EP4359275A1 - Procédé et dispositif de commande de la transition entre différentes fonctions de conduite - Google Patents

Procédé et dispositif de commande de la transition entre différentes fonctions de conduite

Info

Publication number
EP4359275A1
EP4359275A1 EP22733656.7A EP22733656A EP4359275A1 EP 4359275 A1 EP4359275 A1 EP 4359275A1 EP 22733656 A EP22733656 A EP 22733656A EP 4359275 A1 EP4359275 A1 EP 4359275A1
Authority
EP
European Patent Office
Prior art keywords
speed
driving
driving function
vehicle
change
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
EP22733656.7A
Other languages
German (de)
English (en)
Inventor
Christian SCHWALBACH
Tamas FENDLER
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.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
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 Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Publication of EP4359275A1 publication Critical patent/EP4359275A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • B60W50/082—Selecting or switching between different modes of propelling
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

Definitions

  • the invention relates to a method and a corresponding device for controlling the transition between different driving functions for automated longitudinal guidance of a vehicle
  • a vehicle can have different driving functions that support the driver of the vehicle in the longitudinal guidance of the vehicle.
  • An exemplary driving function is a distance and speed controller (especially Adaptive Cruise Control, ACC), in which the driving speed of the vehicle automatically depends on the distance between the vehicle and a vehicle in front driving directly in front of the vehicle and/or depending on a set speed set by the driver.
  • Another exemplary driving function is a cruise control in which the Driving speed of the vehicle is set according to the setting speed, in particular regulated.
  • a further exemplary driving function is a distance and speed controller combined with a lateral guidance controller, for example to keep the vehicle in the lane currently being traveled on.
  • a further exemplary driving function is a speed limiter for limiting the driving speed to the set speed set by the driver or to a speed limit recognized by the vehicle. A speed limit recognized by the vehicle can be accepted manually or automatically as the set speed for the speed limiter.
  • the driver of the vehicle can select at least one driving function from a list of different driving functions. This can result in switching between different driving functions while the vehicle is being driven.
  • the present document deals with the technical task of increasing the comfort of the driver of the vehicle when changing between driving functions in a safe manner.
  • the different driving functions can differ with regard to how the respective driving function engages in the longitudinal guidance (and possibly the lateral guidance) of the vehicle.
  • a driving function can be designed to limit the driving speed of the vehicle.
  • another driving function can be designed to regulate the driving speed of the vehicle according to a specific target specification.
  • a setting speed can be used, which can be set manually by the driver of the vehicle, for example, and/or automatically (e.g. based on a recognized speed limit on the roadway traveled by the vehicle) from the respective Driving function can be taken over.
  • the set speed can thus be used as a setpoint specification for a speed controller for setting the driving speed of the vehicle, or can be used as a limit for the driving speed of the vehicle.
  • a change between two driving functions can typically take place between driving functions from a specific set of possible driving functions.
  • the set of possible driving functions can include
  • a distance and speed controller which is designed in particular to set the driving speed of the vehicle in such a way that the vehicle has a defined setting distance to a front vehicle, and if no front vehicle is present, the vehicle sets the setting - has speed;
  • a pure speed controller which is designed in particular to increase the driving speed with the set speed as the setpoint regulate (without taking into account the distance to a vehicle in front);
  • a speed limiter designed in particular to ensure that the driving speed of the vehicle (e.g. set manually by the driver) does not exceed the set speed;
  • a distance and speed controller with combined lateral guidance which is designed in particular to bring about automated lateral guidance in addition to the above-mentioned longitudinal guidance (e.g. to keep the vehicle in the current lane);
  • a driving function for detecting and automatically or manually accepting a speed limit which is set up in particular to determine the setting speed for limiting the driving speed of the vehicle on the basis of an existing speed limit on the roadway on which the vehicle is driving and in the above-mentioned speed limiter to use; the recognized speed limit can be automatically adopted as the set speed, or only after manual confirmation by the driver of the vehicle; and or
  • a driving function for taking into account an upcoming route event, in particular a curve or a signaling system, in the longitudinal guidance of the vehicle, the driving function being set up in particular to bring about an automatic deceleration of the vehicle before a route event.
  • the device is set up to detect that a change is to be made from a first driving function to a different second driving function (e.g. each from the aforementioned set of possible driving functions).
  • the vehicle typically includes a user interface.
  • the device can be set up to detect the change from the first to the second driving function on the basis of a user input via the user interface. Included the user interface can be designed to enable a user (in particular the driver) of the vehicle to scroll through the list of possible driving functions by actuating a control element (e.g. a rocker) in order to accept the user input for changing from the first driving function to the second to effect driving function.
  • a change to a different, second driving function can thus be brought about in a particularly convenient and reliable manner and recognized by the device.
  • the device is also set up to automatically adopt the setting speed for the at least partially automated longitudinal guidance from the first driving function for the second driving function.
  • a particularly comfortable transition between different driving functions can be made possible by automatically adopting the setting speed.
  • the device can be set up to check whether the change from the first driving function to the second driving function is an exception change from a (predefined) set of one or more exception changes in which no automatic adoption of the set speed for the second driving function is to take place.
  • the set of exception changes can in particular include a change (from any first driving function) to a speed limiter as a second driving function, and/or a change (from any first driving function) to a pure speed controller as a second driving function (in particular when if at the time of the change the current driving speed of the vehicle is higher than the set speed of the first driving function).
  • the set of exception swaps may be stored on a storage unit of the vehicle.
  • the device can also be set up to prevent the automatic adoption of the set speed if it is determined that the change from the first driving function to the second driving function is an exceptional change (from the set of exception switches).
  • the device can be set up to automatically accept the set speed, in particular only if it is determined that the change from the first driving function to the second driving function is not an exceptional change (from the set of exceptional changes ) is.
  • Driving safety and comfort can be further increased by taking into account one or more exceptional changes for which the setting speed is not automatically adopted.
  • the device can be set up to determine whether the current driving speed of the vehicle (when carrying out the change from the first to the second driving function) is greater or less than the set speed.
  • the change from the first driving function to the second driving function can possibly, in particular only then, be regarded as an exceptional change if it is determined that the current driving speed is greater or less than the set speed.
  • the automatic adoption of the set speed can be suppressed, in particular only when it is determined that the current driving speed is greater or less than the set speed.
  • Comfort can be further increased by taking into account the current driving speed of the vehicle when switching between the two driving functions.
  • the second driving function is a speed limiter.
  • the change from the first driving function to the second driving function ie the speed limiter
  • the change from the first driving function to the second driving function can be regarded as an exception change if it is determined that the current driving speed is greater than the set speed .
  • the automatic takeover of the set speed can be suppressed, in particular only if it is determined that the current driving speed is greater than the set speed is.
  • the device can thus be set up to ensure that no value that is lower than the current driving speed is accepted as the set speed for the speed limiter (as the second driving function).
  • the second driving function is purely a speed controller (without distance control).
  • the change from the first driving function to the second driving function i.e. the pure speed controller
  • the automatic adoption of the set speed can be suppressed, in particular only when it is determined that the current driving speed is lower than the set speed.
  • the device can thus be set up to ensure that no value that is greater than the current driving speed is accepted as the set speed for the pure speed controller (as the second driving function).
  • the second driving function can be a distance and speed controller.
  • the set speed can always be automatically adopted from the first driving function (regardless of the current driving speed of the vehicle).
  • the device may be set up to use the current driving speed of the vehicle (at the time of switching between the driving functions) as the set speed for the second driving function if it is determined that the change from the first driving function to the second driving function is an exceptional change and/or when it is determined that the set speed will not be automatically adopted. In this way, comfort can be further increased.
  • a (road) motor vehicle in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the device described in this document.
  • a method for controlling a change between different driving functions for at least partially automated longitudinal guidance of a vehicle includes detecting that a change is to be made from a first driving function to a different second driving function.
  • the method also includes the automatic adoption of the setting speed for the at least partially automated longitudinal guidance from the first driving function for the second driving function.
  • a software (SW) program is described.
  • the SW program can be set up to be executed on a processor (e.g. on a vehicle's control unit) and thereby to carry out the method described in this document.
  • a storage medium is described. That
  • Storage medium can comprise a SW program which is set up to be executed on a processor and thereby to carry out the method described in this document.
  • automated driving can be understood as driving with automated longitudinal or lateral guidance or autonomous driving with automated longitudinal and lateral guidance.
  • Automated driving can be, for example, driving on the freeway for a longer period of time or driving for a limited time as part of parking or manoeuvring.
  • automated driving includes automated driving with any degree of automation. Exemplary degrees of automation are assisted, partially automated, highly automated or fully automated driving. These degrees of automation were defined by the Federal Highway Research Institute (BASt) (see BA St publication "Research compact", issue 11/2012).
  • assisted driving the driver constantly performs longitudinal or lateral guidance, while the system takes over the other function within certain limits.
  • TAF semi-automated driving
  • HAD highly automated driving
  • VAF fully automated driving
  • VAF the system can automatically handle driving in all situations for a specific application; a driver is no longer required for this application.
  • SAE levels 1 to 4 of the SAE J3016 standard correspond to SAE levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering).
  • highly automated driving corresponds to level 3 of the SAE J3016 standard.
  • SAE J3016 also provides SAE Level 5 as the highest degree of automation, which is not included in the BASt definition.
  • SAE Level 5 corresponds to driverless driving, in which the system can automatically handle all situations like a human driver throughout the journey; a driver is generally no longer required.
  • FIG. 1 exemplary components of a vehicle
  • FIG. 2a shows an exemplary user interface of a vehicle
  • FIG. 2b shows an exemplary selection list of different driving functions
  • FIG. 3 shows a flowchart of an exemplary method for changing a driving function for automated longitudinal guidance of a vehicle.
  • FIG. 1 shows exemplary components of a vehicle 100.
  • the vehicle 100 includes one or more environment sensors 102 (e.g. a radar sensor, a lidar sensor, a camera, an ultrasonic sensor, etc.) that are set up to collect environment data (i.e. sensor data) to detect in relation to the environment of the vehicle 100.
  • a (control) device 101 of the vehicle 100 is set up to operate one or more actuators 103 for automated (longitudinal and/or lateral) guidance of the vehicle 100 depending on the environment data in order to provide one or more driving functions.
  • the one or more actuators 103 can include a drive motor of the vehicle 100 and/or one or more (friction) brakes of the vehicle 100 .
  • An exemplary driving function is a distance and speed controller that is set up to automatically adjust the driving speed of vehicle 100 as a function of the distance of vehicle 100 from a vehicle in front driving directly from vehicle 100 and/or as a function of a set setting adjust speed.
  • the driving function is set up to take route events on the route traveled by vehicle 100 into account when guiding the vehicle longitudinally. Examples of route events are speed limits, curves, signaling systems (especially traffic lights), etc.
  • the vehicle 100 includes a user interface 104 (e.g., on the steering wheel and/or dashboard of the vehicle 100) that allows the driver of the vehicle 100 to make adjustments to the vehicle 100.
  • the driver may be enabled to select an automated longitudinal guidance driving function of the vehicle 100 from a list of different automated longitudinal guidance driving functions to cause the vehicle 100 to operate with the selected driving function.
  • Fig. 2a shows an example user interface 104 on a dashboard 202 of the vehicle 100.
  • the user interface 104 may include one or more controls 221, e.g to scroll or page through a list of driving functions to select a driving function.
  • a parameter of a driving function e.g. the setting speed
  • the user interface 104 can optionally have a confirmation operating element 222 with which a selected driving function and/or a specified parameter can be confirmed.
  • a driving function can be selected and/or a parameter defined automatically after a certain period of time (e.g. 2 seconds).
  • the one or more operating elements 221 can be arranged on the steering wheel 220 of the vehicle 100 .
  • the user interface 104 can have a screen 231 for displaying information, eg for displaying the list of available Driving functions and / or to display a set parameter value include.
  • FIG. 2 b shows an exemplary list 200 of different driving functions 201 that can be displayed on the screen 231 .
  • the driver of the vehicle 100 can use a control 223 to scroll through the list 200 (as indicated by the double arrow) to select a particular driving function 201 from the list of driving functions 201 .
  • the selected driving function 201 is represented by a hatched area.
  • the vehicle 100 can include a plurality of different driving functions 201 that support the driver of the vehicle 100 in the longitudinal guidance of the vehicle 100 .
  • These driving functions 201 can be made available to the driver via the selection list 200 for selection.
  • Exemplary driving functions 201 are
  • a driving function 201 with a combined automated longitudinal guidance (e.g. by the distance and speed controller) and an automated lane guidance; and or
  • a driving function 201 for the automatic consideration of route events (such as curves or signal systems, in particular traffic lights).
  • the different driving functions 201 for the longitudinal guidance of the vehicle 100 each typically have a setting speed that is set by the driver can be set manually and/or which can be taken over automatically by vehicle 100, for example due to a detected speed limit.
  • the (control) device 101 of the vehicle 100 can be set up, when the driver changes the driving function 201 , to adopt the set speed from the previous driving function 201 as the set speed in the newly selected driving function 201 . In this way, the comfort for the driver of the vehicle 100 can be increased because the set speed does not have to be defined again when the driving function is changed.
  • the automatic takeover of the setting speed can take place as standard for changing between driving functions 201 . Furthermore, the device 101 can be set up to check whether an exception changeover between driving functions 201 occurs, in which an automatic takeover of the set speed is suppressed. For this purpose, the device 101 can be set up to check whether a change between driving functions 201 carried out by the driver belongs to a predefined set of exception changes.
  • the set of exception changes can include a change from any driving function 201 to the speed limiter as an exception change, in particular when the previously used set speed is less than the current driving speed of vehicle 100 .
  • the current driving speed of vehicle 100 (possibly automatically) can be used as the new set speed for the speed limiter.
  • an exception change is the change from any driving function 201 to the speed controller, in particular when the previously used set speed is greater than the current driving speed of vehicle 100 .
  • the current Driving speed of the vehicle 100 can be used as the new setting speed for the cruise control.
  • Fig. 3 shows a flowchart of an exemplary (possibly computer-implemented) method 300 for controlling the change between different driving functions 201 for at least partially automated longitudinal guidance of a vehicle 100.
  • the different driving functions 201 can differ in terms of how the driving functions 201 each respond to the Longitudinal and / or lateral guidance of the vehicle 100 act.
  • the method 300 includes the detection 301 that a change is to be made from a first driving function 201 to a different second driving function 201 . This can be detected based on a user input via a user interface 104 of the vehicle 100, for example.
  • the method 300 also includes the automatic adoption 302 of the set speed for the at least partially automated longitudinal guidance from the first driving function 201 for the second driving function 201.
  • this can prevent the user from setting the set speed for the second driving function 201 (again ) must enter via the user interface 104.
  • the second driving function 201 can be operated automatically at the set speed from the first driving function 201 .
  • the measures described in this document can be used to increase comfort when changing driving functions 201 in a safe manner.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un dispositif destiné à commander un changement entre différentes fonctions de conduite pour le guidage longitudinal au moins partiellement automatisé d'un véhicule. Le dispositif est conçu pour détecter qu'il est prévu de passer d'une première fonction de conduite à une seconde fonction de conduite différente. Le dispositif est également conçu pour adopter automatiquement une vitesse établie issue de la première fonction de conduite pour la seconde fonction de conduite en vue du guidage longitudinal au moins partiellement automatisé.
EP22733656.7A 2021-06-24 2022-06-20 Procédé et dispositif de commande de la transition entre différentes fonctions de conduite Pending EP4359275A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021116338.2A DE102021116338A1 (de) 2021-06-24 2021-06-24 Verfahren und Vorrichtung zur Steuerung des Übergangs zwischen unterschiedlichen Fahrfunktionen
PCT/EP2022/066708 WO2022268704A1 (fr) 2021-06-24 2022-06-20 Procédé et dispositif de commande de la transition entre différentes fonctions de conduite

Publications (1)

Publication Number Publication Date
EP4359275A1 true EP4359275A1 (fr) 2024-05-01

Family

ID=82214095

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22733656.7A Pending EP4359275A1 (fr) 2021-06-24 2022-06-20 Procédé et dispositif de commande de la transition entre différentes fonctions de conduite

Country Status (5)

Country Link
US (1) US20240286611A1 (fr)
EP (1) EP4359275A1 (fr)
CN (1) CN117480083A (fr)
DE (1) DE102021116338A1 (fr)
WO (1) WO2022268704A1 (fr)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4443219C1 (de) * 1994-12-05 1996-05-15 Daimler Benz Ag Tempomat-Fahrgeschwindigkeitsregeleinrichtung mit regelschwingungsbeeinflussenden Mitteln
JP3909647B2 (ja) * 2000-12-13 2007-04-25 本田技研工業株式会社 オートクルーズ装置
GB2505028B (en) 2012-08-16 2014-12-10 Jaguar Land Rover Ltd Vehicle speed control system and method

Also Published As

Publication number Publication date
US20240286611A1 (en) 2024-08-29
CN117480083A (zh) 2024-01-30
WO2022268704A1 (fr) 2022-12-29
DE102021116338A1 (de) 2022-12-29

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