EP3737962A1 - Radar system comprising a clock generator built into a central control unit - Google Patents
Radar system comprising a clock generator built into a central control unitInfo
- Publication number
- EP3737962A1 EP3737962A1 EP18800601.9A EP18800601A EP3737962A1 EP 3737962 A1 EP3737962 A1 EP 3737962A1 EP 18800601 A EP18800601 A EP 18800601A EP 3737962 A1 EP3737962 A1 EP 3737962A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- control unit
- radar
- central control
- radar system
- data
- 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
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9318—Controlling the steering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9319—Controlling the accelerator
Definitions
- the invention relates to a radar system for a vehicle, comprising a central control unit for transmitting data and for processing received data, at least one radar sensor head spaced from the central control unit with at least one transmitting antenna for generating and at least one receiving antenna for receiving
- Radar waves and having at least one data line between the central control unit and the at least one radar sensor head.
- radar sensors For vehicles with a high level of driver assistance functions or automated driving function, more and more radar sensors are installed. Higher numbers of radar sensors are designed to increase the efficiency of automated or semi-automated case functions over single radar sensors. Previous solutions in this area consist of radar sensors, which perform sensor-extensive data processing of the received radar waves. Thus, the radar sensors can provide data at object or locating level for further evaluation by the vehicle. As a result, the amount of data transmitted to the vehicle can be reduced, but the respective radar sensors must have a higher
- the disadvantage here is that the computing power and the memory size are relatively unfavorable scalable in terms of increased performance. This results in particular from the fact that, based on a defined requirement on the performance of the microcontroller technology for the necessary processing steps of the received radar waves no longer sufficient. Therefore, in order to increase performance, the necessary calculations and analyzes must be carried out within the sensor within the framework of microprocessor technologies. This can be detrimental to the price, size and power loss of a radar sensor.
- Oscillators for specifying a frequency result.
- the object underlying the invention can be seen to propose a radar system for vehicles, which is inexpensive and flexible scalable in its performance and in which the individual radar sensor heads are synchronized with each other.
- a radar system for a vehicle has at least one central control unit for transmitting data and processing received data. Furthermore, the radar system has at least one of the central
- Control unit complained Radarsensorkopf with at least one
- the radar system has at least one data line between the at least one central control unit and the at least one
- the at least one central control unit has a clock generator for generating a reference frequency, wherein the reference frequency can be transmitted to the at least one radar sensor head via the at least one data line.
- Radar Sensor Head Components for generating and transmitting radar waves and components for receiving and processing received radar waves.
- the processing of the received radar waves is limited to the smallest possible extent or takes place with the least possible effort.
- the measured data of the received radar waves can be digitized by the analog-to-digital converter and then transmitted with a high bandwidth to the at least one central control unit.
- the further processing of the digitized measurement data from the at least one radar sensor head can then take place in the at least one central control unit.
- the cost of the respective radar sensor heads can be reduced, since a lower computing power in the individual radar sensor heads is necessary.
- the radar system according to the invention can be extended and scaled inexpensive and flexible compared to previous solutions. Furthermore, due to the higher computing power of the at least one central control unit, more complex and powerful algorithms can be used to process the received radar waves.
- coherence is a critical factor when fusing data from different radar sensors or radar sensor heads to a low level, such as the spectral plane.
- the high frequency is generated separately with a local oscillator and a phase locked loop as a frequency synthesizer.
- the reference of the phase locked loop is via a local oscillator and a phase locked loop as a frequency synthesizer.
- the reference of the phase locked loop is via a local oscillator and a phase locked loop as a frequency synthesizer.
- the reference of the phase locked loop is via a local oscillator and a phase locked loop as a frequency synthesizer. The reference of the phase locked loop is via a local oscillator and a phase locked loop as a frequency synthesizer. The reference of the phase locked loop
- Quartz oscillator generated As a result, the coherence between the radar sensors is very low or absent.
- the local oscillators can be replaced as individual clock with slight deviations by a central clock.
- the central clock is preferably in the at least one central clock
- the central clock generator can provide a reference frequency to the at least one radar sensor head, which can be transmitted via the at least one data line.
- the at least one data line can thus directly for the synchronization of the oscillators
- different radar sensor heads are used by specifying a reference frequency.
- the at least one data line is preferably designed as a so-called high-speed interface.
- the at least one data line may be implemented as a serial data transmission with a clock recovery.
- a coherence of the local oscillators sensor heads different radar can be ensured.
- the coherence can be ensured, above all, within a loop bandwidth of the phase locked loop.
- Phase noise is dependent on the clock here.
- the larger the loop bandwidth the larger the frequency range in which coherence is available.
- the design of the loop bandwidth also depends on how good the reference frequency is with respect to the phase noise and at which frequency the phase-locked loop is operated. In the case of fast interfaces or data lines, a high frequency is generally used, which may be advantageous for a phase-locked loop as a reference frequency compared with a CAN bus.
- the reference frequency generated by the clock is variably adjustable.
- the clock arranged in the at least one central control unit can voltage controlled oscillator or a numerically controlled oscillator. This allows me to directly or indirectly influence the oscillator's reference frequency that can be generated.
- the variably adjustable reference frequency can then be transmitted via the at least one data line to the at least one radar sensor head and used there to operate the at least one transmitting antenna.
- Radarsensorkopf be adapted to different fair scenarios.
- the at least one radar sensor head has an antenna control of the at least one transmitting antenna, a frequency synthesizer.
- the frequency synthesizer may be designed in the form of a control loop for operating a local oscillator. This makes it technically easy to generate and modulate a carrier frequency for the at least one transmitting antenna.
- Reference frequency of the frequency synthesizer provided by the clock of the at least one central control unit can be used independently of a local oscillator of the at least one radar sensor head for operating the at least one transmitting antenna of the at least one radar sensor head.
- the reference frequency generated in the at least one central control unit by the clock generator can be used independently of a local oscillator of the at least one radar sensor head for operating the at least one transmitting antenna of the at least one radar sensor head.
- the radar waves received by the at least one receiving antenna of the at least one radar sensor head can be converted into digital measured data by an analog-digital converter and can be marked with at least one time information.
- the received radar waves or measurement data can be converted into a digital format and thus processed more easily.
- the measured data converted into a digital format can be provided with a time stamp.
- each recorded spectrum may be given its own timestamp.
- the digital measured data can be transmitted by the at least one data line to the central control unit and synchronized in the central control unit by the at least one time information. Due to the first processing of the received measurement data in the radar sensor head, buffering or delay by an accumulating amount of data can also take place. The resulting deviations between the at least one radar sensor head and the at least one central control unit can be compensated based on the allocated time information.
- the time information can preferably be realized in the form of a time stamp or several time stamps.
- the timestamps for a temporal synchronization of the measurement data between the at least one Radarsensorkopf the at least one central control unit can be used.
- measurement data transmitted with a delay to the at least one central control unit can also be correctly timed and used for further applications or calculations.
- the at least one time information can be generated by a time and control device arranged in the at least one radar sensor head.
- the at least one radar sensor head can thus have an additional circuit arranged parallel to the analog-to-digital converter.
- the time and control device can, for example, receive and convert control commands transmitted via the at least one data line and provide the digitized measured data with precise time information.
- the time and control device for controlling the at least one Radarsensorkopfes as well
- the time and control device In order for a temporal synchronization to take place in the radar system, the time and control device must, for example, add timestamps to each transmitted chirp or each transmitted cycle, so that the at least one central control unit can meaningfully use the transmitted measurement data.
- the frequency synthesizer has an oscillator arranged in the at least one radar sensor head for providing a frequency. This allows the Radarsensorkmü be constructed of conventional components, since
- Frequency synthesizer basically be made with a local oscillator in the form of an integrated circuit.
- the oscillator can be adjustable by the time and control device of the central control unit.
- an influencing of the components of the at least one radar sensor head can be realized by the at least one central control unit.
- the oscillator or oscillators of the at least one Radarsensorkopfes can be directly or indirectly controlled or regulated.
- Oscillator provided frequency of the generated by the clock of the at least one central control unit reference frequency superimposed.
- Reference frequency of the central clock with a higher priority for the generation of radar waves are used by the at least one transmitting antenna.
- a plurality of radar sensor heads spaced apart from one another can be installed and provided with one or more centralized sensors
- Control units via data lines be conductively connected.
- Radar sensor heads can be used when using several
- Carrier frequency of the transmit antennas are synchronized with each other.
- the accuracy of the measurement results can be increased.
- the driver assistance functions or the automated driving functions of the vehicle can be optimized.
- the number of radar sensor heads used can be arbitrarily increased without negative influences of the performance.
- the data transmitted by the at least one data line can be transmitted at a higher data rate than the reference frequency of the frequency synthesizer of the at least one radar sensor head.
- the transmission of the data through the at least one data line must take place with a higher time resolution than the radar operation. This allows further functions, such as safety functions for monitoring frequency deviations of different oscillators, in the
- Radar system according to the invention can be integrated.
- the higher time resolution for data transmission can be technically easily realized in the context of an MMIC technology, since the technology frequencies of several
- the internal reference frequency may, for example, be 50 MHz for a PLL reference of the at least one transmit antenna, whereby the data rate according to the example must be higher than 50 Mbit / s.
- the at least one central control unit has at least one processor for processing received data and at least one memory for at least temporary storage of data.
- the at least one central control unit can process, forward or output the measurement data transmitted by the at least one data line from at least one radar sensor head at least temporarily and according to the requirements of the respective application.
- control unit can be replaced by a more powerful control unit. Since microprocessor technology is already used here, sophisticated algorithms can be used to process the measured data, thus achieving more accurate calculation results.
- FIG. 1 shows a schematic representation of a radar system 1 according to a first embodiment of the invention.
- the radar system 1 consists here from a radar sensor head 2, which is coupled via a data line 4 to a central control unit 6.
- the radar sensor head 2 has at least one transmitting antenna 8, which can be operated via an antenna controller 10.
- the antenna controller 10 is provided with a frequency synthesizer 12 for generating a carrier frequency of
- the frequency synthesizer 12 derives a reference frequency via the data line 4 from the central control units 6 via digitally transmitted control commands ST.
- the received radar waves can be converted by an analog-to-digital converter 18 into digital measurement data and then sent via the data line 4 to the central control unit 6.
- the transmitted digital measurement data is assigned a time stamp Z by a time and control device 20 arranged in the radar sensor head 2 and likewise transmitted to the central control unit 6.
- the central control unit 6 can receive and process the transmitted digital measurement data. By means of the time stamp Z transmitted with the measured data, these can be arranged precisely in terms of time.
- the central control unit 6 has at least one processor 22 for controlling
- the central control unit 6 has a clock generator 26. By means of the clock generator 26, the central control unit 6 can generate a reference frequency for synchronizing the radar sensor head 2. The reference frequency can then be obtained via the data line 4 from the frequency synthesizer 12.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018200395.5A DE102018200395A1 (en) | 2018-01-11 | 2018-01-11 | Radar system with integrated in a central control unit clock |
PCT/EP2018/080638 WO2019137654A1 (en) | 2018-01-11 | 2018-11-08 | Radar system comprising a clock generator built into a central control unit |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3737962A1 true EP3737962A1 (en) | 2020-11-18 |
Family
ID=64270879
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18800601.9A Pending EP3737962A1 (en) | 2018-01-11 | 2018-11-08 | Radar system comprising a clock generator built into a central control unit |
Country Status (7)
Country | Link |
---|---|
US (1) | US11733365B2 (en) |
EP (1) | EP3737962A1 (en) |
JP (1) | JP7130044B2 (en) |
KR (1) | KR102685363B1 (en) |
CN (1) | CN111566509B (en) |
DE (1) | DE102018200395A1 (en) |
WO (1) | WO2019137654A1 (en) |
Family Cites Families (25)
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US6081226A (en) * | 1998-07-10 | 2000-06-27 | Northrop Grumman Corporation | Multi-mode radar exciter |
GB0325622D0 (en) * | 2003-11-03 | 2003-12-10 | Cambridge Consultants | System for determining positional information |
US7215278B2 (en) * | 2003-11-16 | 2007-05-08 | Preco Electronics, Inc | Radar frequency hopping |
EP1610204B1 (en) * | 2004-06-24 | 2008-10-29 | Verigy (Singapore) Pte. Ltd. | Fast synchronization of a number of digital clocks |
DE102004034429B4 (en) * | 2004-07-15 | 2009-12-24 | Augustin & Augustin GbR (vertretungsberechtigter Gesellschafter:Christian Augustin, 88709 Meersburg) | Radar front-end |
DE102004047086A1 (en) * | 2004-09-29 | 2006-03-30 | Robert Bosch Gmbh | Radar sensor for motor vehicles |
US7769105B1 (en) * | 2005-11-03 | 2010-08-03 | L-3 Communications, Corp. | System and method for communicating low data rate information with a radar system |
GB0701812D0 (en) * | 2007-01-31 | 2007-03-14 | Qinetiq Ltd | Antenna system and radar system incorporating the same |
WO2009028010A1 (en) * | 2007-08-28 | 2009-03-05 | Fujitsu Limited | Phase-locked oscillator and radar device including the same |
DE102008044355A1 (en) * | 2008-12-04 | 2010-06-10 | Robert Bosch Gmbh | Modular radar system |
US20140194793A1 (en) * | 2010-05-14 | 2014-07-10 | Kai Medical, Inc. | Systems and methods for non-contact multiparameter vital signs monitoring, apnea therapy, apnea diagnosis, and snore therapy |
DE102010040890A1 (en) * | 2010-09-16 | 2012-03-22 | Robert Bosch Gmbh | Radar sensor for use in automatic cruise control or pre-crash system in motor car for measuring e.g. distance of preceding car, has evaluation circuits provided for evaluation of reaction of filter circuit to test frequency signal |
US20130182816A1 (en) * | 2012-01-18 | 2013-07-18 | Cisco Technology, Inc. | Clock divider circuit |
US8866667B2 (en) * | 2012-02-22 | 2014-10-21 | Honeywell International Inc. | High sensitivity single antenna FMCW radar |
US20140334584A1 (en) * | 2013-05-13 | 2014-11-13 | Ismail Lakkis | Systems and methods for tracking a received data signal in a clock and data recovery circuit |
JP2015019189A (en) * | 2013-07-10 | 2015-01-29 | 大日本印刷株式会社 | Synchronization system, reference device, synchronization method, and synchronization program |
US9473071B2 (en) * | 2013-07-15 | 2016-10-18 | Infineon Technologies Ag | System and method for a radio frequency system |
JP2015076805A (en) * | 2013-10-10 | 2015-04-20 | セイコーエプソン株式会社 | Functional device, electronic apparatus, movable body, synchronous control system, operation method of functional device and synchronous control method |
US10627480B2 (en) * | 2014-07-17 | 2020-04-21 | Texas Instruments Incorporated | Distributed radar signal processing in a radar system |
US9880261B2 (en) * | 2014-09-30 | 2018-01-30 | Texas Instruments Incorporated | Loopback techniques for synchronization of oscillator signal in radar |
US9831881B2 (en) * | 2015-06-18 | 2017-11-28 | Yekutiel Josefsberg | Radar target detection system for autonomous vehicles with ultra-low phase noise frequency synthesizer |
CN106526582B (en) * | 2015-08-28 | 2022-10-04 | 安波福技术有限公司 | Double base Radar system |
US10061015B2 (en) | 2015-09-30 | 2018-08-28 | Texas Instruments Incorporated | Multi-chip transceiver testing in a radar system |
DE102015219612A1 (en) * | 2015-10-09 | 2017-04-13 | Vega Grieshaber Kg | System architecture for a MIMO level radar |
EP3165944B1 (en) * | 2015-11-04 | 2022-04-20 | Nxp B.V. | Embedded communication authentication |
-
2018
- 2018-01-11 DE DE102018200395.5A patent/DE102018200395A1/en active Pending
- 2018-11-08 CN CN201880086101.1A patent/CN111566509B/en active Active
- 2018-11-08 EP EP18800601.9A patent/EP3737962A1/en active Pending
- 2018-11-08 JP JP2020538627A patent/JP7130044B2/en active Active
- 2018-11-08 WO PCT/EP2018/080638 patent/WO2019137654A1/en unknown
- 2018-11-08 KR KR1020207022758A patent/KR102685363B1/en active IP Right Grant
- 2018-11-08 US US16/765,466 patent/US11733365B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
KR102685363B1 (en) | 2024-07-17 |
CN111566509A (en) | 2020-08-21 |
DE102018200395A1 (en) | 2019-07-11 |
WO2019137654A1 (en) | 2019-07-18 |
US20200278436A1 (en) | 2020-09-03 |
JP2021510202A (en) | 2021-04-15 |
JP7130044B2 (en) | 2022-09-02 |
US11733365B2 (en) | 2023-08-22 |
CN111566509B (en) | 2024-09-17 |
KR20200103829A (en) | 2020-09-02 |
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