GB2320326A - Collision warning by path prediction of a vehicle - Google Patents
Collision warning by path prediction of a vehicle Download PDFInfo
- Publication number
- GB2320326A GB2320326A GB9713314A GB9713314A GB2320326A GB 2320326 A GB2320326 A GB 2320326A GB 9713314 A GB9713314 A GB 9713314A GB 9713314 A GB9713314 A GB 9713314A GB 2320326 A GB2320326 A GB 2320326A
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- GB
- United Kingdom
- Prior art keywords
- car
- trace
- progress
- displaying
- present
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- Granted
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Instructional Devices (AREA)
Abstract
A method for guiding a driver by predicting the progress path of a car is disclosed in which it is possible to inform a driver of the progress direction of a car by anticipating collision of the car with its surrounding objects in the case that a car progresses at the directional angle of the present car. The method for guiding a driver by predicting the progress path of a car comprises the steps of; (a) retrieving the present position of a car and the position of its surrounding objects 51,52,53; (b) retrieving the present directional angle of the car; (c) displaying the progress trace of the car by predicting the cars progress at the present directional angle at the present position of the car. Furthermore, a driver can predict the danger of collision in the case that a driver drives a car on a narrow road or at the place where many obstacles are scattered, thereby preventing traffic accidents. The method also includes determining the shortest distance FM, BM between the car and surrounding objects and determining whether the shortest distance is greater than a critical distance.
Description
METHOD FOR GUIDING A DRIVER BY PREDICTING
THE PROGRESS PATH OF A CAR
The present invention relates to a navigation method for a travelling object, and more particularly to a method for guiding a driver by predicting the progress path of a car.
Currently, various travelling objects such as a vessel, aircraft, a car, etc. are equipped with so-called satellite navigation system, a Global Positioning
System (hereinbelow, referred to as GPS) for confirming their present position and travelling velocity or determining their travelling path. Such a GPS shows map information involving the present position of a travelling object after receiving a radio wave representative of the latitude, the longitude and the altitude, etc., from several satellites to detect the present position thereof.
Namely, the navigation equipment displays the present position of a travelling object on a map shown on a display screen using information received from the satellites thereto.
The navigation equipment generally provides a user with all kinds of information required for user's driving such as the progress direction of the travelling object, the distance to the destination, the present driving speed of the travelling object, the travelling path preset by a user prior to user's driving and the optimum path to the destination, etc.
A driver can obtain a great deal of driving information by equipping a car with such a navigation equipment. However, although a car is equipped with the navigation equipment, it is not easy to cope with the driving environment which is growing worse. For example, the demand for a car is increasing sharply, while parking space is decreasing gradually due to the limited space and the road situation also becomes complex by steps according to the increase of cars. Like this, as the number of cars on the roads is increasing, there is a higher possibility of contact between one's own car and other cars, so that the chance of a contact accident between cars on the road is greatly increased. Also, such contact accidents frequently occur during parking or when a car starts off from a parking space, i.e. it is becoming more and more difficult for drivers to fully grasp their surroundings and make correct judgements. Particularly, it is not easy for drivers to identify people in a dead angle area or "blind spot", so that there is a real danger of an accident being caused which may cost many lives.
A navigation equipment and its method for displaying surroundings of cars is disclosed in Korea Patent
Application No. 95-56570 filed with the Korea Industrial
Property Office on December 26, 1995 by the present applicant, as an example of an approach to overcome the above described problems of the conventional navigation equipment. The navigation equipment and its method for displaying surroundings of cars is characterized in that the present position of a car is retrieved using information sensed by a speed sensor and a gyro sensor and information supplied from a GPS, and the present position of a car and surrounding objects are displayed by calculating the position of its surrounding objects after sensing objects around a car.
In such a navigation equipment and method, because only the present position of a car and surrounding objects are displayed, a driver can not know that a car has some connection with its surrounding objects in the case that a car progresses. That is to say, where a car moves forwards or backwards a driver is not alerted to whether or not the car is likely to collide with an adjacent object.
Accordingly, a driver had to judge for himself in which direction to drive his car on the basis of the present directional angle and present position of the car.
The directional or steering angle is grasped easily when a driver is actually driving his car but the directional angle is not grasped easily in the case of a stationary car. In addition, in the case where a car is reversing, even though a driver may grasp the present directional angle, it is far more difficult for a driver to judge the direction in which the car will progress, compared with when a car moves forward.
In the conventional navigation equipment and its method for displaying surroundings of cars, there has been an inconvenience that since only information on the present position of a car and its surroundings is provided for a driver, he must judge for himself the connection the car has with surrounding objects.
It is therefore an aim of embodiments of the present invention to provide a method for guiding a driver by predicting the progress path of a car, in which it is possible to inform a driver of the progress direction of a car by anticipating the connection the car will have with its surrounding objects on the basis that the car progresses at its current directional angle.
According to a first aspect of the invention, there is provided a method for guiding a driver by predicting the progress of a car, comprising the steps of; (a) retrieving the present position of a car and the position of its surrounding objects; (b) retrieving the present directional angle of said car; and (c) displaying an anticipated progress trace of said car on the basis that the car will progress at its present directional angle from the present position of said car.
Preferably, the method further comprises a step of displaying a collision anticipated part in which the anticipated progress trace of a car and its surrounding objects are overlapped after displaying the progress trace of said car.
The method may further comprise the steps of; measuring the shortest distance between a car and its surrounding object along said progress trace; and producing alarm signal if said shortest distance is smaller than a critical distance which there is a danger of collision.
Preferably, said step of displaying the progress trace comprises the steps of: displaying an advanced, i.e.
forward, trace on a screen display if the gear of a car is in a position for moving forward; and displaying a moved backward, i.e. reverse, trace on a screen display if said gear is in the position for moving backward.
Said step of displaying the progress trace may comprise the steps of: displaying an advanced trace on a screen display if an advanced trace display key is inputted by a user; and displaying a moved backward trace on a screen display if a moved backward trace display key is inputted by a user.
For a better understanding of the invention, and to show how embodiments of the same may be carried into effect, reference will now be made, by way of example, to the accompanying diagrammatic drawings, in which:
Figure 1 is a block diagram showing the construction of a navigation device for guiding a driver by predicting the progress of vehicles according to a preferred embodiment of the present invention;
Figure 2 is a schematic plan view showing an example of a car equipped with a plurality of sensors for censoring its surrounding objects according to an embodiment of the present invention;
Figure 3 is a flowchart showing a process routine of a method for guiding a driver by predicting the progress of a car according to a preferred embodiment of the present invention;
Figure 4 is a schematic view showing an example of guiding a driver by predicting the progress path of a car according to an embodiment of the present invention.
Now, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. Throughout the drawings, it is noted that the same reference numerals or letters will be used to designate like or equivalent elements having the same function. In the following description, numeral specific details are set forth to provide a more through understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practised without their specific details.
The detailed descriptions on known function and constructions unnecessarily obscuring the subject matter of the present invention will be avoided hereinafter.
Figure 1 is a block diagram showing the inner construction of navigation apparatus for guiding a driver by predicting the progress of vehicles according to a preferred embodiment of the present invention.
In Figure 1, a GPS receiver 16 receives the position information transmitted from a plurality of satellites through an antenna ANT and provides a present position operating section 12 with the position information produced by estimating the value of quasi-coordinates of the present position. A speed sensor 18 provides the present position operating section 12 with the speed information of a pulse or voltage form after sensing the speed of a car. An azimuth sensor 20 provides the present position operating section 12 with the present position information of a pulse or voltage form for the present progress direction of a car.
The present position operating section 12 receives the position information from the GPS receiver 16, the speed information from the speed sensor 18 and the information on the progress direction of a car from the azimuth sensor 20 to operate and retrieve the present position information of a car.
A map information memory 22 stores map information and other additional information and outputs the map information to a system control section 10 when the system control section 10 demands the map information. A manipulating section 24 having a plurality of keys interfaces the system control section 10. A surrounding objects sensing sensor 26 measures the distance to a surrounding object by transmitting a beam of light, a radio wave or a sound wave to a surrounding object such as an infrared ray sensor etc. and detecting the transmitted beam.
Referring to Figure 2, there is shown an example of a car equipped with the surrounding objects sensing sensor 26. A car shown in Figure 2 is equipped with a plurality of surrounding objects sensing sensors 26 for precisely sensing surrounding objects of the car. Forward sensor
FS1-FS4 senses the objects located in front of a car and backward sensor BS1-BS4 senses the objects located at the back of a car. Also, rightward sensor RS1-RS6 senses the objects located at the right side of a car and leftward sensor LS1-LS64 senses the objects located at the left side of a car.
As described above, a car is equipped with a plurality of surrounding objects sensing sensors 26, so that a driver can sense precisely any objects in all directions. A steering sensor 28 in Figure 1 senses the directional angle of the front wheels of a car by sensing through an encoder etc. the number of revolutions of a steering handle or a steering system connected to the front wheel of a car. A car body information memory 30 stores the length of a car and the width thereof etc. and outputs the car body information to the system control section 10 when the system control section 10 demands the car body information.
The system control section 10 of the navigation equipment performs mainly navigation function and grasps the position of the obstacles around a car after receiving the surrounding objects sensing signal from the surrounding objects sensing sensors 26. In addition, the system control section 10 calculates the direction of progress of the car after receiving the present steering sensing signal of a car from the steering sensor 28, predicts the progression path of the car based on the car body information and the progress direction by reading the car body information like the length of a car and the width thereof etc. from the car body information memory 30, and outputs a resultant display information produced to display the progress path to a screen display 14.
The screen display 14 displays a navigation screen, surrounding objects or the progress path of the car under the control of the system control section 10.
Figure 3 is a flowchart showing a process routine of a method for guiding the driver by predicting the progress path of a car using the above navigation equipment according to a preferred embodiment of the present invention. The process routine shown in Figure 3 is executed when key inputs commanding the performance of parking guide are entered using the manipulating section 24 by a driver. At step 32, a system control -section 10 retrieves the position of a car and the position of its surrounding objects. The retrieval of the position of a car can be carried out since the present position operating section 12 provides the system control section 10 with the present position information. Also, The retrieval of the position of surrounding objects of a car can be carried out since the surrounding objects sensing sensors 26 provide the system control section 10 with the surrounding objects sensing signal sensing the distance to the surrounding objects in all the directions around the car. If the retrieval of the present position of a car and the position of its surrounding objects is executed at step 32, the program proceeds to step 34 at which the system control section 10 displays the position of a car and the position of its surrounding objects on the screen display 14. If the displaying operation is executed at step 34, the system control section 10 retrieves the directional angle of the car at step 36. The retrieval of the directional angle of a car can be carried out by retrieving the present steering sensing signal of the steering sensor 28 mounted on a steering wheel or handle.
If the directional angle of the car is retrieved by retrieving the present steering sensing signal, the program proceeds to step 38 at which it is determined by the system control section 10 whether or not a trace of the car moving forward is to be displayed. At this time, a driver inputs an advanced trace display key of the manipulating section 24 so that the system control section 10 can permit the screen display 14 to display the advanced trace of a car. If an advanced trace display key is inputted by a user at step 38, the program proceeds to step 40 at which the system control section 10 generates data for displaying the advanced trace of a car based on the directional angle and provides the screen display 14 with the data for displaying the advanced trace and the data for displaying a collision anticipated part, i.e. the part at which the advanced trace representing a projected forward path of a car overlaps with a detected surrounding object. The screen display 14 displays the advanced trace of a car and the collision anticipated part based on the data for displaying the advanced trace and the data for displaying a collision anticipated part. On the other hand, if an advanced trace display key is not inputted by a user at step 38, the program proceeds to step 44 at which the system control section 10 generates data for displaying the moved backward trace of a car based on the directional angle and provides the screen display 14 with the data for displaying the moved backward trace and the data for displaying a collision anticipated part, i.e. the part at which the backward trace representing a projected reversing path of a car overlaps with a detected surrounding object. The screen display 14 displays the moved backward trace of a car and the collision anticipated part based on the data for displaying the moved backward trace and the data for displaying a collision anticipated part.
Now, an explanation on the displaying operation will be in detail given with reference to Figure 4 showing the display of the anticipated trace of a car on a screen display 14.
First, the screen display 14 displays the present position of a car CAR and the position of its surrounding objects Sl-S3. In Figure 4, the car CAR is displayed in the middle of the screen and the surrounding objects S1-S3 sensed by the surrounding objects sensing sensors 26 are displayed in the edge portion of the screen. If a driver inputs an advanced trace display key under the above situation, the screen display 14 displays the advanced trace shown in dotted line at step 40. Although the advanced trace has been shown in dotted line in Figure 4, the advanced trace may be shown in other colored line or side or other pattern. The overlapped part of the advanced trace of a car and its surrounding object S1 is a collision anticipated part. The collision anticipated part may be also shown in other color or pattern. On the other hand, if a driver inputs an moved backward trace display key, the screen display 14 displays the moved backward trace shown in one dotted solid line at step 42. Although the moved backward trace has been shown in one dotted solid line in Figure 4, the moved backward trace may be shown in other colored line or side or other pattern. The overlapped part of the moved backward trace of a car and its surrounding object S3 is a collision anticipated part.
The collision anticipated part may be also shown in other color or pattern. The overlapped part means that a car CAR can collide against its surrounding object S3 when the car
CAR moves backward.
If the displaying operation of the advanced trace and the collision anticipated part has been completed at step 40, the program proceeds to step 42 at which the system control section 10 measures the shortest distance between a car and its surrounding object when a car moves forward along the advanced trace. Namely, in Figure 4, the shortest distance between a car CAR and its surrounding object S1 is FM. If the measurement of the shortest distance between a car and its surrounding object has been completed at step 42, the system control section 10 executes the process routine of step 48.
On the other hand, if the displaying operation of the moved backward trace and the collision anticipated part has been completed at step 44, the program proceeds to step 46 at which the system control section 10 measures the shortest distance between a car and its surrounding object when a car moves backward along the moved backward trace. Namely, in Figure 4, the shortest distance between a car CAR and its surrounding object S3 is BM. If the measurement of the shortest distance between a car and its surrounding object has been completed at step 46, the system control section 10 executes the process routine of step 48.
At step 48, it is determined by the system control section 10 whether the shortest distance is greater than a critical distance or not. At this time, the critical distance is a minimum distance at which there will be no danger of a collision although a car approaches its surrounding object. That is to say, if the shortest distance is smaller than the minimum distance, there is a possibility that a car collides against its surrounding object.
If it is determined at step 48 that the shortest distance is smaller than the critical distance, the program proceeds to step 50 at which the system control section 10 produces alarm signal. The alarm signal informs a driver that a car may collide with its surrounding object. If the generation of the alarm signal has been completed, the program proceeds back to step 32. Also, if it is determined at step 48 that the shortest distance is greater than the critical distance, the program proceeds back to step 32.
Meanwhile, a driver inputs an advanced or moved backward trace display key so that the advanced or moved backward trace can be displayed on the screen display 14 at step 38. However, the advanced trace may be displayed on the screen display 14 if the gear is in the position for moving forward and the moved backward trace may be displayed on the screen display 14 if the gear is in the position for moving backward after mounting a sensor for sensing the position of a gear on the gear change mechanism or in the gearbox.
As described above, the present invention provides a driver with more convenient driving environment since it is possible to inform a driver of the progress direction of a car by anticipating the connection a car has with its surroundings in the case that a car progresses at a present directional angle. Furthermore, a driver can predict the danger of collision in the case that a driver drives a car on a narrow road or at the place where many obstacles are scattered, thereby preventing traffic accidents.
While there have been illustrated and described what are considered to be preferred embodiments of the present invention, it will be understood by those skilled in the art that various change and modifications and equivalents may be substituted for elements thereof without departing from the true scope of the present invention. Therefore, it is intended that the present invention not be limited to the particular embodiments disclosed as the best mode contemplated for carrying out the present invention, but that the present invention includes all embodiments falling within the scope of the appended claims.
The reader's attention is directed to all papers and documents which are filed concurrently with or previous to this specification in connection with this application and which are open to public inspection with this specification, and the contents of all such papers and documents are incorporated herein by reference.
All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.
Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.
The invention is not restricted to the details of the foregoing embodiment(s). The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.
Claims (6)
1. A method for guiding a driver by predicting the progress of a car, comprising the steps of;
(a) retrieving the present position of a car and the position of its surrounding objects;
(b) retrieving the present directional angle of said car; and
(c) displaying an anticipated progress trace of said car on the basis that the car will progress at its present directional angle from the present position of said car.
2. The method according to claim 1, wherein the method further comprises a step of displaying a collision anticipated part in which the anticipated progress trace of a car and its surrounding objects are overlapped after displaying the progress trace of said car.
3. The method according to claim 1, wherein the method further comprises the steps of;
measuring the shortest distance between a car and its surrounding object along said progress trace; and
producing alarm signal if said shortest distance is smaller than a critical distance which there is a danger of collision.
4. The method according to claim 1, wherein said step of displaying the progress trace comprises the steps of:
displaying an advanced, i.e. forward, trace on a screen display if the gear of a car is in a position for moving forward; and
displaying a moved backward, i.e. reverse, trace on a screen display if said gear is in the position for moving backward.
5. The method according to claim 1, wherein said step of displaying the progress trace comprises the steps of:
displaying an advanced trace on a screen display if an advanced trace display key is inputted by a user; and
displaying a moved backward trace on a screen display if a moved backward trace display key is inputted by a user.
6. A method substantially as herein described with reference to the accompanying drawings.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019960064860A KR100208806B1 (en) | 1996-12-12 | 1996-12-12 | Method of guding and presupposing manch of cars |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB9713314D0 GB9713314D0 (en) | 1997-08-27 |
| GB2320326A true GB2320326A (en) | 1998-06-17 |
| GB2320326B GB2320326B (en) | 2000-05-31 |
Family
ID=19487481
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB9713314A Expired - Fee Related GB2320326B (en) | 1996-12-12 | 1997-06-25 | Method for guiding a driver by predicting the progress path of a car |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JPH10185591A (en) |
| KR (1) | KR100208806B1 (en) |
| CN (1) | CN1184991A (en) |
| GB (1) | GB2320326B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1065642A2 (en) * | 1999-06-25 | 2001-01-03 | Fujitsu Ten Limited | Vehicle drive assist system |
| EP1167120A2 (en) * | 2000-06-30 | 2002-01-02 | Matsushita Electric Industrial Co., Ltd. | Rendering device for parking aid |
| WO2003005325A1 (en) * | 2001-07-06 | 2003-01-16 | Volkswagen | Driver assistance system |
| FR2831309A1 (en) * | 2001-10-19 | 2003-04-25 | Peugeot Citroen Automobiles Sa | Motor vehicle impact data generator has sensors to detect movement parameters of vehicle and further sensors for positions of obstacles in vehicle path |
| AU763392B2 (en) * | 2001-03-07 | 2003-07-24 | Kabushiki Kaisha Toyota Jidoshokki | Parking assisting device |
| EP1168241A3 (en) * | 2000-06-30 | 2004-01-14 | Matsushita Electric Industrial Co., Ltd. | Rendering device |
| EP1491857A1 (en) * | 2003-06-26 | 2004-12-29 | Harman Becker Automotive Systems GmbH | Method for assisting navigation and navigation system |
| US8648702B2 (en) | 2010-08-20 | 2014-02-11 | Denso International America, Inc. | Combined time-of-flight and image sensor systems |
| DE10161316B4 (en) * | 2000-12-15 | 2014-03-20 | Honda Giken Kogyo K.K. | Parking operation support system |
| US9156496B2 (en) | 2007-03-21 | 2015-10-13 | Ford Global Technologies, Llc | Vehicle maneuvering aids |
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|---|---|---|---|---|
| KR100387469B1 (en) * | 2000-08-21 | 2003-06-18 | 현대자동차주식회사 | System for alarming crash a cross roads and controlling method thereof |
| KR100754135B1 (en) * | 2006-06-05 | 2007-08-31 | 지멘스 오토모티브 주식회사 | System and method for prediction collision of car |
| CN100555355C (en) * | 2006-08-29 | 2009-10-28 | 亿阳信通股份有限公司 | The method and system that the passage rate of road traffic calculates and mates |
| JP4062353B1 (en) * | 2006-11-10 | 2008-03-19 | トヨタ自動車株式会社 | Obstacle course prediction method, apparatus, and program |
| US7818120B2 (en) | 2006-11-30 | 2010-10-19 | Raytheon Company | Route-planning interactive navigation system and method |
| CN101393034B (en) * | 2007-09-21 | 2011-07-20 | 财团法人工业技术研究院 | Traffic lane prediction method and lane bias alarm system |
| EP2169500B1 (en) * | 2008-09-25 | 2012-04-04 | Volvo Car Corporation | Method of assessing vehicle paths in a road environment and a vehicle path assessment system. |
| CN102288179B (en) * | 2010-06-17 | 2015-06-17 | 昆达电脑科技(昆山)有限公司 | Navigation system and navigation method |
| DE102012210782A1 (en) * | 2012-06-25 | 2014-01-02 | Bayerische Motoren Werke Aktiengesellschaft | Path assistance system used in motor car, has function module that is provided to compare minimum possible driving path with maximum possible driving path from environment-aware module |
| KR101470189B1 (en) * | 2013-07-09 | 2014-12-05 | 현대자동차주식회사 | Apparatus and Method for Driving Control of Vehicle |
| CN103481820B (en) * | 2013-09-25 | 2016-05-25 | 江苏大学 | A kind of auxiliary parking system with safety monitoring and method thereof |
| CN104890670B (en) * | 2014-03-06 | 2019-09-10 | 富顶精密组件（深圳）有限公司 | Driving assistance system and driving assistance method |
| US9527528B1 (en) * | 2015-09-04 | 2016-12-27 | Continental Automotive Systems, Inc. | Trailer radius indication |
| CN105835820B (en) * | 2016-04-28 | 2018-04-13 | 姜锡华 | The vehicle collision avoidance system of onboard sensor method and application this method |
| CN107284618B (en) * | 2017-07-03 | 2019-10-18 | 吴克 | A kind of method of shipping anti-collision |
| EP3644016B1 (en) * | 2018-10-23 | 2024-07-31 | Zenuity AB | Localization using dynamic landmarks |
| CN110435650A (en) * | 2019-08-22 | 2019-11-12 | 爱驰汽车有限公司 | Emergency avoidance method, system, equipment and storage medium are collided after vehicle |
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| US7366595B1 (en) | 1999-06-25 | 2008-04-29 | Seiko Epson Corporation | Vehicle drive assist system |
| EP1065642A3 (en) * | 1999-06-25 | 2001-05-23 | Fujitsu Ten Limited | Vehicle drive assist system |
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Also Published As
| Publication number | Publication date |
|---|---|
| GB2320326B (en) | 2000-05-31 |
| GB9713314D0 (en) | 1997-08-27 |
| KR19980046502A (en) | 1998-09-15 |
| CN1184991A (en) | 1998-06-17 |
| JPH10185591A (en) | 1998-07-14 |
| KR100208806B1 (en) | 1999-07-15 |
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| Date | Code | Title | Description |
|---|---|---|---|
| PCNP | Patent ceased through non-payment of renewal fee |
Effective date: 20090625 |