EP3749561A1 - Système et procédé de détection d'un risque de collision entre un véhicule automobile et un objet secondaire situé sur les voies de circulation adjacentes audit véhicule lors d'un changement de voie - Google Patents
Système et procédé de détection d'un risque de collision entre un véhicule automobile et un objet secondaire situé sur les voies de circulation adjacentes audit véhicule lors d'un changement de voieInfo
- Publication number
- EP3749561A1 EP3749561A1 EP18830236.8A EP18830236A EP3749561A1 EP 3749561 A1 EP3749561 A1 EP 3749561A1 EP 18830236 A EP18830236 A EP 18830236A EP 3749561 A1 EP3749561 A1 EP 3749561A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- detected
- motor vehicle
- radar
- collision
- ttc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
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- 238000001514 detection method Methods 0.000 claims description 27
- 238000001914 filtration Methods 0.000 claims description 13
- 230000006870 function Effects 0.000 claims description 9
- 230000008447 perception Effects 0.000 claims description 6
- HZBLLTXMVMMHRJ-UHFFFAOYSA-L disodium;sulfidosulfanylmethanedithioate Chemical compound [Na+].[Na+].[S-]SC([S-])=S HZBLLTXMVMMHRJ-UHFFFAOYSA-L 0.000 claims 1
- 238000012795 verification Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
- 230000002747 voluntary effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- 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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
- B60R2021/01327—Angular velocity or angular acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
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- B60W2420/408—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/18—Propelling the vehicle
- B60Y2300/18008—Propelling the vehicle related to particular drive situations
- B60Y2300/18166—Overtaking, changing lanes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/90—Driver alarms
Definitions
- the present invention relates to the field of driving aids to driving a vehicle and to a secondary object located on the traffic lanes adjacent to said vehicle when changing lanes. a motor vehicle, including obstacle avoidance systems.
- the pre-collision time estimation module comprises a module for calculating an angle between the motor vehicle and the detected object, assuming that the trajectory of the object is parallel to the main track, a module projecting the relative velocities transmitted by the radar on the road axis to obtain a relative speed that follows the road in order to exploit these data whatever the speed of the road, and a module for calculating the time before collision for each object detected by the radar for each obj and detected according to the actual distance and the relative speed.
- the most critical detected object is determined by filtering the detected objects whose flag is true, that is, the objects in the danger zone, and determining the most critical of them. depending on the distance to the vehicle and / or the time before collision.
- FIG. 2 diagrammatically illustrates the danger zone determined by the collision risk detection system of FIG. 1;
- the collision risk detection system 10 comprises a data recovery module 12 from detection means (not shown) provided on the motor vehicle.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1851054A FR3077547A1 (fr) | 2018-02-08 | 2018-02-08 | Systeme et procede de detection d'un risque de collision entre un vehicule automobile et un objet secondaire situe sur les voies de circulation adjacentes audit vehicule lors d'un changement de voie |
PCT/EP2018/085612 WO2019154549A1 (fr) | 2018-02-08 | 2018-12-18 | Système et procédé de détection d'un risque de collision entre un véhicule automobile et un objet secondaire situé sur les voies de circulation adjacentes audit véhicule lors d'un changement de voie |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3749561A1 true EP3749561A1 (fr) | 2020-12-16 |
Family
ID=61913414
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18830236.8A Withdrawn EP3749561A1 (fr) | 2018-02-08 | 2018-12-18 | Système et procédé de détection d'un risque de collision entre un véhicule automobile et un objet secondaire situé sur les voies de circulation adjacentes audit véhicule lors d'un changement de voie |
Country Status (8)
Country | Link |
---|---|
US (1) | US11577721B2 (fr) |
EP (1) | EP3749561A1 (fr) |
JP (1) | JP7279053B2 (fr) |
KR (1) | KR20200115640A (fr) |
CN (1) | CN111712415A (fr) |
BR (1) | BR112020013885A2 (fr) |
FR (1) | FR3077547A1 (fr) |
WO (1) | WO2019154549A1 (fr) |
Families Citing this family (7)
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KR20210035523A (ko) * | 2019-09-24 | 2021-04-01 | 현대자동차주식회사 | 차량 주행제어 방법 및 장치 |
CN113257036A (zh) * | 2020-02-13 | 2021-08-13 | 宁波吉利汽车研究开发有限公司 | 一种车辆碰撞预警方法、装置、设备和存储介质 |
US11685378B2 (en) * | 2020-10-08 | 2023-06-27 | GM Global Technology Operations LLC | Extrinsic characterization of detection capability to support automated lane change |
KR102496518B1 (ko) | 2021-01-26 | 2023-02-07 | 주식회사 에이치엘클레무브 | 차량 안전주행 제어장치 및 그 방법 |
FR3120040B1 (fr) | 2021-02-19 | 2023-02-24 | Renault Sas | Procédé d’activation d’un système d’évitement d’obstacle pour véhicule automobile |
FR3120039A1 (fr) | 2021-02-19 | 2022-08-26 | Renault S.A.S | Procédé d’évitement d’obstacles |
CN113096379A (zh) * | 2021-03-03 | 2021-07-09 | 东南大学 | 基于交通冲突的驾驶风格识别方法 |
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JP6330825B2 (ja) * | 2016-01-26 | 2018-05-30 | トヨタ自動車株式会社 | 車両用衝突回避支援システム |
SE540720C2 (en) * | 2016-03-14 | 2018-10-23 | Scania Cv Ab | Method and control unit for safe changing of driving lanes for a vehicle in a platoon |
FR3049560B1 (fr) * | 2016-04-01 | 2019-08-09 | Valeo Schalter Und Sensoren Gmbh | Procede et systeme d'assistance au changement de voie de roulage pour vehicule automobile |
WO2018015811A1 (fr) * | 2016-07-21 | 2018-01-25 | Mobileye Vision Technologies Ltd. | Externalisation ouverte et distribution d'une carte éparse, et mesures de voie pour la navigation d'un véhicule autonome |
KR20180066524A (ko) * | 2016-12-09 | 2018-06-19 | 현대자동차주식회사 | 차량 및 그 제어방법 |
CN107310475B (zh) * | 2017-05-17 | 2019-10-08 | 广州小鹏汽车科技有限公司 | 一种智能汽车预警功能的显示方法及系统 |
JP2019003234A (ja) * | 2017-06-09 | 2019-01-10 | トヨタ自動車株式会社 | 運転支援装置 |
US10239451B1 (en) * | 2017-09-05 | 2019-03-26 | GM Global Technology Operations LLC | Systems and methods for providing relative lane assignment of objects at distances from the vehicle |
US10692377B1 (en) * | 2017-10-06 | 2020-06-23 | Zoox, Inc. | Enhanced travel modes for vehicles |
-
2018
- 2018-02-08 FR FR1851054A patent/FR3077547A1/fr active Pending
- 2018-12-18 EP EP18830236.8A patent/EP3749561A1/fr not_active Withdrawn
- 2018-12-18 JP JP2020542306A patent/JP7279053B2/ja active Active
- 2018-12-18 KR KR1020207025635A patent/KR20200115640A/ko not_active Application Discontinuation
- 2018-12-18 CN CN201880088968.0A patent/CN111712415A/zh active Pending
- 2018-12-18 BR BR112020013885-1A patent/BR112020013885A2/pt not_active Application Discontinuation
- 2018-12-18 US US16/964,790 patent/US11577721B2/en active Active
- 2018-12-18 WO PCT/EP2018/085612 patent/WO2019154549A1/fr unknown
Also Published As
Publication number | Publication date |
---|---|
JP2021513159A (ja) | 2021-05-20 |
WO2019154549A1 (fr) | 2019-08-15 |
CN111712415A (zh) | 2020-09-25 |
JP7279053B2 (ja) | 2023-05-22 |
US11577721B2 (en) | 2023-02-14 |
US20210053560A1 (en) | 2021-02-25 |
FR3077547A1 (fr) | 2019-08-09 |
BR112020013885A2 (pt) | 2020-12-01 |
KR20200115640A (ko) | 2020-10-07 |
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