WO2023120818A1 - Dispositif de régulation de flux de trafic pour réguler un flux de trafic dans lequel des véhicules autonomes sont mélangés, et procédé l'utilisant - Google Patents

Dispositif de régulation de flux de trafic pour réguler un flux de trafic dans lequel des véhicules autonomes sont mélangés, et procédé l'utilisant Download PDF

Info

Publication number
WO2023120818A1
WO2023120818A1 PCT/KR2022/003658 KR2022003658W WO2023120818A1 WO 2023120818 A1 WO2023120818 A1 WO 2023120818A1 KR 2022003658 W KR2022003658 W KR 2022003658W WO 2023120818 A1 WO2023120818 A1 WO 2023120818A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
traffic
traffic flow
control right
flow control
Prior art date
Application number
PCT/KR2022/003658
Other languages
English (en)
Korean (ko)
Inventor
박지혁
강성은
김봉섭
채석민
윤경수
Original Assignee
재단법인 지능형자동차부품진흥원
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 재단법인 지능형자동차부품진흥원 filed Critical 재단법인 지능형자동차부품진흥원
Publication of WO2023120818A1 publication Critical patent/WO2023120818A1/fr

Links

Images

Classifications

    • G06Q50/40—
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals

Definitions

  • the present embodiments relate to a traffic flow control device for controlling traffic flow in a situation where autonomous vehicles are mixed and a method using the same.
  • traffic lights are composed of green lights, red lights, yellow lights and left turn lights for vehicles, green lights and red lights for pedestrians, and are installed at intersections of roads or on crosswalks. Automatically turns on and off at intervals of time.
  • Such a traffic signal controller is capable of controlling a traffic light with a time interval for the traffic police officer to manually operate regardless of a pre-stored program when the traffic police officer operates the manual controller attached to the traffic signal controller according to traffic conditions. there is.
  • the traffic police officer in order to manually manipulate the traffic signal controller as described above to operate the traffic signal light, the traffic police officer must operate the traffic signal controller at the location where the traffic signal controller is installed, so the area to secure the field of vision is limited, so the traffic situation on the road can be accurately grasped and operated. It is difficult to do, and there is a problem of increasing fatigue when operating for a long time.
  • the present disclosure provides traffic flow control in which autonomous vehicles are mixed, which receives an emergency situation in a traffic situation in which autonomous vehicles are mixed, receives a control right suitable for the emergency situation, and controls traffic flow in an area where an unexpected situation occurs. It is intended to provide a traffic flow control device and method for using the same.
  • the present disclosure determines a control level based on a reception unit that receives emergency situation information in an area where an unexpected situation has occurred from a traffic police server, and determines a control level based on the unexpected situation information, and corresponds to the control level.
  • a control requesting unit that requests control authority from the traffic police server
  • a control unit that receives control authority from the traffic police server and controls a traffic signal to resolve an unexpected situation based on the control authority
  • a database unit that stores emergency situation information and user information
  • the present disclosure provides an emergency reception step of receiving emergency situation information from a traffic police server in an area where an unexpected situation occurred, a data storage step of storing emergency situation information and user information, and a control level based on the emergency situation information. and a control right request step of requesting a control right corresponding to the control level to the traffic police server and a traffic signal control step of receiving control right from the traffic police server and controlling a traffic signal to resolve an unexpected situation based on the control right.
  • a traffic flow control device for controlling traffic flow in which autonomous vehicles are mixed and a method using the same enable rapid initial response through real-time intersection situation monitoring and signal display control in the event of an emergency or disaster, and autonomous driving when necessary.
  • vehicle remote control road traffic flow can be smoothed.
  • FIG. 1 is a block diagram for explaining a traffic flow control apparatus according to an embodiment of the present disclosure.
  • FIG. 2 is a diagram for explaining communication between a traffic flow control device and a traffic police server and a traffic signal according to an embodiment of the present disclosure.
  • FIG. 3 is a diagram for explaining determining a control level based on emergency situation information according to an exemplary embodiment.
  • FIG. 4 is a diagram for explaining how a traffic flow control apparatus communicates with a traffic police server to control a traffic signal according to an embodiment.
  • 5 is a diagram for explaining that a traffic police server grants a control right according to an embodiment.
  • FIG. 6 is a diagram for explaining a request for a control right differently according to circumstances according to an embodiment.
  • FIG. 7 is a flowchart illustrating a traffic flow control method according to an embodiment of the present disclosure.
  • first, second, A, B, (a), and (b) may be used in describing the components of the present disclosure. These terms are only used to distinguish the component from other components, and the nature, sequence, order, or number of the corresponding component is not limited by the term.
  • the traffic flow control device for controlling traffic flow with autonomous vehicles is expressed as a traffic flow control device
  • the traffic flow control method for controlling traffic flow with autonomous vehicles is expressed as a traffic flow control method.
  • FIG. 1 is a block diagram for explaining a traffic flow control device 10 according to an embodiment of the present disclosure.
  • Traffic flow control device 10 may include a receiving unit 110, a control right request unit 120, a control unit 130, a database unit 140, and the like.
  • the traffic flow control device 10 receives emergency situation information from the traffic police server 20 in an area where an unexpected situation occurs, determines a control level based on the unexpected situation information, and transfers the control right corresponding to the control level to the traffic police server A request is made to (20), a control right is granted from the traffic police server 20, and the traffic signal 30 for resolving an unexpected situation can be controlled based on the control right.
  • the traffic flow control device 10 Upon receiving an emergency situation, the traffic flow control device 10 according to the foregoing can solve the unexpected situation by remotely controlling the traffic signal 30 without being directly dispatched to the scene by receiving a control right suitable for the unexpected situation.
  • FIG. 2 is a diagram for explaining communication between the traffic flow control device 10 and the traffic police server 20 and the traffic signal 30 according to an embodiment of the present disclosure.
  • the traffic flow control device 10 may receive an emergency situation, unexpected situation information, a control right, and the like from the traffic police server 20 . Then, the traffic flow control device 10 may determine a control level based on the emergency situation information, request a control right corresponding to the determined control level to the traffic police server 20, and receive the control right. The traffic flow control device 10 may perform control to resolve the unexpected situation by communicating with the traffic signal 30 located in the area where the unexpected situation occurs based on the granted control authority.
  • the traffic flow control device 10, the traffic police server 20, and the traffic signal 30 may communicate with each other wired or wirelessly, and here, the communication method is not limited to a specific technology, and a known technology may be used.
  • the traffic flow control device 10 may communicate with the traffic police server 20 through a method such as 4G or 5G.
  • the traffic flow control device 10 and the traffic police server 20 are electronic devices capable of wired or wireless communication with external devices and capable of inputting, outputting, and processing information.
  • the traffic police server 20 may be a terminal separate from the traffic flow control device 10 or a part of a module of the traffic flow control device 10 .
  • it can be implemented on a PC, smart phone, tablet, etc., and software (application) providing services for detecting unexpected situations and controlling traffic signals can be installed and executed.
  • the traffic flow control device 10 may be implemented as a wireless terminal or a tablet.
  • the receiving unit 110 may receive emergency situation information of a region where an unexpected situation occurs from the traffic police server 20 .
  • the emergency situation information may include surrounding information such as image information or sound information capable of determining a region where an unexpected situation occurred or a scene of an unexpected situation.
  • FIG. 3 is a diagram for explaining determining a control level based on emergency situation information according to an exemplary embodiment.
  • control right requesting unit 120 may determine a control level based on the emergency situation information and request a control right corresponding to the control level from the traffic police server 20 .
  • control right may include the area control right including the area where the unexpected situation occurred and the traffic signal control right for the traffic signal included in the zone control right.
  • the control right requesting unit 120 may determine the control level for each of the zone control right and the traffic signal control right, and may determine the control level by integrating the zone control right and the traffic signal control right.
  • the zone control right may have a higher control level as the control area of the traffic signal is wider.
  • the traffic signal control right may have a higher control level as the number of traffic signal control types increases.
  • the control level is determined based on the unexpected situation information, and the control level may be determined by determining image information obtained by monitoring an area in which an unforeseen situation occurred and a cause of the unforeseen situation.
  • the image information may be a result captured by the emergency detector 310 .
  • the unexpected situation detector 310 detects the corresponding accident and generates unexpected situation information
  • the control authority request unit 120 detects the accident.
  • the control right requesting unit 120 can determine the necessary control area for the zone control right to be low and the control type of the traffic signal control right to be small. .
  • the object controlled by the traffic signal control right is not limited to a specific entity included in the zone control right and capable of controlling traffic flow.
  • the traffic signal control right may control traffic lights according to the control right granted by the traffic police server 20, and may further control the self-driving vehicle 420 included in the zone control right. That is, the traffic signal control right can control not only the traffic light but also the autonomous vehicle 420 within the zone if the determined control level goes up.
  • FIG. 4 is a diagram for explaining how the traffic flow control device 10 communicates with the traffic police server 20 to control a traffic signal according to an embodiment.
  • the emergency detector 310 may determine whether an unexpected situation occurs within a sensing area, and when an unexpected situation occurs, transmit the unexpected situation and information about the unexpected situation to the traffic police server 20 .
  • the traffic police server 20 may receive the unexpected situation and the unexpected situation information from the unexpected situation detector 310 and transmit the unexpected situation and the unexpected situation information to the traffic flow control device 10 .
  • the emergency situation information may include information on the area where the unexpected situation occurred, and the traffic police server 20 identifies the location of the unexpected situation detector 310 and adds information about the area where the unexpected situation occurred to the emergency situation information. It can be included and transmitted to the traffic flow control device 10.
  • control right requesting unit 120 may determine a control level for resolving the unexpected situation based on the unexpected situation information.
  • control right requesting unit 120 may request a control right corresponding to the input control level from the traffic police server 20 without determining the control level.
  • control right requesting unit 120 may determine the control level, the user possessing the traffic flow control device 10 based on the unexpected situation information output by the traffic flow control device 10 through a display panel or the like. It is determined as , and the control grade can be input to the traffic flow control device 10 .
  • the control right requesting unit 120 may receive a control grade through a mounted touch display panel or the like, and is not limited to a specific method as long as it can receive a control grade.
  • the control right requesting unit 120 may determine the control level by further considering information of a user using the traffic flow control device 10 .
  • the traffic flow control device 10 may further include a database unit 140 that stores user information registered in the traffic flow control device 10 .
  • the database unit 140 may include emergency situation information, user information, operating OS, and the like.
  • control right requesting unit 120 may control the general vehicle 410 through the traffic light 30, and the autonomous vehicle 420 may control the autonomous vehicle 420 according to an unexpected situation.
  • the control right requesting unit 120 may request the control right by determining the control level to be high.
  • the control right requesting unit 120 determines the control level to be high, requests the control right, and provides the corresponding control right.
  • the control unit 130 may directly transmit a control signal for resolving an unexpected situation to the self-driving vehicle 420 .
  • receiving the traffic signal control and transmitting the control signal may be implemented through an application installed in the traffic flow control device 10 .
  • the control unit 130 transmits a control signal corresponding to the hand signal to the autonomous vehicle 420. can transmit
  • the traffic flow control device 10 when a traffic light is out of order, the general vehicle 410 sees the user's hand signal, while the autonomous vehicle 420 receives the control signal, thereby solving an unexpected situation. can do.
  • User information may include the user's major, the user's location, the user's career, and the like.
  • control right requesting unit 120 may determine the control level by further considering the suitability of the emergency situation and the user's major. In addition, the control right requesting unit 120 may determine a higher control level as the location of the user is closer to the area where the unexpected situation occurred. In addition, the control right requesting unit 120 may determine that the higher the user's experience, the higher the control level.
  • 5 is a diagram for explaining that the traffic police server 20 grants a control right according to an embodiment.
  • the traffic police server 20 may transmit an emergency situation and information about an unexpected situation to a plurality of traffic flow control devices 10 . And, the traffic police server 20 is the most suitable for each control right request signal determined by the traffic flow control devices 10-1, 10-2, 10-3, 10-4, 10-5, s, 10-n. The control right may be granted to the traffic flow control device 10 that has requested a high control level.
  • the traffic police server 20 may determine whether or not to grant the control right by further considering the locations of the traffic flow control devices 10 and the owner information of the traffic flow control devices 10. there is.
  • the traffic police server 20 receives a control right request signal for one sudden situation from a plurality of traffic flow control devices 10-1, 10-3, and 10-5, and receives one or more traffic flow control devices 10 -1, 10-3, 10-5) can grant control.
  • the traffic police server 20 grants control rights according to different control levels to a plurality of traffic flow control devices 10-1, 10-3, and 10-5 so that they can control different objects. can do.
  • the traffic police server 20 may assign the control right by specifying the control target of the traffic signal control right included in the control right.
  • the traffic signal 30 is a control class It can be controlled by the traffic flow control device that has been given the highest control authority.
  • the traffic flow control apparatus 10 may be granted a control right according to an appropriate control level by further considering user information.
  • FIG. 6 is a diagram for explaining a request for a control right differently according to circumstances according to an embodiment.
  • an unexpected situation occurs in zone a, and as a result of the determination of the control right requesting unit 120 based on the unexpected situation information, it can be determined that an ambulance or a fire truck is required because the damage of the two colliding vehicles is severe.
  • the control right requesting unit 120 may request a zone control right corresponding to zone b so that a nearby hospital or fire station is included in order to control a traffic signal to a nearby hospital or fire station where an ambulance or fire engine is scheduled to depart.
  • control right requesting unit 120 determines the situation determined in the emergency situation information as a plurality of control levels rather than uniformly determining the control level, and determines the appropriate control level for the traffic police server 20 to resolve the unexpected situation. You can ask for control.
  • the traffic flow control device 10 can appropriately cope with an unexpected situation by being granted a control right according to an unexpected situation.
  • the controller 130 may receive a control right from the traffic police server 20 and control a traffic signal to resolve an unexpected situation based on the control right.
  • the controller 130 may control the traffic signal by receiving the traffic signal control input, or may control the traffic signal by making a decision on its own to resolve the unexpected situation based on the unexpected situation information.
  • the traffic signal control can be received through a touch display panel mounted on the traffic flow control device 10, as in the case of receiving the above-described control grade.
  • the traffic signal control may be implemented in the UI of an application installed in the traffic flow control device 10 and may be a preset traffic signal control.
  • the controller 130 When the control unit 130 receives the traffic signal control input and controls the traffic signal, the controller 130 performs user authentication to determine whether the user information stored in the database unit 140 matches the user inputting the traffic signal control every preset period. can do. If the user information stored in the database unit 140 matches the user inputting the traffic signal control, the control unit 130 may maintain the control right granted from the traffic police server 20, and may not maintain the control right granted if they do not match. there is. To this end, the database unit 140 may further store iris information and fingerprint information of the user, and the traffic flow control device 10 may further include an iris recognition module and a fingerprint recognition module. Also, an application for performing user authentication may be installed in the traffic flow control device 10 .
  • FIG. 7 is a flowchart illustrating a traffic flow control method according to an embodiment of the present disclosure.
  • the traffic flow control method includes an emergency reception step of receiving emergency situation information of an area where an unexpected situation occurs from the traffic police server 20 (S710), and storing the unexpected situation information and user information.
  • a data storage step (S720) determining a control grade based on the unexpected situation information, and requesting a control right corresponding to the control grade from the traffic police server 20 (S730) and the traffic police server 20
  • It may include a traffic signal control step (S740) of receiving a control right from the control right and controlling a traffic signal for resolving an unexpected situation based on the control right.
  • control right may include a zone control right including an area where an unexpected situation occurs and a traffic signal control right for a traffic signal included in the zone control right.
  • control grade includes a plurality of grades, and as the grade increases, more control targets may be added. For example, if only traffic lights in a specific area can be controlled in the first class, the autonomous vehicle 420 in the specific area can be further controlled in the second class.
  • control right request step (S730) when the control level is received, the control right corresponding to the input control level may be requested from the traffic police server 20 without determining the control level.
  • the traffic police server 20 may be requested for a control right corresponding to the input control grade.
  • control level may be further determined by further considering user information.
  • the traffic flow control device 10 is given a control right suitable for an unexpected situation, it is possible to more appropriately resolve the unexpected situation.
  • the user information may include the user's major, the user's location, and the user's career.
  • the control level may be determined by further considering the suitability of the emergency situation and the user's major.
  • it may be determined that the control level is higher as the location of the user is closer to the area where the unexpected situation occurred.
  • the control right request step (S730) the higher the experience of the user, the higher the control level may be determined.
  • the traffic flow control device and method using the same enable rapid initial response through real-time intersection situation monitoring and signal display control in the event of an emergency or disaster, and if necessary, through remote control of an autonomous vehicle. Road traffic can flow smoothly.
  • control unit 140 database unit

Abstract

La présente divulgation concerne un dispositif de régulation de flux de trafic et un procédé l'utilisant. Spécifiquement, le dispositif de régulation de flux de trafic selon la présente divulgation comprend : une unité de réception qui reçoit, en provenance d'un serveur de police de trafic, des informations de situation d'urgence d'une zone dans laquelle se produit une situation inattendue; une unité de demande d'autorité de commande qui détermine un niveau de commande sur la base des informations de situation d'urgence et demande une autorité de commande correspondant au niveau de commande au serveur de police de trafic; une unité de commande qui reçoit une autorité de commande en provenance du serveur de police de trafic et commande un feu de signalisation pour résoudre la situation d'urgence sur la base de l'autorité de commande; et une unité de base de données qui stocke les informations de situation d'urgence et les informations d'utilisateur.
PCT/KR2022/003658 2021-12-21 2022-03-16 Dispositif de régulation de flux de trafic pour réguler un flux de trafic dans lequel des véhicules autonomes sont mélangés, et procédé l'utilisant WO2023120818A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2021-0184333 2021-12-21
KR1020210184333A KR102420342B1 (ko) 2021-12-21 2021-12-21 자율주행차량이 혼재된 교통흐름 제어를 위한 교통흐름 제어 장치 및 이를 이용하는 방법

Publications (1)

Publication Number Publication Date
WO2023120818A1 true WO2023120818A1 (fr) 2023-06-29

Family

ID=82401649

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2022/003658 WO2023120818A1 (fr) 2021-12-21 2022-03-16 Dispositif de régulation de flux de trafic pour réguler un flux de trafic dans lequel des véhicules autonomes sont mélangés, et procédé l'utilisant

Country Status (2)

Country Link
KR (1) KR102420342B1 (fr)
WO (1) WO2023120818A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102588414B1 (ko) * 2022-07-20 2023-10-12 재단법인 지능형자동차부품진흥원 자율 주행차가 혼재된 도로에서 돌발상황 및 재난 발생 시 현장제어를 위한 도로교통 네트워크 시스템 및 이를 이용한 방법
KR102559481B1 (ko) * 2022-07-22 2023-07-26 재단법인 지능형자동차부품진흥원 자율주행 차가 혼재된 도로에서 교차로 사고 감소를 위한 신호 제어 시스템 및 방법

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100963509B1 (ko) * 2009-12-21 2010-06-15 김남석 교통신호제어기의 무선제어장치
KR101162749B1 (ko) * 2010-04-09 2012-07-09 주)명보아이티 교통신호 제어시스템 및 그 제어방법
KR101753228B1 (ko) * 2016-08-22 2017-07-19 윤정원 비상차량 교통제어 시스템
KR102207738B1 (ko) * 2020-08-03 2021-01-26 주식회사 트래픽스 도로교통신호 스마트 통합관리시스템
KR20210054724A (ko) * 2019-11-06 2021-05-14 주식회사 아이원시스템 도로교통 현장환경 통합제어 장치

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003132490A (ja) * 2001-10-23 2003-05-09 Mitsubishi Heavy Ind Ltd 自律分散型信号制御システム、信号制御方法、及び信号制御用プログラム
CN106408958A (zh) * 2015-07-31 2017-02-15 富士通株式会社 路口信号灯的控制装置及方法
KR20190012304A (ko) * 2017-07-26 2019-02-11 주식회사 익스트러스 스마트폰을 이용한 교통신호제어기 접속 인증 보안 장치 및 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100963509B1 (ko) * 2009-12-21 2010-06-15 김남석 교통신호제어기의 무선제어장치
KR101162749B1 (ko) * 2010-04-09 2012-07-09 주)명보아이티 교통신호 제어시스템 및 그 제어방법
KR101753228B1 (ko) * 2016-08-22 2017-07-19 윤정원 비상차량 교통제어 시스템
KR20210054724A (ko) * 2019-11-06 2021-05-14 주식회사 아이원시스템 도로교통 현장환경 통합제어 장치
KR102207738B1 (ko) * 2020-08-03 2021-01-26 주식회사 트래픽스 도로교통신호 스마트 통합관리시스템

Also Published As

Publication number Publication date
KR102420342B1 (ko) 2022-07-13

Similar Documents

Publication Publication Date Title
WO2023120818A1 (fr) Dispositif de régulation de flux de trafic pour réguler un flux de trafic dans lequel des véhicules autonomes sont mélangés, et procédé l'utilisant
WO2017018744A1 (fr) Système et procédé pour fournir un service public à l'aide d'une voiture intelligente autonome
KR101173368B1 (ko) 주정차 단속 시스템 및 그 방법
WO2014163307A1 (fr) Système de conduite automatique pour véhicule
KR101286376B1 (ko) 무인 비행체 제어 시스템 및 방법
WO2017074005A1 (fr) Système de surveillance à sélection automatique de cctv, et serveur de gestion de surveillance à sélection automatique de cctv et procédé de gestion
CN108255191A (zh) 无人机管控方法及智慧路灯系统
WO2021101054A1 (fr) Dispositif électronique permettant de traiter un message v2x, et procédé de fonctionnement associé
WO2019045242A1 (fr) Système de boîte noire d'aéronef sans pilote
WO2014092380A1 (fr) Système de boîte noire pour véhicule et procédé pour son fonctionnement
WO2014189186A1 (fr) Procédé de commande de dispositif électronique à l'aide de caméra ip ayant une fonction de télécommande sans fil
WO2014077442A1 (fr) Appareil de détermination de la position dans une voie par l'intermédiaire d'une communication entre véhicules
WO2018105954A1 (fr) Véhicule guidé sans pilote et système faisant appel à une communication par lumière visible
WO2021172833A1 (fr) Dispositif de reconnaissance d'objets, procédé de reconnaissance d'objets et support d'enregistrement lisible par ordinateur pour le mettre en œuvre
WO2022220560A1 (fr) Procédé et dispositif de fod et de lod utilisant une imagerie thermique et des caméras communes
KR102224247B1 (ko) 다이렉트 주차유도 카메라 장치
KR101803697B1 (ko) 장애인 전용 주차구역 불법주차 감시장치
WO2017150781A1 (fr) Procédé de collaboration entre des dispositifs intelligents et serveur en nuage
WO2017146295A1 (fr) Système destiné au calcul et à l'imposition de frais sur la base d'informations de facturation et de stationnement de véhicule
WO2012057392A1 (fr) Système de mesure de distance à l'aide d'une pluralité d'appareils de prise de vue et son procédé
KR20150068680A (ko) 스마트 주차 안내 단말기 및 시스템, 및 이를 이용한 스마트 주차 안내 방법
KR20080054623A (ko) 주차상태 감지 및 차량번호판 인식 장치
WO2015050413A1 (fr) Données d'image d'une boîte noire de véhicule et procédé de service d'interfonctionnement de système d'information géographique (gis)
WO2022231039A1 (fr) Système de feu de signalisation intelligent mobile
WO2023033516A1 (fr) Procédé de partage d'informations sur un véhicule à déplacement autonome et de commande de véhicule à déplacement autonome et système associé

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: 22911458

Country of ref document: EP

Kind code of ref document: A1