JP4873651B2 - 自動車用の装置及び方法 - Google Patents
自動車用の装置及び方法 Download PDFInfo
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- JP4873651B2 JP4873651B2 JP2007524210A JP2007524210A JP4873651B2 JP 4873651 B2 JP4873651 B2 JP 4873651B2 JP 2007524210 A JP2007524210 A JP 2007524210A JP 2007524210 A JP2007524210 A JP 2007524210A JP 4873651 B2 JP4873651 B2 JP 4873651B2
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Classifications
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S15/18—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S15/12—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the pulse-recurrence frequency is varied to provide a desired time relationship between the transmission of a pulse and the receipt of the echo of a preceding pulse
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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
- G01S2013/9314—Parking operations
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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
- G01S2013/9315—Monitoring blind spots
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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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- 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
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
-
- 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
- G01S2013/9324—Alternative operation using ultrasonic waves
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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
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the vehicles
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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
- G01S2013/9327—Sensor installation details
- G01S2013/93275—Sensor installation details in the bumper area
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
- G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
- G01S2015/934—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the depth, i.e. width, not length, of the parking space
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
- G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
- G01S2015/935—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
図1は:駐車可能な余地の本発明による測定の略図を示し、
図2は:本発明による運転補助システムの原理図を示し、
図3は:縁石の検出のために、自動車内での距離センサの配向の略示を示し、
図4は:作動及び測定受信時間のシーケンスを示す図である。
2 距離センサ
3 オブジェクト
4 制御装置
5 超音波センサ
6 縁石
7 距離過程
8 光学的指示装置
9 音響的指示装置
10 触覚的な指示装置11,12,13 センサビーム領域
B 車両幅
F 走行方向
HK 短い受信時間での最小検出高さ
HL 長い測定受信時間での最小検出高さ
L1 最小駐車余地の長さ
LK 短い測定受信時間での到達領域
LL 長い測定受信時間での到達領域
LP 駐車余地の長さ
LZ 付加的な長さ
MM 測定信号
N 道路のレベル
P 駐車余地
T1 作動時間
T2 測定受信時間
X,X1,X2 距離軸
y,y1,y2 距離
Claims (16)
- 自動車(1)とオブジェクト(3)との間の主側方距離(Y)を検出するための少なくとも1つの距離センサ(2)と、該距離センサ(2)の制御用の制御装置(4)を有する前記自動車(1)用の装置であって、前記距離センサ(2)は、作動期間(T1)の間、測定信号(M)を送信し、測定受信期間(T2)の間、少なくとも1つの前記オブジェクト(3)によって反射された前記測定信号(M)を受信する、自動車用の装置において、前記距離センサ(2)が前記測定受信期間(T2)の間に測定信号(M)を受信しない場合には、駐車可能な余地(P)の始まりを検出し、前記距離センサ(2)の測定受信時間(T2)を長くし、駐車余地(P)の傍を走行する際に、最少所要駐車余地の長さ(L1)に達する直前に測定受信時間(T2)を短くすることを特徴とする自動車用の装置。
- 測定受信時間(T2,T3)は、制御装置(4)によって小さな1つの車両幅(B)の距離(Y)が監視されるように変えることができる請求項1記載の自動車用の装置。
- 測定受信時間(T2)は、制御装置(4)によって、2つの車両幅(B)のうちの小さな方の車両幅の間隔(Y)が監視されるように変えることができる請求項1記載の自動車用の装置。
- 制御装置(4)は、駐車可能な余地(P)の長さ(LP)を測定するための測定受信時間(T2)を変えることができる請求項1から3迄の何れか1記載の自動車用の装置。
- 少なくとも1つの距離センサ(2)は、超音波センサ(5)として構成されている請求項1から4迄の何れか1記載の自動車用の装置。
- 距離センサ(2)は、縁石(6)又は道路境界が、各測定受信時間(T2)のうちの1つの測定受信時間内で検出することができるように自動車(1)内に設けられている請求項1から5迄の何れか1記載の自動車用の装置。
- 少なくとも1つの距離センサ(2)及び/又は制御装置(4)を用いて、オブジェクト及び/又は道路境界までの距離経過・延び具合を検出することができる請求項1から6迄の何れか1記載の自動車用の装置。
- 測定受信時間(T2)は、速度及び/又は車両環境及び/又は位置に依存して変えることができる請求項1から7迄の何れか1記載の自動車用の装置。
- 測定受信時間(T2)は、車両運転手の運転特性に基づいて変えることができる請求項1から8迄の何れか1記載の自動車用の装置。
- 各最少駐車余地(L1)の大きな方の駐車可能な余地(P)の検出された長さ(LP)を、自動車(1)内で音響的及び/又は光学的及び/又は触覚的にシグナリングすることができる請求項1から9迄の何れか1記載の自動車用の装置。
- 必要な最少駐車余地の長さ(L1)の値及び/又は付加的な長さ(LZ)を自動車(1)内で調整可能である請求項1から10迄の何れか1記載の自動車用の装置。
- 駐車余地(P)の傍を通過する自動車(1)によって駐車可能な余地(P)を測定するための方法であって、自動車(1)内の検出装置によって、駐車余地(LP)の長さを検出し、作動時間(T1)の間、距離センサ(2)を用いて、測定信号(M)を送出し、測定受信時間(T2)内で、オブジェクト(3)で反射された測定信号(M)を前記距離センサ(2)によって検出するための方法において、前記制御装置(4)は、前記距離センサ(2)が前記測定受信期間(T2)の間に測定信号(M)を受信しない場合には、駐車可能な余地(P)の始まりを検出し、前記距離センサ(2)の測定受信時間(T2)を長くし、駐車余地(P)の傍を走行する際に、最少所要駐車余地の長さ(L1)に達する直前に測定受信時間(T2)を短くすることを特徴とする方法
- 最少駐車余地の長さに続く付加的な長さ(LZ)に達した後、自動車(1)の駐車可能な領域(P)内にオブジェクト(3)が検出されなかった場合に限って測定受信時間(T2)を長くする請求項12記載の方法。
- 最少駐車余地の長さ(L1)に続く別の付加的な長さ(LZ)の後、それまでに、駐車可能な領域(P)内にオブジェクト(3)が検出されなかった場合に限って測定受信時間(T2)を長くする請求項12又は13記載の方法。
- 測定受信時間(T2)を、オブジェクト検出のために可変に変える請求項12から14迄の何れか1記載の方法。
- 自動車(1)内での距離センサ(2)の配向を、測定受信時間(T2)が高く設定されている場合、縁石(6)をオブジェクト(3)として検出するように選定する請求項12から15迄の何れか1記載の方法。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004037992.0 | 2004-08-05 | ||
DE102004037992 | 2004-08-05 | ||
DE102004046589A DE102004046589A1 (de) | 2004-08-05 | 2004-09-25 | Vorrichtung für ein Kraftfahrzeug |
DE102004046589.4 | 2004-09-25 | ||
PCT/EP2005/007728 WO2006015687A1 (de) | 2004-08-05 | 2005-07-15 | Vorrichtung für ein kraftfahrzeug |
Publications (2)
Publication Number | Publication Date |
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JP2008508625A JP2008508625A (ja) | 2008-03-21 |
JP4873651B2 true JP4873651B2 (ja) | 2012-02-08 |
Family
ID=35266881
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2007524210A Active JP4873651B2 (ja) | 2004-08-05 | 2005-07-15 | 自動車用の装置及び方法 |
Country Status (8)
Country | Link |
---|---|
US (1) | US8244457B2 (ja) |
EP (1) | EP1776603B1 (ja) |
JP (1) | JP4873651B2 (ja) |
CN (1) | CN1993631B (ja) |
DE (1) | DE102004046589A1 (ja) |
ES (1) | ES2753772T3 (ja) |
RU (1) | RU2380725C2 (ja) |
WO (1) | WO2006015687A1 (ja) |
Families Citing this family (46)
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DE10351894A1 (de) * | 2003-11-06 | 2005-06-09 | Robert Bosch Gmbh | Verfahren zur Ermittlung einer Parklücke |
DE102006036423A1 (de) * | 2006-08-04 | 2008-02-07 | Bayerische Motoren Werke Ag | Verfahren zur Ermittlung einer geeigneten Parklücke |
DE102006053620B4 (de) * | 2006-11-14 | 2012-10-04 | Cobra Automotive Technologies S.P.A. | Vorrichtung zur Vermessung von Parklücken |
DE102006057879A1 (de) * | 2006-12-08 | 2008-07-03 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betrieb eines Parkhilfesystems |
JP4748111B2 (ja) * | 2007-05-31 | 2011-08-17 | 株式会社デンソー | 障害物検出装置 |
DE102007061234A1 (de) * | 2007-12-19 | 2009-06-25 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Anpassen der Führung eines Fahrzeuges |
DE102008007667A1 (de) * | 2007-12-21 | 2009-06-25 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Einparkhilfesystems |
EP2257458B1 (de) * | 2008-04-03 | 2012-03-07 | Valeo Schalter und Sensoren GmbH | Verfahren und vorrichtung zur unterstützung eines fahres eines fahrzeugs beim ausparken aus einer parklücke |
DE102008046367A1 (de) * | 2008-09-09 | 2010-03-11 | Valeo Schalter Und Sensoren Gmbh | Verfahren und Vorrichtung zur Unterstützung eines Einparkvorgangs eines Fahrzeugs |
DE102009028279A1 (de) * | 2009-08-06 | 2011-02-10 | Robert Bosch Gmbh | Verfahren zur Einstellung eines die Fahrdynamik eines Fahrzeugs beeinflussenden Stellglieds |
US20140379254A1 (en) * | 2009-08-25 | 2014-12-25 | Tomtom Global Content B.V. | Positioning system and method for use in a vehicle navigation system |
US9260090B2 (en) * | 2009-09-04 | 2016-02-16 | Ford Global Technologies, Llc | Vehicle park assist system and method for parking a vehicle using such system |
US8378850B2 (en) * | 2009-09-11 | 2013-02-19 | Ford Global Technologies, Llc | Vehicle park assist system and method for parking a vehicle using such system |
US20110068953A1 (en) * | 2009-09-24 | 2011-03-24 | Salvador Toledo | Vehicle Park Assist System and Method for Parking a Vehicle Using Such System |
US20110080304A1 (en) * | 2009-10-07 | 2011-04-07 | Ford Global Technologies, Llc | Vehicle Park Assist System and Method for Parking a Vehicle Using Such System |
US8169341B2 (en) * | 2009-10-07 | 2012-05-01 | Ford Global Technologies, Llc | Vehicle park assist system and method for parking a vehicle using such system |
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- 2005-07-15 ES ES05774601T patent/ES2753772T3/es active Active
- 2005-07-15 JP JP2007524210A patent/JP4873651B2/ja active Active
- 2005-07-15 CN CN2005800265143A patent/CN1993631B/zh active Active
- 2005-07-15 WO PCT/EP2005/007728 patent/WO2006015687A1/de active Application Filing
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JP2008508625A (ja) | 2008-03-21 |
ES2753772T3 (es) | 2020-04-14 |
CN1993631A (zh) | 2007-07-04 |
EP1776603A1 (de) | 2007-04-25 |
CN1993631B (zh) | 2012-05-09 |
US8244457B2 (en) | 2012-08-14 |
US20080033647A1 (en) | 2008-02-07 |
RU2380725C2 (ru) | 2010-01-27 |
DE102004046589A1 (de) | 2006-02-23 |
RU2007107934A (ru) | 2008-09-10 |
EP1776603B1 (de) | 2019-09-11 |
WO2006015687A1 (de) | 2006-02-16 |
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