signal which was emitted by an oncoming vehicle. Measures are provided for the identification of the sensor signal, the sensor signal from the first transport vehicle from to distinguish a possibly reflected sensor signal originating from the second transport vehicle. The measures mentioned are described below as refinements of the method according to the invention.
  • the method according to the invention contains measures for differentiation (for example a modulation specific to each vehicle) which are not required in a "normal" ADAS since only expected signals are expected.
  • measures for differentiation for example a modulation specific to each vehicle
  • An image evaluation, as in a conventional ADAS system, in order to determine whether an obstacle is present and what it is, can advantageously be omitted in the method according to the invention.
  • the second transport vehicle can advantageously detect the first transport vehicle at a double distance compared to the conventional procedure since it does not have to emit the detectable sensor signals itself or the sensor signals need not be reflected because it receives the sensor signals of the first transport vehicle. In this way, the possible braking distance and the reaction time increase, so that the safety of the transport system is improved.
  • the sensor range also increases because a spatial resolution of the detection result can be dispensed with, because the reception of sensor signals that can be assigned to an oncoming vehicle as such already includes the information that a transport vehicle with an active sensor unit is approaching. An additional identification of the oncoming transport vehicle based on an image of a monitoring area is therefore not necessary in the method according to the invention.
  • the collision warning system according to the invention for a route-bound transport system has an active sensor unit arranged on a first transport vehicle for actively sending out detectable sensor signals. Furthermore, the collision warning system according to the invention comprises a passive sensor unit arranged on a second transport vehicle for scanning a route area lying in the forward direction of the direction of travel of the second transport vehicle.
  • a passive sensor unit is to be understood as a sensor unit which receives and can detect electromagnetic waves.
  • the collision warning system according to the invention has an evaluation unit arranged on the second transport vehicle for determining an oncoming vehicle on the basis of the sensor signals detected by the passive sensor unit and transmitted by the first transport vehicle. With the aid of the evaluation unit, it can be determined on the basis of the detected sensor signals whether a collision with an oncoming vehicle threatens or not.
  • the route-bound transport system according to the invention has a plurality of transport vehicles with a collision warning system according to the invention.
  • the collision warning system according to the invention can be installed, for example, as a supplement to an existing conventional security system. In this case, it represents an additional independent channel that is independent of the other security systems.
  • the collision warning system according to the invention can also be based on an already existing safety system, for example using the already existing sensor system. In this case, the safety of the collision monitoring is also improved due to the increase in the range of the detection, and the effort and the additional costs can be kept low due to the joint use of the sensors.
  • Some essential components of the monitoring system according to the invention can be designed in the form of software components. This applies in particular to parts of the sensor units and the evaluation unit.
  • a largely software-based implementation has the advantage that even previously used collision warning systems can be easily upgraded by a software update in order to work in the manner according to the invention.
  • the object is also achieved by a computer program product which can be loaded directly into a memory of a collision warning system with program code sections in order to carry out all steps of the method according to the invention when the program is executed in the collision warning system.
  • such a computer program product can optionally contain additional components, such as, for. B. Documentation and / or additional components and also hardware components, such as Hardware keys (dongles etc.) for using the software.
  • additional components such as, for. B. Documentation and / or additional components and also hardware components, such as Hardware keys (dongles etc.) for using the software.
  • a computer-readable medium for example a memory stick, a hard disk or another portable or permanently installed data carrier, on which the program sections of the computer program that can be read and executed by a computer unit are stored .
  • the computing unit can e.g. for this purpose have one or more cooperating microprocessors or the like.
  • the transport vehicles are particularly preferably railway trains. Due to the high speeds and long braking distances, detection of oncoming vehicles with a long range is particularly important in this type of vehicle.
  • the first transport vehicle additionally scans a route region lying in the forward direction and additionally sends out actively detectable sensor signals from the second transport vehicle.
  • the probability increased for a timely detection of an impending collision since both vehicles both detect sensor signals and emit sensor signals, so that both vehicles can take appropriate measures to avoid collisions (e.g. brakes or emergency brakes) and thus significantly reduce or even completely avoid the consequences of a collision can.
  • measures as described in d) are to be provided in order to be able to distinguish safely oncoming transport vehicles on the neighboring track from transport vehicles on a collision course.
  • the driver of the respective transport vehicle is automatically warned and / or a braking process is initiated by an automatic system. Due to the increased detection range in the method according to the invention, the driver advantageously has a longer reaction time in order to initiate countermeasures against a collision. In the case of an automatically initiated braking maneuver, collisions due to a lack of reaction by the driver are prevented, so that the safety for the transport vehicle is increased.
  • the earlier detection also increases the chance in vehicles with an active switch adjustment option (e.g. trams) that a possibly still possible track change can be carried out either manually or automatically.
  • both transport vehicles have a communication device, so that the transport vehicles can coordinate and thus optimize the measures for collision avoidance. For example, at a suitable distance, a transport vehicle that does not transport people could carry out emergency braking, while the other transport vehicle in passenger operation only carries out service braking that is less dangerous for the transported people. Or it is negotiated between the transport vehicles, which of the vehicles carries out a possibly risky track change.
  • the information exchange is carried out automatically using the information transmitted by modulation, and the strategy for collision avoidance is also automatically determined and initiated by computing units housed in the vehicles. In this way, valuable time can be saved, which is then additionally available for the measures for collision avoidance.
  • the risk of collision is automatically transmitted to one or more signal boxes.
  • the greater warning time increases the chances of manually or automatically enabling a possible track change for one of the two transport vehicles via a signal box responsible for one of the transport vehicles.
  • an ADAS system is used to carry out the method, which is supplemented by a detection of sensor signals from oncoming transport vehicles.
  • a detection of sensor signals of an oncoming transport vehicle can be facilitated, for example, by sending out the sensor signals and scanning different transport vehicles at the same frequency. That is, the reception by the passive sensor is limited, for example with the aid of a filter, to a frequency range which is used by the sensor signals of the active sensor of the oncoming vehicle. This prevents a detection event from being erroneously triggered when signals or generally electromagnetic waves from interference sources fall on the passive sensor unit. An incorrect interpretation of own sensor signals possibly reflected on the surroundings can also be avoided if the sensor signals from each transport vehicle include identification information. In this way, the reliability of the collision warning is further improved.
  • the sensor signals of the transport vehicles are particularly preferably modulated differently with an individual modulation signal, so that sensor signals from a specific transport vehicle can be clearly assigned to this.
  • the oncoming transport vehicle can also be given information about technical properties and parameters, such as the type of charge, the speed, the braking distance, etc.
  • This data can be used when countermeasures against a collision are initiated in order to keep the inconvenience for both vehicles as low as possible.
  • the signal can also provide information about the line used Contain track and thus enable a distinction between a safe encounter or an impending collision.
  • the transport vehicles can have suitable communication systems, which are preferably used automatically by the collision warning systems of the transport vehicles, so that coordination can take place with a minimal delay.
  • the variables mentioned can be incorporated into an automated optimization process in which an optimal braking behavior is determined for both transport vehicles. This minimizes damage and inconvenience when the two oncoming vehicles have to brake.
  • a camera offers the advantage of high resolution and easy clarity of the image information captured by the camera.
  • a camera can also be used in addition to the detection of the sensor signals for an image representation of a route area for a transport vehicle.
  • a lidar device has a laser with which a directed light beam can be emitted. With such a lidar device, the scanning area can be defined very precisely, so that interference from the sensor signals caused by exposure to the surroundings can be avoided.
  • Acoustic sensor systems have sensor shafts that can also prepare around curves or corners, so that oncoming transport vehicles can be detected even in confusing areas.
  • a combination of several of the sensor systems mentioned can also be used for the collision warning system according to the invention in order to combine the advantages of the different types of detection with one another.
  • FIG. 1 a section of a transport system 10, in this case a single-track railway line, is shown.
  • the section comprises a railway track 8 on which two trains 1, 2 approaching each other on the same track are located.
  • a first train 1 comprises a sensor unit 9a on its front side and transmits sensor signals 3 (shown in dashed lines as a sensor beam cone) in the direction of travel.
  • a second train 2 coming towards the first train 1 on the same track 8 also has a sensor unit 9b, which emits sensor signals 4 (also shown in dashed lines as a sensor beam cone) in the direction of the first train 1.
  • the sensor signals 3 of the first train 1 are detected by the sensor unit 9b of the second train 2, which also has a sensor signal reception function, and evaluated in an evaluation unit (not shown).
  • the embodiment shown is based on a signal modulated on the sensor signal 3 of the first train 1, which is demodulated and analyzed in the evaluation unit of the second train 2, on the identity of the first train 1, so that an automated assistance system of the second train is now aware that the first train 1 approaches the second train 2 at the maximum detection distance d 2 .
  • the maximum detection distance d 2 corresponds to twice the conventional maximum detection distance d 1 of a sensor unit, in which the emitted sensor signals are reflected by an object 5 to be detected and are detected again by the emitting sensor unit.
  • the first train 1 uses the sensor signal 4 of the second train 2 recognizes that the second train 2 approaches the first train 1 at a maximum detection distance d 2 .
  • the two trains 1, 2 now have sufficient time to coordinate, react to the situation and thus avoid a collision.
  • FIG 2 A flowchart is shown which illustrates a method for the detection of oncoming vehicles in a track-bound transport system according to an exemplary embodiment of the invention.
  • step 2.I detectable sensor signals 3 are emitted by a first transport vehicle 1, for example a train, located on a route.
  • a route region lying in the forward direction is scanned by a second transport vehicle 2, for example likewise a train, which is on the route and is approaching the first transport vehicle 1, using a passive sensor function PS.
  • the sensor signals 3 emitted by the first transport vehicle 1 are detected by the second transport vehicle 2.
  • step 2.IV the detected sensor signals 3 are evaluated by an evaluation unit of the second transport vehicle 2, the first transport vehicle 1 being identified and, for example on the basis of the detected signal amplitude of the sensor signals, determined that the first transport vehicle 1 is at the time the first detection must be approximately within the maximum range d 2 of the detectability of the sensor signals 3 of the first transport vehicle 1.
  • step 2.V communication takes place between the first transport vehicle 1 and the second transport vehicle 2, it being automatically coordinated with one another which transport vehicle should show which reaction to what extent to avoid a collision.
  • Step 2.VI of each of the two transport vehicles 1, 2 initiated a braking maneuver BM which was coordinated with one another and with the requirements of the individual trains 1, 2, thereby avoiding a collision between the two transport vehicles 1, 2.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Claims (12)

  1. Procédé de détection de véhicules (1, 2) de transport venant en sens contraire dans un système (10) de transport guidé sur rail, comportant les stades :
    - émission active de signaux (3) de capteur détectables par un premier véhicule (1) de transport se trouvant sur une voie,
    - balayage d'une partie de voie se trouvant en avant par un deuxième véhicule (2) de transport se trouvant sur la voie et venant en sens contraire au premier véhicule (1) de transport,
    - détection, par le deuxième véhicule (2) de transport des signaux (3) de capteur émis par le premier véhicule (1) de transport, dans lequel, pour effectuer le procédé, on utilise un système ADAS, qui est complété d'une reconnaissance de signaux (3, 4) de capteur de véhicules (1, 2) de transport allant en sens contraire.
  2. Procédé suivant la revendication 1, dans lequel le premier véhicule (1) de transport balaye aussi supplémentairement une partie de la voie se trouvant en avant et le deuxième véhicule (2) de transport émet supplémentairement, de manière active, des signaux (4) de capteur détectables.
  3. Procédé suivant la revendication 1 ou 2, dans lequel, dans le cas d'une détection d'un véhicule (1, 2) de transport venant en sens contraire, on avertit les conducteurs des deux véhicules de transport et/ou on lance une opération de freinage par un système automatique.
  4. Procédé suivant l'une des revendications 1 à 3, dans lequel l'émission des signaux (3, 4) de capteur et l'opération de balayage de véhicules (1, 2) de transport différents s'effectuent à la même fréquence.
  5. Procédé suivant l'une des revendications 1 à 4, dans lequel les signaux (3, 4) de capteur des véhicules (1, 2) de transport sont modulés différemment par un signal de modulation individuel, de manière à pouvoir associer, de façon univoque, des signaux (3, 4) de capteur d'un véhicule (1, 2) de transport à celui-ci.
  6. Procédé suivant l'une des revendications 1 à 5, dans lequel, après la détection d'un véhicule (1, 2) de transport venant en sens contraire, on effectue une communication automatisée entre le premier et le deuxième véhicules (1, 2) de transport, afin d'accorder entre elles des réactions des véhicules (1, 2) de transport en vue d'empêcher une collision.
  7. Procédé suivant la revendication 6, dans lequel l'accord s'effectue en fonction de données de véhicule, qui comprennent l'une des grandeurs caractéristiques suivantes :
    - vitesse des véhicules (1, 2) de transport,
    - masse des véhicules (1, 2) de transport,
    - type de chargement des véhicules (1, 2) de transport,
    - caractéristiques de freinage des véhicules (1, 2) de transport.
  8. Procédé suivant l'une des revendications 1 à 7, dans lequel on utilise, pour le balayage et l'émission des signaux de capteur, des systèmes de capteur, qui comprennent au moins l'un des types suivants d'unités fonctionnelles :
    - une caméra,
    - un dispositif radar,
    - un dispositif lidar,
    - un dispositif de capteur à ultrasons.
  9. Système d'avertissement de collision pour un système (10) de transport guidé sur rail, comportant :
    - une unité (9a) de capteur active, montée sur un premier véhicule (1) de transport pour l'émission active de signaux (3) de capteur détectables,
    - une unité (9b) de capteur passive, montée sur un deuxième véhicule (2) de transport pour le balayage d'une partie de voie se trouvant en avant,
    - une unité d'exploitation, montée sur le deuxième véhicule (2) de transport pour la détermination d'un véhicule (1) venant en sens contraire sur la base des signaux (3) de capteur détectés par l'unité (9b) de capteur passive et émis par le premier véhicule (1) de transport, l'unité de capteur passive faisant partie d'un système ADAS, qui est complété d'une reconnaissance de signaux de capteur de véhicule de transport allant en sens contraire.
  10. Système (10) de transport guidé sur rail, comportant une pluralité de véhicules (1, 2) de transport ayant un système d'avertissement de collision suivant la revendication 9.
  11. Produit de programme d'ordinateur ayant un programme d'ordinateur, qui peut être chargé directement dans un dispositif de mémoire d'un système d'avertissement de collision d'un véhicule (1, 2) de transport, comprenant des parties de programme pour exécuter tous les stades d'un procédé suivant l'une des revendications 1 à 8, lorsque le programme d'ordinateur est exécuté dans le véhicule (1, 2) de transport.
  12. Support déchiffrable par ordinateur, sur lequel sont mises en mémoire des parties de programme pouvant être lues et exécutées par une unité d'ordinateur pour exécuter tous les stades d'un procédé suivant l'une des revendications 1 à 8, lorsque les parties de programme sont exécutées par l'unité d'ordinateur.
EP17755154.6A 2016-09-14 2017-08-16 Procédé et système d'avertissement de risque de collision pour la détection de véhicules venant en sens inverse Active EP3481695B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016217491.6A DE102016217491A1 (de) 2016-09-14 2016-09-14 Verfahren zur Detektion von entgegenkommenden Fahrzeugen
PCT/EP2017/070781 WO2018050388A1 (fr) 2016-09-14 2017-08-16 Procédé et système d'avertissement de risque de collision pour la détection de véhicules venant en sens inverse

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EP3481695A1 EP3481695A1 (fr) 2019-05-15
EP3481695B1 true EP3481695B1 (fr) 2020-06-24

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EP (1) EP3481695B1 (fr)
DE (1) DE102016217491A1 (fr)
ES (1) ES2820754T3 (fr)
WO (1) WO2018050388A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102019206344A1 (de) * 2019-05-03 2020-11-05 Zf Friedrichshafen Ag Sensor-basierte Steuerung zur Gefahrenvermeidung im Schienenverkehrssystem
DE102019206341A1 (de) * 2019-05-03 2020-11-05 Zf Friedrichshafen Ag Vorrichtung und Verfahren zum Vermeiden einer Kollision zwischen Schienenfahrzeugen
DE102021212700A1 (de) 2021-11-11 2023-05-11 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren, Vorrichtung und System zum Betreiben eines Schienenfahrzeugs zum Warnen vor einer möglichen Kollision

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US3365572A (en) 1965-08-06 1968-01-23 Strauss Henry Frank Automatic collision prevention, alarm and control system
DE19650981A1 (de) 1996-12-09 1998-06-10 Iht Innovationsgesellschaft Fu Meßverfahren und Einrichtung zur Ermittlung des Abstandes und von Datenübertragung zwischen relativ zueinander bewegten Objekten, insbesondere von Transportmitteln auf gemeinsamen Bahnen
AT410531B (de) 1999-05-25 2003-05-26 Bernard Ing Douet Verfahren und system zur automatischen erfassung bzw. überwachung der position wenigstens eines schienenfahrzeugs
AUPS123702A0 (en) * 2002-03-22 2002-04-18 Nahla, Ibrahim S. Mr The train navigtion and control system (TNCS) for multiple tracks
US7486199B2 (en) * 2005-11-17 2009-02-03 Nissan Technical Center North America, Inc. Forward vehicle brake warning system
DE102008003872A1 (de) * 2008-01-08 2009-08-27 Siemens Aktiengesellschaft Verfahren zur Kollisionswarnung und Kollisionswarnsystem
DE102008060185A1 (de) 2008-11-28 2010-06-10 Siemens Aktiengesellschaft Verfahren zur Kollisionswarnung und Kollisionswarnsystem
EP2892020A1 (fr) * 2014-01-06 2015-07-08 Harman International Industries, Incorporated Surveillance d'identité en continu pour la classification des données d'entraînement pour entraîner l'analyse de performance

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DE102016217491A1 (de) 2018-03-15
ES2820754T3 (es) 2021-04-22
EP3481695A1 (fr) 2019-05-15
WO2018050388A1 (fr) 2018-03-22

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