WO2004074046A1 - Bildverarbeitungssystem für kraftfahrzeuge - Google Patents
Bildverarbeitungssystem für kraftfahrzeuge Download PDFInfo
- Publication number
- WO2004074046A1 WO2004074046A1 PCT/EP2004/001715 EP2004001715W WO2004074046A1 WO 2004074046 A1 WO2004074046 A1 WO 2004074046A1 EP 2004001715 W EP2004001715 W EP 2004001715W WO 2004074046 A1 WO2004074046 A1 WO 2004074046A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- image processing
- processing system
- vehicle
- image
- computer
- Prior art date
Links
- 238000012545 processing Methods 0.000 title claims abstract description 107
- 238000001514 detection method Methods 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 abstract description 6
- 230000010354 integration Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000005494 condensation Effects 0.000 abstract description 2
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- 230000018109 developmental process Effects 0.000 description 10
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- 230000005540 biological transmission Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012827 research and development Methods 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- 238000007635 classification algorithm Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
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- 238000009423 ventilation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Arrangement of adaptations of instruments
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- B60K35/50—
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- B60K2360/21—
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- B60K2360/828—
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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
- 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
- B60W2050/146—Display means
Definitions
- the invention relates to an image processing system for motor vehicles according to the features of the preamble of patent claim 1.
- a system for traffic sign recognition is known from DE 198 52 631 A1, in which those image components in which a traffic sign is depicted are to be identified by the image processing unit in the image data recorded by a camera system. Following the identification, the image processing unit extracts these image areas and presents them to the vehicle driver via a display unit for the final evaluation.
- a complex image processing method that evaluates the image data of a multi-camera system and displays it is known from DE 199 26 559 AI.
- a distance-resolved image data material is generated here by the fusion of the image data of the vehicle's surroundings located from different directions of view.
- the image processing unit estimates the distances to objects and determines their relative speeds.
- An image processing system which is adapted to the processing of the image data received by a camera sensitive in the infrared wavelength range is described in DE 101 24 005 AI.
- the image processing system identifies different areas in the image data and, depending on their class affiliation, overlays them with textures familiar to a natural viewer.
- DE 19749086 C1 describes a device for determining data indicative of the course of a lane.
- the device comprises a lane detection sensor system, which is formed in particular by an image recording and image processing system, and an object position and vehicle movement sensor system.
- the measurement data recorded by means of the sensor system are fed to an estimation device which contains a dynamic vehicle movement model in order to determine the course of the lane and / or the position and orientation of detected objects relative to the lane.
- control units are here with regard to their electromechanical properties, in particular with regard to their temperature resistance. speed and stability to be interpreted in the widely fluctuating operating conditions prevailing in the motor vehicle and which may also be in the extreme range; This means that very high temperatures often arise inside the vehicle, especially in strong sunlight in summer.
- the individual system components of the control units particularly with regard to the usually rather long service life of a motor vehicle, must also meet high requirements with regard to longevity. The above-mentioned factors in particular result in relatively high development and production costs for camera-based assistance and security systems.
- the object of the invention is to provide an image processing system for motor vehicles which has comparatively low development and production costs without significant restrictions in functionality and reliability.
- a driver assistance system and a vehicle with an image processing system must be specified, which is also inexpensive and reliable.
- an image processing system for motor vehicles which comprises a camera system, an image processing module with a data interface for recording the image data generated by the camera system, and with a storage unit for storing an image processing program and with a processor unit for processing the image data.
- the image processing system also has a display unit for displaying the processed image data.
- this Image processing system in this case a small computer, in particular a palm top or personal digital assistant (PDA) or a mobile phone, the processor module and / or the display of which is used as an image processing module and / or as a display unit.
- PDA personal digital assistant
- the invention provides an image processing system for motor vehicles which places low demands on the electro-mechanical properties and the longevity of the system components.
- the invention also provides a vehicle which comprises a plurality of the image processing systems according to the invention.
- the use of several image processing systems of this type makes it possible in a cost-effective manner to capture several different surrounding areas or even the complete surrounding area of 360 ° around the vehicle.
- Several image processing systems can also be used to present different information to several passengers.
- the image processing system is used in a vehicle as part of a driver assistance system.
- driver assistance systems can be, for example, so-called ACC systems or distance warnings, with obstacle detection being carried out to avoid collisions.
- Driver assistance systems for traffic sign recognition are also known; the image processing system according to the invention is preferably used in so-called lane assistance systems.
- lane assistance system warns the driver, for example, when leaving the lane (lane department warning) or controls the vehicle partially or fully automatically (lane keeping) in such a way that it moves within the lane.
- the detection of the lane course and the Evaluation of the vehicle position relative to the lane can be determined with high accuracy with little hardware expenditure.
- a holder for holding the microcomputer is located in the passenger compartment of the motor vehicle.
- the holder is designed and arranged in such a way that the microcomputer can be attached in it, in particular at a point that is visible to at least one of the passengers.
- a mechanical connection is realized between the microcomputer and the holder, preferably by using a clamping or plug-in mechanism.
- any other means known to the person skilled in the field of entertainment and communication electronics or vehicle technology are also conceivable, which are suitable for fastening an electronic device, in particular a miniature computer, by means of a holder in a vehicle.
- a preferred location for the attachment, which can be seen by at least one of the passengers, is, for example, a location in the area of the vehicle cockpit on the dashboard.
- the driver can display information about the route ahead, e.g. the lane course, the distance to detected objects, the traffic situation or other vehicle surroundings information are presented.
- An embodiment of the invention is also advantageously possible, in which there is a holder in the passenger compartment of the motor vehicle for receiving the microcomputer, which is designed and arranged in such a way that in the microcomputer at a location that is not visible to any of the passengers.
- a particularly preferred location is in particular between the windshield and the rear view mirror of the motor vehicle.
- the microcomputer can be fastened together with the holder on the back of the rearview mirror, alternatively the housing of the rearview mirror can also be designed such that it forms the holder for receiving the microcomputer.
- Another preferred location is, for example, a location above the dashboard, the microcomputer then lying flat on the dashboard or at least partially embedded in the dashboard by means of a recess or recess. If the camera system is mechanically connected directly to the microcomputer or is integrated into it, the holder and the microcomputer located therein are preferably aligned in such a way that the camera system captures at least part of the vehicle environment, for example the route ahead.
- the mini-computer Since there is a holder in the passenger compartment of the motor vehicle for receiving the mini-computer, which is designed and arranged in such a way that the mini-computer can be attached in a detachable manner, it is advantageously possible to leave the mini-computer as a mobile companion when leaving the vehicle to take out with.
- a detachable attachment used or older vehicles in particular can be easily retrofitted with the image processing system according to the invention or expanded by additional microcomputers.
- microcomputers and, in particular, mobile telephones are already available at very low cost, there is also the possibility of providing an insoluble attachment of such microcomputers in a vehicle.
- the microcomputer can also at least partially installed behind a mechanical cover in the vehicle interior.
- the holder for receiving the microcomputer or the mobile telephone has optical and / or mechanical elements, with which the direction of detection of the camera system can be adapted.
- optical and / or mechanical elements with which the direction of detection of the camera system can be adapted.
- This makes it possible in a particularly profitable manner to adapt the detection direction to the respective assistance function.
- environmental information of a specific area can be redirected specifically to the optics of the camera system by means of optical lenses, mirrors and / or mechanical pan / tilt devices located on the holder.
- the image processing system can be used in addition to the previously mentioned assistance functions or exclusively for occupant monitoring.
- the occupant observation is used, for example, to detect the direction of view, to determine the head position in connection with the triggering of safety systems or to detect fatigue when falling asleep.
- the direction of detection can be selected manually by the occupant or automatically, for example depending on the direction of travel.
- a microcomputer is used in connection with the image processing system according to the invention, which has an integrated camera system, the image data generated of which are processed by the image processing system.
- Mobile phones and personal digital assistants (PDAs) are particularly suitable for use in motor vehicles. Devices of this type have integrated camera modules which already have sufficient quality with regard to optical and electronic properties, such as resolution and brightness control, for image-assisted assistance functions in motor vehicles.
- the environmental information recorded and / or evaluated by means of the image processing system can be optically displayed directly on the display of the microcomputer and / or can also be reproduced acoustically using a loudspeaker integrated in the microcomputer.
- transmitting the information obtained to other in-vehicle systems for example to an already existing multifunction display or to the audio system of the motor vehicle.
- the transmission can take place both by means of permanently installed wiring and by means of wireless transmission, for example using Bluetooth technology.
- wireless transmission it is advantageous that in this case wiring is required at most for the purpose of the power supply.
- a wireless transmission the possibility of exchanging information with systems external to the vehicle.
- the figure shows the new image processing system for motor vehicles.
- the image processing system comprises a camera system (2), an image processing module (3) for processing the image data supplied by the camera system, and a display unit (4) for displaying the processed image data.
- the image processing module consists of a data interface for receiving the image data generated by the camera system, a storage unit for storing an image processing program and a processor unit for processing the image data.
- the image processing module and the display unit are located in a miniature computer (5), in particular a palmtop or personal digital assistant (PDA) or a mobile phone.
- the miniature computer is designed in such a way that it can be detachably attached in the passenger compartment of the motor vehicle, at a location visible to at least one of the passengers.
- the integration of the image processing module (3) in the vehicle interior (1) ensures that it is not exposed to such strong temperature fluctuations or extreme temperatures as is the case for the conventional integration of such units in a control unit in the engine compartment. This is because the passenger compartment (1) of motor vehicles is generally cooled to room or at least outside temperature by air conditioning or targeted ventilation when driving.
- the image processing module (3) therefore generally does not remain in a motor vehicle parked in the blazing sun.
- the inventive attachment of the image processing module (3) as part of a miniature computer (5) in the interior (1) of the motor vehicle reduces the requirements for its electromechanical properties in a particularly advantageous manner.
- the installation of the miniature computer (5) in the interior of the motor vehicle also considerably reduces the effort required to protect the image processing module from the ingress of moisture and condensation.
- the image processing module (3) and the display (4) of the image processing device are advantageously formed by the processor module and the display of a microcomputer (5), in particular a palmtop or personal digital assistant (PDA) or a mobile phone, can furthermore, the requirements for the longevity of the system are considerably reduced. While the service life of conventional systems, particularly due to their high costs and the considerable effort for a possible exchange, must be ensured for the entire useful life of a motor vehicle (about 12 years), it is now common for owners of microcomputers in comparison with the Exchanging the useful life of a motor vehicle for a relatively short time (2 to 3 years).
- the image processing module (3) remains in the vehicle interior (1) in addition to the necessary image display (4).
- the components are compactly integrated in a single housing, a miniature computer (5). Due to the low weight of the miniature computer (5), a mechanically simple bracket is usually sufficient for its secure storage.
- each of the image processing modules (3) is in contact with the or one of several camera systems via a communication link (6).
- the detachable integration of the image processing module (3) in the vehicle also offers the advantage that one and the same module can be used in several vehicles.
- a vehicle driver can thus use it by carrying the appropriately prepared microcomputer in several vehicles.
- vehicle rental companies no longer need to equip each of the vehicles in their fleet with a special image processing system. If, unexpectedly, more systems than available are then required, additional devices can be procured and made available relatively quickly since there is no need for complex and expensive control device installation.
- the use of a conventional miniature computer (5) which is also becoming increasingly popular among vehicle owners, results in a continuous increase in processor performance and image display quality during the period of use of the image processing system.
- the invention offers the possibility of offering a wide range of differently powerful systems in a simple manner by the software optimized for the image processing task is offered on a wide variety of small computers. So it may be sufficient for some tasks to use a monochrome display unit, or on the other hand to offer systems with limited functionality but inexpensively on the smallest computers of the last generation of devices.
- the use of the image processing system can be improved in a particularly advantageous manner if the microcomputer is provided with a data interface, via which image processing programs can be read into its storage unit. In this way, new and improved algorithms for image processing and image display can be easily installed on the system.
- the system adapts itself profitably not only through the continuous replacement of the system hardware (small computer), but also through regular adjustment of the system software to the increasing development and the increasing requirements.
- microcomputer allows it, it is conceivable to install algorithms for different types of image processing in parallel. For example, algorithms for evaluating image data from an infrared system, image data from a multi-camera system or a special algorithm for pedestrian detection in city center scenarios. In general, processor performance will not be sufficient to process all of these complex tasks in parallel. In particular, the microcomputer should therefore be provided in a profitable manner via input means which allow a selection of the processing algorithm or display modes that are best suited to the circumstances. The best way to do this is to navigate through the menu using the standard keyboard on the microcomputer.
- the camera module assigned to the image processing module and display unit located in the microcomputer can be permanently integrated in the vehicle and connected to the microcomputer via an interface located in the holder. It is conceivable for the camera module to be designed so that it can be separated from the cabling between the camera module and the microcomputer, so that the camera module can be replaced, if necessary, and thus adapted to technical developments. In such a case, a motor vehicle can be inexpensively assembled as standard with cabling, to which a suitable camera can be mounted if required, for example if the optional equipment with an image processing system is desired. On the other hand, this also opens up the possibility for the vehicle user net to use its own existing camera as a camera system for the image processing system.
- the functionality of the novel image processing system can in particular also be increased by providing the microcomputer with an interface via which data can be transferred to and from in-vehicle systems.
- in-vehicle systems are in particular:
- Driver assistance systems that can have a regulating effect on driving dynamics in dangerous situations (for example: braking or avoiding obstacles or warning the driver).
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/546,509 US20070147660A1 (en) | 2003-02-22 | 2004-02-20 | Image processing system for motor vehicles |
EP04713064A EP1594725A1 (de) | 2003-02-22 | 2004-02-20 | Bildverarbeitungssystem für kraftfahrzeuge |
DE202004007360U DE202004007360U1 (de) | 2004-02-20 | 2004-05-05 | Bildverarbeitungssystem für Kraftfahrzeuge |
PCT/EP2004/008893 WO2005090124A1 (de) | 2004-02-20 | 2004-08-09 | Bildverarbeitungssystem für kraftfahrzeuge |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10307607.7 | 2003-02-22 | ||
DE10307607A DE10307607A1 (de) | 2003-02-22 | 2003-02-22 | Verteiltes Bildverarbeitungssystem für Kraftfahrzeuge |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004074046A1 true WO2004074046A1 (de) | 2004-09-02 |
Family
ID=32841808
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2004/001715 WO2004074046A1 (de) | 2003-02-22 | 2004-02-20 | Bildverarbeitungssystem für kraftfahrzeuge |
Country Status (4)
Country | Link |
---|---|
US (1) | US20070147660A1 (de) |
EP (1) | EP1594725A1 (de) |
DE (2) | DE10307607A1 (de) |
WO (1) | WO2004074046A1 (de) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008041295A1 (de) | 2008-08-18 | 2010-02-25 | Robert Bosch Gmbh | Mobiles Navigationsgerät und diesbezügliches Verfahren |
DE102010055114A1 (de) | 2010-12-18 | 2011-07-28 | Daimler AG, 70327 | Umgebungserfassungsvorrichtung für ein Fahrzeug |
DE102012209496A1 (de) * | 2012-06-05 | 2013-12-05 | Bayerische Motoren Werke Aktiengesellschaft | Mobiles Endgerät zur Steuerung einer Funktion eines Fahrzeugs |
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DE102007025147B4 (de) * | 2007-05-30 | 2020-08-06 | Bayerische Motoren Werke Aktiengesellschaft | System zur Spurverlassenswarnung und/oder Spurhaltefunktion |
DE102007048373A1 (de) * | 2007-10-09 | 2009-04-23 | Continental Automotive Gmbh | Portabler Abstandswarner |
DE102009005571A1 (de) * | 2009-01-21 | 2010-07-22 | Adc Automotive Distance Control Systems Gmbh | Nachrüstbares Fahrerassistenzsystem |
DE102009006218A1 (de) * | 2009-01-27 | 2010-07-29 | Hella Kgaa Hueck & Co. | Warnvorrichtung für Verkehrsobjekte, zum Beispiel Fahrzeuge, Sondersignalanlagen an Fahrzeugen, transportable Warnbaken oder Warnschilder |
DE102009048493A1 (de) | 2009-09-25 | 2011-04-07 | Valeo Schalter Und Sensoren Gmbh | Fahrerassistenzsystem für ein Fahrzeug, Fahrzeug mit einem Fahrerassistenzsystem und Verfahren zum Unterstützen eines Fahrers beim Führen eines Fahrzeugs |
DE102009048492A1 (de) | 2009-09-25 | 2011-03-31 | Valeo Schalter Und Sensoren Gmbh | Tragbares Kommunikationsgerät, Fahrerassistenzsystem mit einem tragbaren Kommuniktionsgerät und Verfahren zum Unterstützen eines Fahrers beim Führen eines Fahrzeugs |
DE102009048491A1 (de) | 2009-09-25 | 2011-04-07 | Valeo Schalter Und Sensoren Gmbh | Nachrüstsystem für ein Fahrzeug, Nachrüstkomponente und Verfahren zum Durchführen einer Funktion zur Fahrerunterstützung |
DE102010034262A1 (de) | 2010-08-13 | 2012-02-16 | Valeo Schalter Und Sensoren Gmbh | Nachrüstsystem für ein Kraftfahrzeug und Verfahren zum Unterstützen eines Fahrers beim Führen eines Kraftfahrzeugs |
DE102010063133A1 (de) * | 2010-12-15 | 2012-06-21 | Robert Bosch Gmbh | Verfahren und System zur Bestimmung einer Eigenbewegung eines Fahrzeugs |
US11145215B1 (en) * | 2011-03-11 | 2021-10-12 | Sitting Man, Llc | Methods, systems, and computer program products for providing feedback to a user of a portable electronic in motion |
DE102011103231A1 (de) | 2011-06-03 | 2012-01-19 | Daimler Ag | Bildverarbeitungsvorrichtung für ein Fahrzeug, Fahrzeug mit einer solchen Bildverarbeitungsvorrichtung und Verfahren zur Darstellung von Bilddaten in einem Fahrzeug |
DE102011083745B4 (de) * | 2011-09-29 | 2019-01-10 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum monokularen Motion-Stereo-basierten automatischen Vermessen von freien Parkplätzen, Computerprogrammprodukt und Vorrichtung |
CN103832357B (zh) * | 2012-11-23 | 2017-10-13 | 深圳华一汽车科技有限公司 | 一种基于机器视觉的车道偏离警告系统及方法 |
JP5561396B1 (ja) * | 2013-02-19 | 2014-07-30 | 日本電気株式会社 | 運転支援システムおよび運転支援方法 |
DE102013203653A1 (de) * | 2013-03-04 | 2014-09-04 | Bayerische Motoren Werke Aktiengesellschaft | Außenbildeinblendung für Center Display |
US10115164B1 (en) | 2013-10-04 | 2018-10-30 | State Farm Mutual Automobile Insurance Company | Systems and methods to quantify and differentiate individual insurance risk based on actual driving behavior and driving environment |
CN103927621A (zh) * | 2014-04-17 | 2014-07-16 | 国通道路交通管理工程技术研究中心有限公司 | 一种监管重点运输车辆驾驶员资格的系统及方法 |
CN103927521A (zh) * | 2014-04-17 | 2014-07-16 | 国通道路交通管理工程技术研究中心有限公司 | 一种基于人脸识别的驾驶员资格确认系统及方法 |
WO2016005779A1 (en) * | 2014-07-08 | 2016-01-14 | Umm Al-Qura University | Broadcasting of land, water, and air cameras |
JP6841159B2 (ja) * | 2017-05-24 | 2021-03-10 | トヨタ自動車株式会社 | 運転支援装置 |
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2004
- 2004-02-20 WO PCT/EP2004/001715 patent/WO2004074046A1/de active Application Filing
- 2004-02-20 EP EP04713064A patent/EP1594725A1/de not_active Withdrawn
- 2004-02-20 DE DE102004008867A patent/DE102004008867B8/de not_active Expired - Fee Related
- 2004-02-20 US US10/546,509 patent/US20070147660A1/en not_active Abandoned
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DE102008041295A1 (de) | 2008-08-18 | 2010-02-25 | Robert Bosch Gmbh | Mobiles Navigationsgerät und diesbezügliches Verfahren |
DE102010055114A1 (de) | 2010-12-18 | 2011-07-28 | Daimler AG, 70327 | Umgebungserfassungsvorrichtung für ein Fahrzeug |
DE102012209496A1 (de) * | 2012-06-05 | 2013-12-05 | Bayerische Motoren Werke Aktiengesellschaft | Mobiles Endgerät zur Steuerung einer Funktion eines Fahrzeugs |
Also Published As
Publication number | Publication date |
---|---|
DE102004008867B4 (de) | 2011-04-07 |
DE102004008867B8 (de) | 2011-07-28 |
DE102004008867A1 (de) | 2004-09-09 |
EP1594725A1 (de) | 2005-11-16 |
US20070147660A1 (en) | 2007-06-28 |
DE10307607A1 (de) | 2004-09-09 |
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