WO2020064007A1 - 车辆的提醒方法、系统及车辆 - Google Patents

车辆的提醒方法、系统及车辆 Download PDF

Info

Publication number
WO2020064007A1
WO2020064007A1 PCT/CN2019/109465 CN2019109465W WO2020064007A1 WO 2020064007 A1 WO2020064007 A1 WO 2020064007A1 CN 2019109465 W CN2019109465 W CN 2019109465W WO 2020064007 A1 WO2020064007 A1 WO 2020064007A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
image information
icon
steering
road
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.)
Ceased
Application number
PCT/CN2019/109465
Other languages
English (en)
French (fr)
Inventor
樊鹏宇
李明
安淑苗
安旺
刘羽飞
温浩
应世明
陈思远
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.)
Great Wall Motor Co Ltd
Original Assignee
Great Wall Motor Co Ltd
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 Great Wall Motor Co Ltd filed Critical Great Wall Motor Co Ltd
Priority to AU2019348095A priority Critical patent/AU2019348095A1/en
Publication of WO2020064007A1 publication Critical patent/WO2020064007A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50—Projected symbol or information, e.g. onto the road or car body

Definitions

  • the present invention relates to the technical field of automobiles, and in particular, to a method, system and vehicle for reminding a vehicle.
  • a vehicle headlight has only a simple lighting function.
  • the driver turns on the steering light by turning the steering lever to remind pedestrians and surrounding vehicles.
  • the present invention aims to propose a method for reminding a vehicle.
  • the vehicle reminding method can enable a pedestrian or a person in a surrounding vehicle to accurately determine whether the vehicle turns on a turn signal to turn or overtake.
  • Other vehicles or pedestrians can know the driving intention of the vehicle in time, so that other vehicles or pedestrians can be started. To the warning role to improve driving safety.
  • a vehicle reminding method includes the following steps: detecting whether a turn signal is turned on; if the turn signal is turned on, further obtaining navigation information and / or image information in front of the vehicle; and according to the navigation information and / or image in front of the vehicle
  • the information determines a driving intention of the vehicle; if the driving intention is a steering, a steering icon is projected on a road surface in front of the vehicle, and if the driving intention is a passing vehicle, a passing icon is projected on a road surface in front of the vehicle.
  • determining the driving intention of the vehicle according to the navigation information and / or image information in front of the vehicle includes: determining a steering or overtaking according to the navigation information; and / or identifying whether there is a vehicle in front according to the image information in front of the vehicle At the intersection, turn or overtake is determined based on the recognition results.
  • the method further includes: identifying whether the road is forbidden according to the navigation information and / or image information in front of the vehicle; if yes, projecting a forbidden icon on the road surface in front of the vehicle.
  • it further comprises: determining whether there is a pedestrian at the intersection according to the image information in front of the vehicle; if so, when the vehicle turns, project the steering icon to the foot of the pedestrian.
  • the projecting the steering icon to the foot of a pedestrian includes tracking the pedestrian so that the steering icon projected to the foot of the pedestrian moves with the movement of the pedestrian.
  • the method further includes: if the turn signal is not turned on, when a driving intention of the vehicle is determined to be turning according to the navigation information and / or image information in front of the vehicle, a steering icon is projected on a road surface in front of the vehicle in advance.
  • the method for reminding a vehicle of the present invention can enable a pedestrian or a person in a surrounding vehicle to accurately determine whether the vehicle turns on a turn signal to turn or overtake, and other vehicles or pedestrians can understand the driving intention of the vehicle in time, so that other vehicles can be informed. Or pedestrians play a warning role to improve driving safety.
  • a second object of the present invention is to provide a vehicle reminder system.
  • the system can enable pedestrians or people in surrounding vehicles to accurately determine whether the vehicle turns on the turn signal to turn or overtake.
  • Other vehicles or pedestrians can know the driving intention of the vehicle in time, so it can serve as a warning to other vehicles or pedestrians. To improve driving safety.
  • a vehicle reminder system includes: a detection device for detecting whether a turn signal is turned on; and a controller for further obtaining navigation information and / or image information in front of a vehicle when the turn signal is turned on, and according to the Navigation information and / or image information in front of the vehicle determines the driving intention of the vehicle; a projection module is configured to project a steering icon on the road surface in front of the vehicle when the controller determines that the driving intention is a steering, When overtaking, the overtaking icon is projected on the road in front of the vehicle.
  • the controller is configured to determine whether to turn or overtake according to the navigation information; and / or identify whether there is an intersection ahead based on image information in front of the vehicle, and determine to turn or overtake based on the recognition result.
  • controller is further configured to identify whether the road is forbidden according to the navigation information and / or image information in front of the vehicle, and the projection module is further configured to, when the controller determines that the road is forbidden, A no-go icon is projected on the road ahead of the vehicle.
  • controller is further configured to determine whether there is a pedestrian at the intersection based on image information in front of the vehicle, and if so, when the vehicle turns, the projection module projects the steering icon to the foot of the pedestrian, and Tracking the pedestrian so that the steering icon projected by the projection module under the foot of the pedestrian moves with the movement of the pedestrian.
  • the vehicle reminder system has the same advantages as the foregoing vehicle reminder method over the prior art, and will not be repeated here.
  • a third object of the present invention is to provide a vehicle that can enable pedestrians or people in surrounding vehicles to accurately determine whether the vehicle turns on a turn signal to turn or overtake, and other vehicles or pedestrians can understand the driving of the vehicle in time. Intention, which can play a warning role to other vehicles or pedestrians, and improve driving safety.
  • a vehicle is provided with a vehicle reminder system according to any one of the above embodiments.
  • An embodiment of the third to fourth aspects of the present application discloses a computer-readable storage medium storing a vehicle reminder program, and the vehicle reminder program is executed by a processor to implement the vehicle reminder according to the first aspect. method.
  • FIG. 1 is a flowchart of a vehicle reminding method according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a vehicle reminding method according to another embodiment of the present invention.
  • FIG. 3 is a specific example diagram of a vehicle reminding method according to another embodiment of the present invention.
  • FIG. 4 is a schematic projection diagram of a vehicle reminding method according to an embodiment of the present invention when turning;
  • FIG. 5 is a schematic projection diagram of a vehicle reminding method according to an embodiment of the present invention when passing a vehicle;
  • FIG. 6 is a schematic diagram of a projection of a pedestrian when turning in a method of reminding a vehicle according to an embodiment of the present invention
  • FIG. 7 is a structural block diagram of a vehicle reminder system according to an embodiment of the present invention.
  • FIG. 1 is a flowchart of a method for reminding a vehicle according to an embodiment of the present invention.
  • a method for reminding a vehicle includes the following steps:
  • S101 Detect whether the turn signal is on. For example, it is determined whether the turn signal is turned on and whether the left turn signal is turned on or the right turn signal is turned on according to a signal corresponding to the action of the steering lever.
  • the image information of the front of the vehicle can be collected by a vehicle camera.
  • a vehicle camera For example: capture images of the road in front of the vehicle.
  • S103 Determine a driving intention of the vehicle according to the navigation information and / or image information in front of the vehicle.
  • the steering or overtaking may be determined based on the navigation information; and / or the presence or absence of an intersection ahead may be identified based on the image information in front of the vehicle, and the steering or overtaking may be determined according to the recognition result.
  • the vehicle After the vehicle turns on the turn signal, if there is navigation information, you can determine whether the road ahead has an intersection based on the navigation information, and you can determine whether the vehicle needs to turn into the intersection based on the navigation information (that is, turn), and if so, determine the vehicle
  • the driving intention is to turn, that is, the purpose of turning on the turn signal at this time is to turn.
  • it is determined according to the navigation that the front intersection does not need to turn, or there is no intersection ahead it is determined that the purpose of turning on the turn signal of the vehicle at this time is usually to overtake.
  • there is also the possibility of changing lanes or parking on the side At this time, it can be further determined whether there are vehicles near the side where the turn signal is turned on. If not, it may be changing lanes or parking on the side.
  • the navigation information and the image information in front of the vehicle can also be used to determine whether the driving intention is steering or overtaking.
  • S104 If the driving intention is to turn, a steering icon is projected on the road in front of the vehicle, and if the driving intention is to overtake, a passing icon is projected on the road in front of the vehicle.
  • a steering icon can be projected on the road in front of the vehicle to remind the driver of the need to steer, to avoid the driver unfamiliar with the road and to miss the intersection. It can act as a warning to other vehicles or pedestrians and improve driving safety.
  • the method further comprises: identifying whether a road is prohibited from driving according to the navigation information and / or image information in front of the vehicle; if so, projecting a prohibition icon onto a road surface in front of the vehicle. Therefore, the driver can be prompted in advance to respond in advance, such as changing the driving route.
  • the vehicle reminding method further includes: determining whether there is a pedestrian at the intersection according to the image information in front of the vehicle; and if so, projecting a steering icon under the pedestrian's feet when the vehicle turns.
  • projecting the turning icon to the foot of a pedestrian includes tracking the pedestrian so that the turning icon projected to the foot of the pedestrian moves with the movement of the pedestrian.
  • pedestrians can be identified based on the collected images, thereby tracking the pedestrians.
  • the vehicle terminal can transmit the navigation information to the main controller according to the vehicle navigation information.
  • the main controller recognizes the navigation information.
  • the main controller transmits a signal to Projection module, the projection module projects the corresponding turn indicator (turn icon) on the road in front of the driver to achieve the purpose of reminding the driver and pedestrians in the surrounding vehicles, and can also project corresponding icons to remind based on navigation, forbidden traffic and other road conditions Driver.
  • the driver can recognize the road condition in front of the camera configured on the vehicle, and the projection module will project the corresponding icon according to the identified information.
  • the driver can manually turn the steering lever to transmit the steering signal to the main controller, which is output to the projection module after being processed by the main controller, and the projection module projects the corresponding steering mark.
  • the steering mark projection area is an area (n + 1) meters ahead of the driver, and the projection position can be adjusted within the area.
  • the normal default projection is (n + 1) meters.
  • the icon can be projected under the pedestrian's feet according to the pedestrian information identified by the camera. Among them, n is the distance of the driver's blind zone.
  • a forbidden sign for example, the corresponding prohibited sign will be projected.
  • the navigation When the navigation is turned on, the navigation will also provide prohibited information. The driver provides this information to the driver as he enters the lane.
  • the vehicle When the vehicle goes straight normally, it will frequently change lanes. When the lane is changed, the steering mark projection will not be performed.
  • the navigation When the navigation is turned on, the vehicle position is determined based on the navigation information, whether or not a turn is needed, and the steering projection is not performed when it is far from the intersection.
  • the sensor When the navigation is not turned on, the sensor will recognize the road conditions in front of the vehicle and whether there is an intersection to determine whether the vehicle needs to project a turning sign.
  • the camera When passing through an intersection on a highway, it will determine whether a turn is needed based on the navigation. If a turn is needed, when it is about to reach the intersection, a steering sign is projected to remind the driver to turn. In this scenario, the camera can be used with navigation. When the two types of recognized information are inconsistent, the navigation information is mainly used. In order to prevent the camera from detecting that the intersection is not an intersection that requires a turn, the driver may go in the wrong direction.
  • the sensor Pedestrian information is recognized, a turn sign is projected under the pedestrian's feet, and the icon will flash. Can effectively remind pedestrians in front to avoid vehicles in time.
  • the method for reminding a vehicle of the present invention can enable a pedestrian or a person in a surrounding vehicle to accurately determine whether the vehicle turns on a turn signal to turn or overtake, and other vehicles or pedestrians can understand the driving intention of the vehicle in time, so that other vehicles can Or pedestrians play a warning role to improve driving safety.
  • the method also determines the driving intention without turning on the turn signal.
  • a steering icon is projected on the road in front of the vehicle in advance, so as to remind the driver of the vehicle on the one hand , To avoid the driver being unfamiliar with the road and missing the intersection, on the other hand, it can serve as a warning to other vehicles or pedestrians and improve driving safety.
  • the turn signal when it is determined that the driving intention of the vehicle is to turn based on the navigation information and / or image information in front of the vehicle, a steering icon is projected on the road surface in front of the vehicle in advance. On the one hand, it reminds the driver of the vehicle to prevent the driver from unfamiliar with the road and miss the intersection; on the other hand, it can serve as a warning to other vehicles or pedestrians and improve driving safety.
  • FIG. 7 is a structural block diagram of a vehicle reminder system according to an embodiment of the present invention.
  • a vehicle reminder system 700 according to an embodiment of the present invention includes a detection device 710, a controller 720, and a projection module 730.
  • the detecting device 710 is configured to detect whether a turn signal is turned on.
  • the controller 720 is configured to further obtain navigation information and / or image information in front of the vehicle when the turn signal is turned on, and determine a driving intention of the vehicle according to the navigation information and / or image information in front of the vehicle.
  • the projection module 730 is configured to project a steering icon onto the road surface in front of the vehicle when the controller 720 determines that the driving intention is to turn, and project a passing icon onto the road surface in front of the vehicle when the driving intention is to overtake.
  • the controller 720 is configured to: determine a steering or overtaking according to the navigation information; and / or identify whether there is an intersection ahead according to image information in front of the vehicle, and determine according to the recognition result Steering or overtaking.
  • the controller 720 is further configured to identify whether a road is prohibited based on the navigation information and / or image information in front of the vehicle, and the projection module is further configured to determine the When the road is forbidden, a forbidden icon is projected on the road in front of the vehicle.
  • the controller 720 is further configured to determine whether there is a pedestrian at an intersection based on image information in front of the vehicle, and if so, when the vehicle turns, the projection module moves toward the foot of the pedestrian Projecting the steering icon and tracking the pedestrian, so that the steering icon projected by the projection module under the foot of the pedestrian moves with the movement of the pedestrian.
  • the vehicle reminding system it can be accurately determined whether the purpose of turning on the turn signal is to turn or to overtake, so that when the vehicle needs to turn, the steering icon is projected on the road in front of the vehicle, and the corresponding overtaking is projected when overtaking.
  • Icon to make other vehicles or pedestrians clear the driving intention of the vehicle on the one hand remind the driver of the vehicle to avoid the driver unfamiliar with the road and miss the intersection, on the other hand, it can serve as a warning to other vehicles or pedestrians and improve driving Safety.
  • an embodiment of the present invention discloses a vehicle provided with a vehicle reminder system as in any of the above embodiments.
  • the vehicle can accurately determine whether the purpose of turning on the turn signal is to turn or to overtake, so that when the vehicle needs to turn, the steering icon is projected on the road in front of the vehicle, and the corresponding overtaking icon is projected when overtaking to make other vehicles or pedestrians clear.
  • the driving intention of the vehicle reminds the driver of the vehicle on the one hand to prevent the driver from unfamiliar with the road and miss the intersection, on the other hand, it can serve as a warning to other vehicles or pedestrians and improve driving safety.
  • an embodiment of the present application discloses a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the method for reminding a vehicle according to any one of the foregoing embodiments is implemented.
  • any process or method description in the flowchart or otherwise described herein can be understood as indicating that it includes one or more steps for implementing a specific logical function or process Module, fragment or part of the code of an executable instruction, and the scope of the preferred embodiment of the present application includes additional implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner according to the functions involved Or perform the functions in the reverse order, which should be understood by those skilled in the art to which the embodiments of the present application belong.
  • Logic and / or steps represented in a flowchart or otherwise described herein, for example, a sequenced list of executable instructions that may be considered to implement a logical function, may be embodied in any computer-readable medium, For use by, or in combination with, an instruction execution system, device, or device (such as a computer-based system, a system that includes a processor, or another system that can fetch and execute instructions from an instruction execution system, device, or device) Or equipment.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
  • computer-readable media include the following: electrical connections (electronic devices) with one or more wirings, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disk read-only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable Processing to obtain the program electronically and then store it in computer memory.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

一种车辆的提醒方法、系统及车辆。其中，车辆的提醒方法，包括以下步骤：检测转向灯是否开启（S101）；如果转向灯开启，则进一步获取导航信息和/或车辆前方的图像信息（S102）；根据导航信息和/或车辆前方的图像信息确定车辆的行驶意图（S103）；如果为转向，则向车辆前方的路面上投射转向图标，如果行驶意图为超车，则向车辆前方的路面上投射超车图标（S104）。该车辆的提醒方法可以使行人或者周边车辆的车内人员准确地判断出该车辆开启转向灯是转向还是超车，其它车辆或者行人能够及时了解该车辆的驾驶意图，从而可以对其它车辆或者行人起到警示作用，提升行车安全。

Description

车辆的提醒方法、系统及车辆
相关申请的交叉引用
本申请要求长城汽车股份有限公司于2018年09月30日提交的、发明名称为“车辆的提醒方法、系统及车辆”的、中国专利申请号为“201811159925.5”的优先权。
技术领域
本发明涉及汽车技术领域，特别涉及一种车辆的提醒方法、系统及车辆。
背景技术
相关技术中，车辆前照灯只具备简单的照明功能。当需要转弯或者超车时，驾驶员通过拨动转向拨杆使转向灯亮起，达到提醒行人以及周边车辆的目的。
存在以下问题，由于驾驶员拨动转向拨杆使转向灯亮起时，当行人或者周边车辆的车内人员看到后并不能明确其是要转向还是超车，即行人或者周边车辆并不能明确其到底是要转弯还是要超车等行为，因此，存在发生交通事故的风险。
发明内容
有鉴于此，本发明旨在提出一种车辆的提醒方法。该车辆的提醒方法可以使行人或者周边车辆的车内人员准确地判断出该车辆开启转向灯是转向还是超车，其它车辆或者行人能够及时了解该车辆的驾驶意图，从而可以对其它车辆或者行人起到警示作用，提升行车安全。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆的提醒方法，包括以下步骤：检测转向灯是否开启；如果所述转向灯开启，则进一步获取导航信息和/或车辆前方的图像信息；根据所述导航信息和/或车辆前方的图像信息确定车辆的行驶意图；如果所述行驶意图为转向，则向车辆前方的路面上投射转向图标，如果所述行驶意图为超车，则向车辆前方的路面上投射超车图标。
进一步的，所述根据导航信息和/或车辆前方的图像信息确定车辆的行驶意图，包括：根据所述导航信息确定转向或者超车；和/或，根据所述车辆前方的图像信息识别前方是否有路口，并根据识别结果确定转向或者超车。
进一步的，还包括：根据所述导航信息和/或车辆前方的图像信息识别道路是否禁行； 如果是，则向车辆前方的路面上投射禁行图标。
进一步的，还包括：根据所述车辆前方的图像信息确定路口是否有行人；如果是，则在车辆转向时，向所述行人的脚下投射所述转向图标。
进一步的，所述向行人的脚下投射所述转向图标，包括：对所述行人进行追踪，以使向所述行人的脚下投射的转向图标随所述行人的移动而移动。
进一步的，还包括：如果所述转向灯未开启，则在根据所述导航信息和/或车辆前方的图像信息确定车辆的行驶意图为转向时，预先向车辆前方的路面上投射转向图标。
本发明的车辆的提醒方法，可以使行人或者周边车辆的车内人员准确地判断出该车辆开启转向灯是转向还是超车，其它车辆或者行人能够及时了解该车辆的驾驶意图，从而可以对其它车辆或者行人起到警示作用，提升行车安全。
本发明的第二个目的在于提出一种车辆的提醒系统。该系统可以使行人或者周边车辆的车内人员准确地判断出该车辆开启转向灯是转向还是超车，其它车辆或者行人能够及时了解该车辆的驾驶意图，从而可以对其它车辆或者行人起到警示作用，提升行车安全。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆的提醒系统，包括：检测装置，用于检测转向灯是否开启；控制器，用于在所述转向灯开启时，进一步获取导航信息和/或车辆前方的图像信息，并根据所述导航信息和/或车辆前方的图像信息确定车辆的行驶意图；投影模块，用于在所述控制器确定所述行驶意图为转向时，向车辆前方的路面上投射转向图标，在所述行驶意图为超车时，向车辆前方的路面上投射超车图标。
进一步的，所述控制器用于：根据所述导航信息确定转向或者超车；和/或，根据所述车辆前方的图像信息识别前方是否有路口，并根据识别结果确定转向或者超车。
进一步的，所述控制器还用于根据所述导航信息和/或车辆前方的图像信息识别道路是否禁行，所述投影模块还用于在所述控制器确定所述道路禁行时，向车辆前方的路面上投射禁行图标。
进一步的，所述控制器还用于根据所述车辆前方的图像信息确定路口是否有行人，如果是，则在车辆转向时，所述投影模块向所述行人的脚下投射所述转向图标，并对所述行人进行追踪，以使所述投影模块向所述行人的脚下投射的转向图标随所述行人的移动而移动。
所述的车辆的提醒系统与上述的车辆的提醒方法相对于现有技术所具有的优势相同，在此不再赘述。
本发明的第三个目的在于提出一种车辆，该车辆可以使行人或者周边车辆的车内人员 准确地判断出该车辆开启转向灯是转向还是超车，其它车辆或者行人能够及时了解该车辆的驾驶意图，从而可以对其它车辆或者行人起到警示作用，提升行车安全。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆，设置有如上述任意一个实施例所述的车辆的提醒系统。
所述的车辆与上述的车辆的提醒系统相对于现有技术所具有的优势相同，在此不再赘述。
本申请的第三四方面的实施例公开了一种计算机可读存储介质，其上存储有车辆的提醒程序，该车辆的提醒程序被处理器执行时实现上述第一方面所述的车辆的提醒方法。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
构成本发明的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明一个实施例所述的车辆的提醒方法的流程图；
图2为本发明另一个实施例所述的车辆的提醒方法的流程图；
图3为本发明另一个实施例所述的车辆的提醒方法的具体示例图；
图4为本发明一个实施例所述的车辆的提醒方法的转向时的投影示意图；
图5为本发明一个实施例所述的车辆的提醒方法的超车时的投影示意图；
图6为本发明一个实施例所述的车辆的提醒方法的转向时存在行人的投影示意图；
图7为本发明一个实施例所述的车辆的提醒系统的结构框图。
具体实施方式
需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
下面将参考附图并结合实施例来详细说明本发明。
图1是根据本发明一个实施例的车辆的提醒方法的流程图。
如图1所示，并结合图2，根据本发明一个实施例的车辆的提醒方法，包括如下步骤：
S101：检测转向灯是否开启。例如：根据转向拨杆动作对应的信号确定转向灯是否开启，以及是左转向灯开启还是右转向灯开启。
S102：如果转向灯开启，则进一步获取导航信息和/或车辆前方的图像信息。
其中，车辆前方的图像信息可以通过车载摄像头采集得到。例如：采集车辆前方道路的图像。
S103：根据导航信息和/或车辆前方的图像信息确定车辆的行驶意图。
具体地说，可以根据导航信息确定转向或者超车；和/或，根据车辆前方的图像信息识别前方是否有路口，并根据识别结果确定转向或者超车。
例如：当车辆开启转向灯后，如果存在导航信息，可以根据导航信息确定前方道路是否有路口，并且可以根据导航信息确定车辆是否需要转入该路口(即：转向)，如果是，则确定车辆的行驶意图为转向，即：此时开启转向灯的目的是为了转向。反之，如果根据导航确定前方路口不需要转向，或者前方没有路口，则确定车辆此时开启转向灯的目的通常是为了超车。当然，也存在变道或者靠边停车的可能，此时，可以进一步确定转向灯开启的一侧附近是否有车辆，如果没有，则可能是变道或者靠边停车。
再如：当车辆开启转向灯后，也可以根据车辆前方的图像信息确定前方道路是否有路口，如果有路口，并且在路口附近为了行驶安全，通常不会进行加速超车，因此，可以确定车辆行驶意图为转向(即：转入路口)，即：此时开启转向灯的目的是为了转向。反之，如果根据车辆前方的图像确定前方没有路口，则确定车辆此时开启转向灯的目的是为了超车。当然，也存在变道或者靠边停车的可能，此时，可以进一步确定转向灯开启的一侧附近是否有车辆，如果没有，则可能是变道或者靠边停车。
当然，也可以通过导航信息和车辆前方的图像信息一同确定行驶意图是否为转向或者超车。
S104：如果行驶意图为转向，则向车辆前方的路面上投射转向图标，如果所述行驶意图为超车，则向车辆前方的路面上投射超车图标。
例如：前方存在路口，车辆需要转弯，此时，当接近路口时，可以向车辆前方的路面上投射转向图标，一方面提醒驾驶员需要转向，避免驾驶员不熟悉道路而错过路口，另一方面可以对其它车辆或者行人起到警示作用，提升行车安全。
进一步地，该方法还包括：根据所述导航信息和/或车辆前方的图像信息识别道路是否禁行；如果是，则向车辆前方的路面上投射禁行图标。从而，可以预先对驾驶员进行提示，以提前做好应对，例如改变行驶路线等。
此外，车辆的提醒方法，还包括：根据所述车辆前方的图像信息确定路口是否有行人；如果是，则在车辆转向时，向所述行人的脚下投射转向图标。
例如：向行人的脚下投射所述转向图标，包括：对行人进行追踪，以使向所述行人的 脚下投射的转向图标随所述行人的移动而移动。其中，可以根据采集到的图像识别行人，从而对行人进行跟踪。
如图3所示，在车辆行驶过程中，可以根据车辆导航信息，车辆终端将导航信息传输给主控制器，主控制器识别导航信息，在导航信息需要转弯时，主控制器将信号传输给投影模块，投影模块将相应的转向标识(转向图标)投射在驾驶员前方的路面上，达到提醒驾驶员以及周边车辆行人的目的，同时，也可根据导航识别禁行等路况，投射相应图标提醒驾驶员。
需要说明的是，在导航不开启的条件下，驾驶员可以根据车辆上配置的摄像头来识别前方路况，投射模块将根据识别到的信息投射相应的图标。同时，驾驶员可以通过手动拨动转向拨杆，将转向信号传输给主控制器，经主控制器处理后出输给投影模块，投影模块投射相应的转向标识。
如图4所示，转向标识投影区域为驾驶员前方(n+1)米以外的区域，且投影位置可在区域内自行调节。正常默认投影为(n+1)米的位置。有行人等需要进行提醒时，可根据摄像头识别的行人信息，将图标投射在行人脚下。其中，n为驾驶员盲区的距离。
另外，可以通过导航信息和/或车辆前方的图像信息识别前方路况，在识别到例如禁行标识时，会投射相应的禁行标识，在导航开启时，导航也会提供禁行信息，可在驾驶员进入该车道时就将该信息提供给驾驶员。
车辆在正常直行时，会经常变道，变道时打转向拨杆将不进行转向标识投影。在导航开启时，根据导航信息确定车辆位置，是否需要拐弯，离路口较远时，不进行转向投影。在导航不开启时，传感器会识别车辆前方路况，是否有路口，来确定车辆是否需要进行转向标志投影。
在路过高速路上的交叉路口时，会根据导航确定是否需要转弯，如需要转弯，在快到路口时，投射转向标识，提醒驾驶员转弯。该场景下，可以将摄像头配合导航，两种识别到的信息不一致时，以导航的信息为主。以免摄像头检测到路口不是需要转弯的路口，导致驾驶员走错方向。
超车提醒前车的场景下，例如：在正常行驶的过程中，经常出现超车的情况，尤其是在超大货车的情况下，相关技术中仅能够通过喇叭进行提醒，在周围环境比较乱，或者车内音乐等其他声音的音量比较大时，将会出现无法提醒到前方车辆的情况，行车安全存在较大的隐患。本发明的实施例中，如图5所示，在刚开始超车时，将投射向想要超过车辆的方向的转向图标，将其投射在本车道前方，即将超过车辆的左前方。在行驶到车辆车头并行状态时，将投射一种变道轨迹(即：超车图标)，以提醒右侧车将，本车接下来的行驶 意图，可提前做好准备。
如图6所示，在车辆正常行驶到路口需要转弯时，需要转弯的路口前方恰好有行人经过，这时相关技术中的转向将不能够有效地提醒行人，本发明的实施例，能够根据传感器识别到行人信息，将转向标识投射在行人脚下，并且图标将进行闪烁。可以有效地提醒前方行人及时避让车辆。
本发明的车辆的提醒方法，可以使行人或者周边车辆的车内人员准确地判断出该车辆开启转向灯是转向还是超车，其它车辆或者行人能够及时了解该车辆的驾驶意图，从而可以对其它车辆或者行人起到警示作用，提升行车安全。
进一步地，该方法还以在没有开启转向灯的情况下，确定行驶意图，这样，可以在车辆需要转弯时，预先向车辆前方的路面上投射转向图标，这样，一方面提醒该车辆的驾驶员，避免驾驶员不熟悉道路而错过路口，另一方面可以对其它车辆或者行人起到警示作用，提升行车安全。
例如：如果转向灯未开启，则在根据导航信息和/或车辆前方的图像信息确定车辆的行驶意图为转向时，预先向车辆前方的路面上投射转向图标。一方面提醒该车辆的驾驶员，避免驾驶员不熟悉道路而错过路口，另一方面可以对其它车辆或者行人起到警示作用，提升行车安全。
图7是根据本发明一个实施例的车辆的提醒系统的结构框图。如图7所示，根据本发明一个实施例的车辆的提醒系统700，包括：检测装置710、控制器720和投影模块730。
其中，检测装置710用于检测转向灯是否开启。控制器720用于在转向灯开启时，进一步获取导航信息和/或车辆前方的图像信息，并根据导航信息和/或车辆前方的图像信息确定车辆的行驶意图。投影模块730用于在控制器720确定行驶意图为转向时，向车辆前方的路面上投射转向图标，在所述行驶意图为超车时，向车辆前方的路面上投射超车图标。
在本发明的一个实施例中，所述控制器720用于：根据所述导航信息确定转向或者超车；和/或，根据所述车辆前方的图像信息识别前方是否有路口，并根据识别结果确定转向或者超车。
在本发明的一个实施例中，所述控制器720还用于根据所述导航信息和/或车辆前方的图像信息识别道路是否禁行，所述投影模块还用于在所述控制器确定所述道路禁行时，向车辆前方的路面上投射禁行图标。
在本发明的一个实施例中，所述控制器720还用于根据所述车辆前方的图像信息确定路口是否有行人，如果是，则在车辆转向时，所述投影模块向所述行人的脚下投射所述转向图标，并对所述行人进行追踪，以使所述投影模块向所述行人的脚下投射的转向图标随 所述行人的移动而移动。
根据本发明实施例的车辆的提醒系统，可以准确地判断出开启转向灯的目的是转向还是超车，从而在车辆需要转弯时，向车辆前方的路面上投射转向图标，在超车时投射相应的超车图标，以使其它车辆或者行人明确该车辆的驾驶意图，一方面提醒该车辆的驾驶员，避免驾驶员不熟悉道路而错过路口，另一方面可以对其它车辆或者行人起到警示作用，提升行车安全。
需要说明的是，本发明实施例的车辆的提醒系统的具体实现方式与本发明实施例的车辆的提醒方法的具体实现方式类似，具体请参见方法部分的描述，为了减少冗余，此处不做赘述。
进一步地，本发明的实施例公开了一种车辆，设置有如上述任意一个实施例中的车辆的提醒系统。该车辆可以准确地判断出开启转向灯的目的是转向还是超车，从而在车辆需要转弯时，向车辆前方的路面上投射转向图标，在超车时投射相应的超车图标，以使其它车辆或者行人明确该车辆的驾驶意图，一方面提醒该车辆的驾驶员，避免驾驶员不熟悉道路而错过路口，另一方面可以对其它车辆或者行人起到警示作用，提升行车安全。
另外，根据本发明实施例的车辆的其它构成以及作用对于本领域的普通技术人员而言都是已知的，为了减少冗余，此处不做赘述。
进一步地，本申请的实施例公开了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现根据上述任意一个实施例所述的车辆的提醒方法。
需要说明的是，在本说明书的描述中，流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多的用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布 线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
本技术领域的普通技术人员可以理解实现上述实施例的方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不是必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (10)

  1. 一种车辆的提醒方法，其特征在于，包括以下步骤：
    检测转向灯是否开启；
    如果所述转向灯开启，则进一步获取导航信息和/或车辆前方的图像信息；
    根据所述导航信息和/或车辆前方的图像信息确定车辆的行驶意图；
    如果所述行驶意图为转向，则向车辆前方的路面上投射转向图标，如果所述行驶意图为超车，则向车辆前方的路面上投射超车图标。
  2. 根据权利要求1所述的车辆的提醒方法，其特征在于，所述根据导航信息和/或车辆前方的图像信息确定车辆的行驶意图，包括：
    根据所述导航信息确定转向或者超车；和/或，
    根据所述车辆前方的图像信息识别前方是否有路口，并根据识别结果确定转向或者超车。
  3. 根据权利要求1或2所述的车辆的提醒方法，其特征在于，还包括：
    根据所述导航信息和/或车辆前方的图像信息识别道路是否禁行；
    如果是，则向车辆前方的路面上投射禁行图标。
  4. 根据权利要求3所述的车辆的提醒方法，其特征在于，还包括：
    根据所述车辆前方的图像信息确定路口是否有行人；
    如果是，则在车辆转向时，向所述行人的脚下投射所述转向图标。
  5. 根据权利要求1所述的车辆的提醒方法，其特征在于，还包括：
    如果所述转向灯未开启，则在根据所述导航信息和/或车辆前方的图像信息确定车辆的行驶意图为转向时，预先向车辆前方的路面上投射转向图标。
  6. 一种车辆的提醒系统，其特征在于，包括：
    检测装置，用于检测转向灯是否开启；
    控制器，用于在所述转向灯开启时，进一步获取导航信息和/或车辆前方的图像信息，并根据所述导航信息和/或车辆前方的图像信息确定车辆的行驶意图；
    投影模块，用于在所述控制器确定所述行驶意图为转向时，向车辆前方的路面上投射转向图标，在所述行驶意图为超车时，向车辆前方的路面上投射超车图标。
  7. 根据权利要求6所述的车辆的提醒系统，其特征在于，所述控制器用于：
    根据所述导航信息确定转向或者超车；和/或，
    根据所述车辆前方的图像信息识别前方是否有路口，并根据识别结果确定转向或者超 车。
  8. 根据权利要求6或7所述的车辆的提醒系统，其特征在于，所述控制器还用于根据所述导航信息和/或车辆前方的图像信息识别道路是否禁行，所述投影模块还用于在所述控制器确定所述道路禁行时，向车辆前方的路面上投射禁行图标。
  9. 根据权利要求8所述的车辆的提醒系统，其特征在于，所述控制器还用于根据所述车辆前方的图像信息确定路口是否有行人，如果是，则在车辆转向时，所述投影模块向所述行人的脚下投射所述转向图标，并对所述行人进行追踪，以使所述投影模块向所述行人的脚下投射的转向图标随所述行人的移动而移动。
  10. 一种车辆，其特征在于，设置有如权利要求6-9任一项所述的车辆的提醒系统。
PCT/CN2019/109465 2018-09-30 2019-09-30 车辆的提醒方法、系统及车辆 Ceased WO2020064007A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2019348095A AU2019348095A1 (en) 2018-09-30 2019-09-30 Prompting method and system for vehicle, and vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811159925.5 2018-09-30
CN201811159925.5A CN110356317B (zh) 2018-09-30 2018-09-30 车辆的提醒方法、系统及车辆

Publications (1)

Publication Number Publication Date
WO2020064007A1 true WO2020064007A1 (zh) 2020-04-02

Family

ID=68214730

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/109465 Ceased WO2020064007A1 (zh) 2018-09-30 2019-09-30 车辆的提醒方法、系统及车辆

Country Status (3)

Country Link
CN (1) CN110356317B (zh)
AU (2) AU2019101842A4 (zh)
WO (1) WO2020064007A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113715722A (zh) * 2021-08-30 2021-11-30 岚图汽车科技有限公司 一种车灯控制方法及装置
CN118942242A (zh) * 2024-07-16 2024-11-12 上海澳尔丁科技有限公司 一种基于大数据的数字化管理系统

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7268669B2 (ja) * 2020-11-30 2023-05-08 トヨタ自動車株式会社 注意喚起システム
JP2023017292A (ja) * 2021-07-26 2023-02-07 株式会社小糸製作所 路面描画システム
CN114495576B (zh) * 2022-01-19 2023-07-18 上汽通用五菱汽车股份有限公司 车辆盲区提示方法、装置、设备及计算机可读存储介质
CN115009298A (zh) * 2022-06-16 2022-09-06 九识智行(北京)科技有限公司 车辆行驶意图的提醒方法和自动驾驶车辆
CN115071549A (zh) * 2022-07-04 2022-09-20 广州小鹏汽车科技有限公司 一种投影灯控制方法、装置、车辆及计算机程序产品
CN115285017A (zh) * 2022-08-31 2022-11-04 安徽江淮汽车集团股份有限公司 一种夜间防撞警示方法、装置及系统
CN115761690A (zh) * 2022-09-26 2023-03-07 重庆长安汽车股份有限公司 夜间超车安全提示方法、装置、系统、车辆及存储介质
CN117104123B (zh) * 2023-09-08 2025-06-17 湖北芯擎科技有限公司 车辆灯光投影的调整方法、装置、电子设备及存储介质

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010260520A (ja) * 2009-04-28 2010-11-18 Shinjiro Ono 逆方向指示用方向指示器
CN105691293A (zh) * 2014-11-27 2016-06-22 德尔福电子(苏州)有限公司 一种汽车转向灯自动控制系统及方法
CN106915297A (zh) * 2015-12-25 2017-07-04 北京奇虎科技有限公司 车辆信号灯控制方法和装置
CN107161074A (zh) * 2017-04-25 2017-09-15 吉林大学 一种基于v2x技术的无人驾驶车辆数字大灯控制装置
CN206954090U (zh) * 2017-05-17 2018-02-02 上海蔚兰动力科技有限公司 驾驶意图指示装置
US20180093607A1 (en) * 2016-04-13 2018-04-05 Panasonic Automotive Systems Company Of America, Division Of Panasonic Corporation Of North America Vehicle signal
US10053001B1 (en) * 2015-09-24 2018-08-21 Apple Inc. System and method for visual communication of an operational status

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010260520A (ja) * 2009-04-28 2010-11-18 Shinjiro Ono 逆方向指示用方向指示器
CN105691293A (zh) * 2014-11-27 2016-06-22 德尔福电子(苏州)有限公司 一种汽车转向灯自动控制系统及方法
US10053001B1 (en) * 2015-09-24 2018-08-21 Apple Inc. System and method for visual communication of an operational status
CN106915297A (zh) * 2015-12-25 2017-07-04 北京奇虎科技有限公司 车辆信号灯控制方法和装置
US20180093607A1 (en) * 2016-04-13 2018-04-05 Panasonic Automotive Systems Company Of America, Division Of Panasonic Corporation Of North America Vehicle signal
CN107161074A (zh) * 2017-04-25 2017-09-15 吉林大学 一种基于v2x技术的无人驾驶车辆数字大灯控制装置
CN206954090U (zh) * 2017-05-17 2018-02-02 上海蔚兰动力科技有限公司 驾驶意图指示装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113715722A (zh) * 2021-08-30 2021-11-30 岚图汽车科技有限公司 一种车灯控制方法及装置
CN118942242A (zh) * 2024-07-16 2024-11-12 上海澳尔丁科技有限公司 一种基于大数据的数字化管理系统
CN118942242B (zh) * 2024-07-16 2025-06-03 中译语通科技(陕西)有限公司 一种基于大数据的数字化管理系统

Also Published As

Publication number Publication date
CN110356317B (zh) 2021-01-22
AU2019348095A1 (en) 2021-05-06
CN110356317A (zh) 2019-10-22
AU2019101842A4 (en) 2024-07-11

Similar Documents

Publication Publication Date Title
WO2020064007A1 (zh) 车辆的提醒方法、系统及车辆
JP6493545B2 (ja) 情報提示装置及び情報提示方法
JP6149824B2 (ja) 車載装置、車載装置の制御方法及び車載装置の制御プログラム
JP6375237B2 (ja) 自動運転制御装置
JP4614005B2 (ja) 移動軌跡生成装置
US20190073902A1 (en) Parking support device
JP6680136B2 (ja) 車外表示処理装置及び車外表示システム
JP7243600B2 (ja) 車両用運転支援装置
JP4765566B2 (ja) 運転行動評価装置
CN111886640A (zh) 车辆用报警装置
JP3931343B2 (ja) 経路誘導装置
CN106170827A (zh) 识别辅助系统
CN115892013A (zh) 用于操作车辆的系统、控制电路、方法、设备和存储介质
JP3931342B2 (ja) 経路誘導装置
CN110126726A (zh) 一种车辆警示的提示方法和装置
CN110383361A (zh) 用于在光信号设备处提醒驾驶员起动的方法和装置
CN113401056B (zh) 显示控制装置、显示控制方法以及计算机可读取存储介质
JP4506220B2 (ja) 車両用警告装置、車両用警告制御装置および警告方法
JP7663088B2 (ja) 車両減速支援装置、車両減速支援方法及び車両減速支援プログラム
JP7661924B2 (ja) 車両用報知制御装置及び車両用報知制御方法
JP7468159B2 (ja) 運転支援装置
CN115352365A (zh) 一种汽车盲区提醒方法、装置、电子设备和存储介质
JP2015203922A (ja) 認知支援システム
WO2022230779A1 (ja) 車両用報知制御装置及び車両用報知制御方法
JP2008247334A (ja) 注意喚起制御装置および注意喚起制御方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19866994

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2101001904

Country of ref document: TH

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2019348095

Country of ref document: AU

Date of ref document: 20190930

Kind code of ref document: A

122 Ep: pct application non-entry in european phase

Ref document number: 19866994

Country of ref document: EP

Kind code of ref document: A1