EP3711034A1 - Procédé et dispositif pour obtenir une position d'au moins un objet - Google Patents

Procédé et dispositif pour obtenir une position d'au moins un objet

Info

Publication number
EP3711034A1
EP3711034A1 EP18803588.5A EP18803588A EP3711034A1 EP 3711034 A1 EP3711034 A1 EP 3711034A1 EP 18803588 A EP18803588 A EP 18803588A EP 3711034 A1 EP3711034 A1 EP 3711034A1
Authority
EP
European Patent Office
Prior art keywords
data values
environment
state
infrastructure
receiving
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.)
Pending
Application number
EP18803588.5A
Other languages
German (de)
English (en)
Inventor
Holger Mielenz
Michael Buchholz
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3711034A1 publication Critical patent/EP3711034A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01W—METEOROLOGY
    • G01W1/00—Meteorology
    • G01W1/02—Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • 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
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/10—Recognition assisted with metadata

Definitions

  • the present invention relates to a method and a device for providing a position of at least one object with a step of receiving
  • Environment data values represent an environment of an infrastructure device, the environment comprising the at least one object, a step of receiving state data values, wherein the
  • State data values represent a state of the infrastructure device, a step of determining the position of the at least one object in the environment based on the environmental data values and depending on the state of the environment
  • the inventive method for providing a position of at least one object comprises a step of receiving environmental data values, wherein the environmental data values represent an environment of an infrastructure device, wherein the environment comprises the at least one object, and a step of
  • the method further comprises a step of determining the position of the at least one object in the environment, based on the environmental data values and depending on the state of the infrastructure, and a step of providing the position of the at least one object.
  • Under the at least one object are, for example, a road user
  • a position of the at least one object is to be understood as an indication in GNSS coordinates.
  • a position is an indication of GNSS coordinates and blurring of the position.
  • Embodiment is to be understood by a position in particular a highly accurate position, which within a given coordinate system, such as GNSS coordinates, is so accurate that this position is a maximum allowable
  • the maximum fuzziness may depend on the environment. Further, the maximum blur, for example, may depend on it. In principle, the maximum blurring of a high-precision position is so small that, in particular, safe operation (lateral and / or longitudinal control and / or safety-relevant functions, etc.) of an automated vehicle is ensured (the maximum blur is, for example, on the order of about 10 centimeters ).
  • a street lamp and / or traffic signs (sign, traffic lights, etc.) and / or a barrier and / or others
  • Device to understand which comprises an environment sensor system for detecting an environment of the infrastructure unit, wherein the environment comprises at least one infrastructure area (an area of a roadway and / or a parking lot and / or a bridge and / or a tunnel, etc.).
  • the environment sensor system is at least one video and / or radar and / or Lidar- and / or ultrasonic and / or at least one other sensor to understand, which is adapted to the at least one object in the environment in the form of
  • the method according to the invention advantageously solves the problem of determining the position of the at least one object in the environment
  • the infrastructure device to take into account a state of the infrastructure. This increases the accuracy of the particular position and thus the reliability of the information associated therewith.
  • the infrastructure device is designed to perform a movement and / or a deformation and / or the state comprises a direction and / or a measure of the movement and / or the deformation.
  • the infrastructure device comprises a sensor device, which is designed to monitor the state of the infrastructure device in the form of
  • the sensor device comprises an acceleration sensor.
  • the sensor device corresponds to the environmental sensor system and the state of the infrastructure device-in particular a movement and / or a deformation-is extracted from the environmental data values in the form of state data values. This is done for example by means of a comparison with
  • Reference environment data values that have been detected in particular without movement and / or deformation.
  • the position of the at least one object is provided such that an automated vehicle is operated at least in the environment, depending on the position of the at least one object.
  • the automated vehicle is partially, fully or fully automated operation.
  • the operation includes, for example, determining a trajectory for the automated vehicle and / or trajectory traversing by means of an automated lateral and / or longitudinal control and / or carrying out safety-relevant driving functions, etc.
  • the operation of the automated vehicle is such that a collision with the at least one object is avoided.
  • the device according to the invention for providing a position of at least one object comprises first means for receiving environmental data values, wherein the environment data values represent an environment of an infrastructure device, wherein the environment comprises the at least one object, and second means for
  • the apparatus further comprises third means for determining the position of the at least one object in the environment, based on the environmental data values and depending on the state of the infrastructure, and fourth means for providing the position of the at least one object.
  • further means are provided for receiving weather condition data values, the weather condition data representing a weather condition in the environment.
  • the first means and / or the second means and / or the third means and / or the fourth means and / or the further means are adapted to carry out a method according to at least one of the method claims.
  • Figure 1 shows a first embodiment of the device according to the invention
  • Figure 2 shows a second embodiment of the device according to the invention
  • FIG. 3 shows an embodiment of the method according to the invention
  • FIG. 4 shows an exemplary embodiment of the method according to the invention in the form of a flowchart.
  • FIG. 1 shows a computing unit 100, which is shown by way of example, and which has a
  • Device 1 10 for providing 340 a position 231 of at least one object 230 includes.
  • a computing unit 100 is meant, for example, a server.
  • a computing unit 100 is to be understood as meaning a cloud-that is, a composite of at least two electrical data processing systems-which exchange data, for example, via the Internet.
  • a cloud-that is, a composite of at least two electrical data processing systems-which exchange data, for example, via the Internet.
  • Embodiment corresponds to the computing unit 100 of the device 1 10.
  • the device 110 comprises first means 11 1 for receiving 310 of FIG.
  • the device 110 further comprises third means 1 13 for determining 330 the position 231 of the at least one object 230 in the environment 220, based on the environmental data values and depending on the state of the infrastructure device 210, and fourth means 1 14 for providing 340 the position 231 of the at least one object 230.
  • additional means 15 for receiving 325 weather state data values are additionally provided, wherein the weather state data is a weather state in the environment 220
  • the first means 1 1 1 and / or the second means 1 12 and / or the third means 1 13 and / or the fourth means 1 14 and / or the further means 1 15 - depending on the particular embodiment of the computing unit 100 - also be formed in different embodiments. If the arithmetic unit 100 is designed as a server, the first means 1 1 1 and / or the second means 1 12 and / or the third means 1 13 and / or the fourth means 1 14 and / or the further means 1 15 - based on the location of the device 1 10 - located in the same place.
  • the first means 1 1 1 and / or the second means 1 12 and / or the third means 1 13 and / or the fourth means 1 14 and / or the further means 1 15 at different locations , for example in
  • connection - such as the Internet - for the exchange of (electronic) data between the first means 1 1 1 and / or the second means 1 12 and / or the third means 1 13 and / or the fourth means 1 14 and / or the further means 1 15 is formed.
  • the first means 1 1 1 are adapted to environmental data values, wherein the
  • the environment 220 includes the at least one object 230.
  • the first means 1 1 1 as a receiving and / or transmitting unit, by means of which data requested and / or received, formed.
  • the first means 1 1 1 are formed such that these with a - starting from the device 1 10 - externally arranged transmitting and / or
  • Receiving unit 122 by means of a cable and / or wireless connection 121, are connected. Furthermore, the first means 1 1 1 electronic
  • Data processing elements such as a processor, memory and a Hard disk, which are designed to store and / or process the environmental data values, for example, to carry out a modification and / or adaptation of the data format and then forward them to the third means 13.
  • the first means 1 1 1 are designed such that the received ambient data values - without data processing elements - are forwarded to the third means 1 13.
  • the device comprises second means 1 12, which are adapted to state data values, wherein the state data values a state of the
  • the second means 1 12 may represent receiving.
  • the second means 1 12 as a receiving and / or transmitting unit, by means of which data requested and / or received, formed.
  • the second means 1 12 correspond to at least one embodiment of the first means 1 1 1 and / or are identical to the first means 1 1 1.
  • the device 110 additionally comprises other means 15 which are configured to receive weather state data values, the weather state data values representing a weather state in the environment 220.
  • the weather condition data values are received from an external server, such as a weather service.
  • the weather condition data values are directly from the
  • the further means 15 are designed as receiving and / or transmitting units, by means of which data is requested and / or received.
  • the further means 1 15 correspond to at least one embodiment of the first means 1 1 1 and / or the second means 1 12 and / or are identical to the first means 1 1 1 and / or the second means 1 12.
  • the device 1 10 comprises third means 1 13, which are designed to determine the position 231 of the at least one object 230 in the environment 220, based on the ambient data values and depending on the state of the infrastructure device 210.
  • the third means 1 13, for example, formed as a computing unit, which includes electronic data processing elements, such as a processor, memory and a hard drive.
  • the third means 13 comprise corresponding software which is designed to determine the position 231 of the at least one object 230 based on the environmental data values and depending on the state of the infrastructure device 210.
  • the position 231 is determined, for example, by using a first one based on the environment data values
  • Position of the at least one object 230 is determined. This is done for example by means of object recognition methods based on the disparity principle.
  • the first position is adapted depending on the state of the infrastructure device 210, for example a constant movement due to wind, etc., and determined as position 230 of the at least one object 230, by correspondingly excluding the movement of the infrastructure device 210, for example by means of vector addition.
  • the device 1 10 comprises fourth means 1 14, which are designed to provide the position 231 of the at least one object 230.
  • the fourth means 1 14 are designed, for example, as a data interface for this purpose.
  • the fourth means 1 14 additionally or alternatively as a receiving and / or transmitting unit, are requested by means of which data requested and / or received.
  • the fourth means 1 14 correspond to at least one
  • Embodiment of the first means 1 1 1 and / or the second means 1 12 and / or the other means 1 15 and / or are with the first means 1 1 1 and / or the second means 1 12 and / or the further means 15 1 identical.
  • FIG. 2 shows an infrastructure device 210, which here purely by way of example
  • Lighting unit is designed in the form of a street lamp.
  • Embodiment the infrastructure unit 210, the device 1 10 directly.
  • the device 110 comprises first means 11 1 for receiving 310 of FIG.
  • Environment data values represent an environment 220 of an infrastructure device 210, wherein the environment 220 comprises the at least one object 230, and second means 1 12 for receiving 320 of
  • State data values wherein the state data values are a state of
  • the Infrastructure device 210 represent.
  • the device 110 further comprises third means 1 13 for determining 330 the position 231 of the at least one object 230 in the environment 220, based on the environmental data values and depending on the
  • additional means 15 for receiving 325 weather state data values are provided, wherein the weather state data is a weather state in the environment 220
  • the first means 1 1 1 are adapted to environmental data values, wherein the
  • Ambient data values represent an environment 220 of an infrastructure device 210, wherein the environment 220 includes the at least one object 230.
  • the first means 1 1 1 as a data interface, by means of which data requested and / or received, formed.
  • the first means 1 1 1 by means of a cable and / or by means of a wireless connection
  • the first means 1 1 1 comprise electronic data processing elements, for example a processor,
  • the first means 1 1 1 are designed such that the received ambient data values - without
  • the device comprises second means 1 12, which are adapted to state data values, wherein the state data values a state of the
  • the second means 1 12 are designed as a data interface, by means of which data is requested and / or received.
  • the second means 1 12 by means of a cable and / or by means of a wireless connection (for example, Bluetooth) with a
  • the second means 1 12 comprise electronic data processing elements
  • a processor, main memory and a hard disk which are designed to store and / or process the state data values, for example to carry out a modification and / or adaptation of the data format and then forward them to the third means 13.
  • the second means 1 12 are designed to forward the received state data values to the third means 13 without data processing elements.
  • the device 110 additionally comprises other means 15 which are configured to receive weather state data values, the weather state data values representing a weather state in the environment 220.
  • the further means 15 are, for example, as a data interface, by means of which data is requested and / or received, trained.
  • the further means 15 are connected by means of a cable and / or by means of a wireless connection (for example Bluetooth) to a weather sensor 213 which is designed to detect the weather condition in the environment 220 of the infrastructure device 210 in the form of weather status data values.
  • the further means 15 comprise electronic data processing elements, for example a processor, main memory and a hard disk, which are designed to be
  • the further 15 are configured to receive the received weather condition data values - without
  • the further means 15 are configured as receiving and / or transmitting unit, by means of which data is requested and / or received, or connected to a receiving and / or transmitting unit 214 encompassed by the infrastructure device 210.
  • the weather condition data values are received from an external server, such as a weather service.
  • the device 1 10 comprises third means 1 13, which are designed to determine the position 231 of the at least one object 230 in the environment 220, based on the ambient data values and depending on the state of the infrastructure device 210.
  • the third means 1 13, for example, formed as a computing unit, which includes electronic data processing elements, such as a processor, memory and a hard drive.
  • the third means 13 comprise corresponding software which is designed to determine the position 231 of the at least one object 230 based on the environmental data values and depending on the state of the infrastructure device 210.
  • the position 231 is determined, for example, by determining a first position of the at least one object 230 based on the environmental data values. This is done for example by means of object recognition methods based on the disparity principle.
  • the first position is adapted depending on the state of the infrastructure device 210, for example a constant movement due to wind, etc., and determined as position 230 of the at least one object 230, by correspondingly excluding the movement of the infrastructure device 210, for example by means of vector addition.
  • the device 1 10 comprises fourth means 1 14, which are designed to provide the position 231 of the at least one object 230.
  • the fourth means 1 14 are designed, for example, as a data interface for this purpose.
  • the fourth means 1 14 additionally or alternatively as
  • the fourth means 1 14 are additionally or alternatively designed as a data interface such that the fourth means 1 14 are connected to a receiving and / or transmitting unit 214 encompassed by the infrastructure device 210.
  • FIG. 3 shows an exemplary embodiment of the method 300 according to the invention.
  • an automated vehicle 200 is located on a two-lane road with one lane per direction of travel.
  • the infrastructure device is embodied as a lighting unit, in particular as a street lamp, wherein the road section shown by way of example comprises a further infrastructure device 260 which, for example, is likewise designed to encompass an environment.
  • the infrastructure device detects at least one object 230, which is embodied here as a vehicle and overtakes another vehicle 240 in such a way that the at least one object 230 uses the lane of the automated vehicle 200 for this purpose. Since the overtaking process takes place in the environment 220 of the infrastructure device 210, the at least one object 230 is detected and transmitted to the first means 11 of the device 110 or received as environmental data values from the first means 11.
  • state data values representing a state of the infrastructure device 210 are detected and likewise transmitted to the device 110 or received by the second device 112 of the device 110.
  • the position 231 of the at least one object 230 in the environment 220 is determined on the basis of the environmental data values and depending on the state of the infrastructure device 210, and in this exemplary embodiment provided such that the automated vehicle 200 uses this position 231 by way of a transmission and / or receiving unit and is operated depending on the position 231 of the at least one object 230.
  • the Speed of the automated vehicle 200 is reduced so that a collision with the at least one object 230 can be prevented.
  • weather state data values are additionally requested from an external weather service, and the determination 330 of the position 231 of the at least one object 230 is additionally effected as a function of the weather state.
  • Weather state data values are derived, for example, from the environmental data values and / or the state data values by detecting, for example, precipitation and / or by means of the state data values using the environmental data values.
  • FIG. 4 shows an embodiment of a method 300 for providing 340 a position 231 of at least one object 230.
  • step 301 the method 300 starts.
  • step 310 environment data values are received, with the
  • the environment 220 includes the at least one object 230.
  • step 320 state data values are received, wherein the state data values represent a state of the infrastructure device 210.
  • step 325 follows, at step 325
  • Weather state data values are received, wherein the weather state data representing a weather condition in the environment 220. Subsequently, step 330 follows.
  • step 320 is followed directly by step 330.
  • Steps 310 and 320 and / or steps 310, 320, and 325 may be performed in any order, depending on the particular embodiment.
  • step 330 the position 231 of the at least one object 230 in the environment 220 is determined based on the environmental data values and the state of the environment
  • step 325 is additionally executed in advance, then the position 231 of the at least one object 230 additionally determined depending on the weather condition.
  • step 340 the position 231 of the at least one object 230 is provided.
  • step 350 method 300 ends.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Environmental & Geological Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Environmental Sciences (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé (300) et un dispositif (110) permettant d'obtenir (340) une position (231) d'au moins un objet (230), ledit procédé comprenant une étape de réception (310) de valeurs de données d'environnement, lesdites valeurs d'environnement représentant un environnement (220) d'un dispositif d'infrastructure (210), l'environnement (220) comprenant ledit au moins un objet (230), une étape de réception (320) de valeurs de données d'état, lesdites valeurs de données d'état représentant un état du dispositif d'infrastructure (210), une étape de détermination (330) de la position (231) dudit au moins un objet (230) dans l'environnement (220), sur la base des valeurs de données d'environnement et en fonction de l'état du dispositif d'infrastructure (210) ainsi qu'une étape d'obtention (340) de la position (231) dudit au moins un objet (230).
EP18803588.5A 2017-11-13 2018-11-07 Procédé et dispositif pour obtenir une position d'au moins un objet Pending EP3711034A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017220139.8A DE102017220139A1 (de) 2017-11-13 2017-11-13 Verfahren und Vorrichtung zum Bereitstellen einer Position wenigstens eines Objekts
PCT/EP2018/080484 WO2019092025A1 (fr) 2017-11-13 2018-11-07 Procédé et dispositif pour obtenir une position d'au moins un objet

Publications (1)

Publication Number Publication Date
EP3711034A1 true EP3711034A1 (fr) 2020-09-23

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Application Number Title Priority Date Filing Date
EP18803588.5A Pending EP3711034A1 (fr) 2017-11-13 2018-11-07 Procédé et dispositif pour obtenir une position d'au moins un objet

Country Status (5)

Country Link
US (1) US11250695B2 (fr)
EP (1) EP3711034A1 (fr)
CN (1) CN111417993B (fr)
DE (1) DE102017220139A1 (fr)
WO (1) WO2019092025A1 (fr)

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DE102017220139A1 (de) 2019-05-16
CN111417993B (zh) 2022-11-15
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US20210183237A1 (en) 2021-06-17
US11250695B2 (en) 2022-02-15

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