WO2004076223A1 - Verfahren zur ansteuerung eines in einem fahrzeug befindlichen verkehrsadaptiven assistenzsystems - Google Patents
Verfahren zur ansteuerung eines in einem fahrzeug befindlichen verkehrsadaptiven assistenzsystems Download PDFInfo
- Publication number
- WO2004076223A1 WO2004076223A1 PCT/EP2004/001138 EP2004001138W WO2004076223A1 WO 2004076223 A1 WO2004076223 A1 WO 2004076223A1 EP 2004001138 W EP2004001138 W EP 2004001138W WO 2004076223 A1 WO2004076223 A1 WO 2004076223A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- traffic
- assistance system
- limit value
- speed
- Prior art date
Links
Classifications
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/406—Traffic density
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
Definitions
- the invention relates to a method for controlling a traffic-adaptive assistance system located in a vehicle with speed-related and / or distance-related variables of the vehicle and a vehicle in front.
- the assistance system accelerates and / or decelerates the vehicle using these variables.
- Such a method is known from DE 10019190 AI.
- the value of the acceleration or deceleration of the vehicle is limited here by the traffic-adaptive assistance system by means of a lower and / or an upper barrier.
- EP 0443644 AI proposes to control a traffic-adaptive assistance system using a target distance.
- EP 1063626 AI discloses to control a traffic-adaptive assistance system with individual different time intervals to a vehicle in front or individual different distances to a vehicle in front.
- EP 1225079 A2 controls a traffic-adaptive assistance system with a target distance of the vehicle from a vehicle in front.
- the present invention is based on the object of proposing a method for actuating a traffic-adaptive assistance system which is flexible, has behavior based on the properties of real vehicle drivers and additionally enables good reaction times of the traffic-adaptive assistance system.
- the main idea of the invention is that if the actual time interval (ie the actual time gap) and / or the actual distance (ie the actual distance) of the vehicle from the preceding vehicle is greater than a predeterminable respective lower and is less than a predefinable respective upper limit value, the traffic-adaptive assistance system is controlled to the exclusion of a target time interval.
- the prevailing traffic situation and the driving history of the vehicle are considered “automatically” when controlling the traffic-adaptive assistance system.
- no target time interval or no target distance is used to control the traffic-adaptive assistance system.
- either only an actual time interval or only an actual distance or a combination of both is provided, and a situation-dependent selection can also be provided in the vehicle.
- the method described in the prior art for controlling traffic- adaptive assistance systems starts with the "effects" of the control - for example by limiting an acceleration determined by the traffic- adaptive assistance system - the invention starts earlier.
- the invention intervenes in the "causes” by directly selecting the variables provided for controlling the traffic-adaptive assistance system.
- the method according to the invention makes it possible to introduce an additional “degree of freedom” in that the target time interval or the target distance between the vehicle and the vehicle in front is not used for actuation.
- the prevailing traffic situation is taken into account by the fact that after the acceleration or deceleration process of the vehicle has been completed by the traffic adaptive assistance system (ie when there is a difference in speed of approximately zero between the vehicle and the vehicle in front), the then existing time interval or the then existing distance between the two vehicles is not predetermined.
- a time interval or distance achieved as a result of an acceleration or deceleration process of the vehicle is the result of a respective traffic situation and / or a respective vehicle history.
- the time interval or the distance can assume any value from the interval between the predeterminable lower and the predeterminable upper limit value (ie selection from an infinite number of values), in the methods described in the prior art these are only one or a few discrete values.
- a particularly simple embodiment of the invention results if the lower limit value and / or the upper limit value are designed as a respective constant. This enables calculations to be carried out particularly quickly and transparently.
- the invention can be used even more flexibly if one or both limit values can be specified as a function of the speed of the vehicle and / or the speed of another vehicle, for example the vehicle in front. This enables the respective traffic situation to be taken into account.
- the lower and / or the upper limit value can be predetermined depending on the type of traffic state phase prevailing at the position of the vehicle.
- Phases of the traffic condition mark the prevailing traffic condition in a particularly simple manner.
- a traffic condition phase is, for example, the compressed synchronized traffic.
- a particularly great flexibility of the invention is achieved if the lower limit value and / or the upper limit value can be specified as a function of the temporal-spatial distribution of the traffic in an environment of the vehicle.
- a temporal distribution is e.g. a predicted (temporal) development of traffic
- a spatial distribution is e.g. a (spatial) change, i.e. a gradient, the speed and / or the traffic density in front of the vehicle.
- the area around the vehicle extends e.g. over a range of 300 to 500 meters.
- a smaller environment can also be provided.
- the environment also includes secondary lanes.
- a particularly advantageous embodiment uses only the differential speed of the vehicles to control the traffic-adaptive assistance system. This ensures an efficient control which is particularly simple and easy to handle from a computational point of view.
- the traffic-adaptive assistance system will preferably decelerate the vehicle. If the actual time interval or the actual difference between the vehicle and the vehicle in front is greater than the respective predeterminable upper limit value, the traffic-adaptive assistance system will preferably accelerate the vehicle.
- the traffic-adaptive assistance system is additionally separated by the distance controlled at least one other vehicle.
- This further vehicle can be, for example, a vehicle which is located in a lane adjacent to the lane of the vehicle next to the vehicle.
- the traffic-adaptive assistance system is additionally controlled at the speed of at least one further vehicle.
- This can be, for example, the speed of a vehicle which is located on a lane adjacent to the lane of the vehicle next to the vehicle.
- the invention is preferably implemented as a computer program with program code means, a particular version of the method according to the invention being carried out when the respective program is executed on a computer.
- a further preferred embodiment of the invention is a computer program product with program code means, the program code means being stored on a computer-readable data carrier in order to carry out a particular version of the method according to the invention when the respective program product is executed on a computer.
- FIG. 1 schematically shows a vehicle comprising a traffic-adaptive assistance system and a vehicle in front
- 3 shows a schematic representation of the two-dimensional surface of the spatially homogeneous and time-independent solutions according to the three-phase theory of traffic
- FIG. 4 shows an example of a use of the three-phase theory according to the invention for a traffic-adaptive assistance system.
- FIG. 1 shows a vehicle 1 with a traffic-adaptive assistance system ACC (Automatic Cruise Control) at time ⁇ point n.
- Vehicle 1 is traveling at speed v n .
- vehicle 2 traveling at the speed V ⁇ , n .
- the two vehicles 1, 2 have a current distance of dx n -d (d corresponds to the vehicle length) and a time interval of ab.
- ⁇ may depend on the vehicle speed v n and / or the speed of other vehicles.
- a n 0 (ie no acceleration or deceleration of vehicle 1 by the traffic-adaptive assistance system ACC ).
- a time interval that can be specified as a constant or as a function of the vehicle speed (vehicle speeds) is traveled:
- FIG. 2 shows a known fundamental diagram q (p) of a traffic-adaptive assistance system from the prior art.
- the traffic flow p is plotted on the ordinate over the traffic density q plotted on the abscissa.
- a line F determined in this way is shown in FIG. 2, corresponding to the free traffic.
- a line ACC is also shown, corresponding to the setting by a traffic-adaptive assistance system known from the prior art.
- all pairs of values from traffic density and traffic flow that can be selected by a traffic adaptive assistance system known from the prior art are plotted in FIG. 2.
- FIG. 3 For Fig. 3, reference is made to the three-phase traffic theory, see for example BS Kerner, Phys. Rev. E Vol. 65, 046138, 2002. In this theory there is no fundamental diagram (like the one shown in FIG. 2 as an example), but there is a two-dimensional surface of spatially homogeneous and temporally independent solutions as pairs of values from traffic density and traffic flow. This is shown in FIG. 3.
- the traffic density p is again plotted on the abscissa and the traffic flow q is plotted on the ordinate.
- a curve F ' can be seen which corresponds to the free traffic.
- An area S of synchronized traffic can also be read from FIG. 3, here hatched, and a line J jammed traffic.
- the two-dimensional surface of the spatially homogeneous and temporally independent solutions shown in FIG. 3 was theoretically predicted and experimentally confirmed.
- the behavior resulting from the properties of real vehicle drivers is thus simulated.
- the traffic-adaptive assistance systems known from the prior art do not show this behavior in principle.
- a problem is, for example, a lack of "damping" of such systems when several vehicles equipped with traffic-adaptive assistance systems are driving one behind the other. This can lead to uncontrolled behavior of individual vehicles.
- the present invention intervenes here and solves such problems, according to the invention by implementing the three-phase traffic theory in a method for controlling a traffic-adaptive assistance system.
- FIG. 4 shows the effects of a traffic-adaptive assistance system controlled according to the invention in the event that the lower limit value is specified as a first constant and the upper limit value as a second constant.
- a line U corresponding to the upper limit value, a line L corresponding to the lower limit value and a line F free traffic are shown.
- This representation can in turn be interpreted analogously to FIG. 2, namely as all pairs of values from traffic density and traffic flow that can be selected by a traffic-adaptive assistance system controlled according to the invention.
- FIG. 2 what is remarkable here is the excellent agreement with the theoretically predicted, experimentally confirmed and shown in FIG. 3 real ones Conditions.
- the activation of a traffic-adaptive assistance system according to the invention enables an astonishing similarity to the behavior resulting from the properties of real vehicle drivers.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04709135A EP1597106B1 (de) | 2003-02-25 | 2004-02-07 | Verfahren zur ansteuerung eines in einem fahrzeug befindlichen verkehrsadaptiven assistenzsystems |
US10/546,716 US7451039B2 (en) | 2003-02-25 | 2004-02-07 | Method for actuating a traffic-adaptive assistance system which is located in a vehicle |
JP2006501769A JP2006520285A (ja) | 2003-02-25 | 2004-02-07 | 車両に配備される交通適応支援システムの作動方法 |
DE502004001669T DE502004001669D1 (de) | 2003-02-25 | 2004-02-07 | Verfahren zur ansteuerung eines in einem fahrzeug befindlichen verkehrsadaptiven assistenzsystems |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10308256.5 | 2003-02-25 | ||
DE10308256A DE10308256A1 (de) | 2003-02-25 | 2003-02-25 | Verfahren zur Ansteuerung eines in einem Fahrzeug befindlichen verkehrsadaptiven Assistenzsystems |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004076223A1 true WO2004076223A1 (de) | 2004-09-10 |
Family
ID=32841914
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2004/001138 WO2004076223A1 (de) | 2003-02-25 | 2004-02-07 | Verfahren zur ansteuerung eines in einem fahrzeug befindlichen verkehrsadaptiven assistenzsystems |
Country Status (5)
Country | Link |
---|---|
US (1) | US7451039B2 (de) |
EP (1) | EP1597106B1 (de) |
JP (1) | JP2006520285A (de) |
DE (2) | DE10308256A1 (de) |
WO (1) | WO2004076223A1 (de) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006143009A (ja) * | 2004-11-19 | 2006-06-08 | Fuji Heavy Ind Ltd | 車両の運転支援装置 |
DE102004057147A1 (de) | 2004-11-26 | 2006-07-06 | Daimlerchrysler Ag | Verfahren zur Ansteuerung eines in einem Fahrzeug befindlichen verkehrsadaptiven Assistenzsystems mit geschwindigkeits- und/oder abstandsbezogenen Größen des Fahrzeugs und eines vorausfahrenden Fahrzeugs |
JP4451315B2 (ja) * | 2005-01-06 | 2010-04-14 | 富士重工業株式会社 | 車両の運転支援装置 |
DE102005017560A1 (de) * | 2005-04-16 | 2006-10-19 | Daimlerchrysler Ag | Betriebsverfahren für ein in einem Fahrzeug befindliches verkehrsadaptives Assistenzsystem |
DE102005017559A1 (de) * | 2005-04-16 | 2006-10-19 | Daimlerchrysler Ag | Betriebsverfahren für ein in einem Fahrzeug befindliches verkehrsadaptives Assistenzsystem |
DE102005033495A1 (de) * | 2005-07-19 | 2007-01-25 | Daimlerchrysler Ag | Verkehrsadaptives Assistenzsystem und Betriebsverfahren für ein in einem Fahrzeug befindliches verkehrsadaptives Assistenzsystem |
DE102006054220A1 (de) | 2006-11-15 | 2008-05-21 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Regelung der Geschwindigkeit eines Kraftfahrzeugs |
JP4640441B2 (ja) * | 2008-04-28 | 2011-03-02 | トヨタ自動車株式会社 | 走行制御装置及び走行制御方法 |
DE102008023704A1 (de) | 2008-05-15 | 2009-01-02 | Daimler Ag | Verfahren zur Steuerung eines verkehrsadaptiven Assistenzsystems eines Fahrzeugs |
DE102010009898A1 (de) * | 2010-03-02 | 2011-09-08 | GM Global Technology Operations LLC , (n. d. Ges. d. Staates Delaware) | Verfahren zur Regelung eines Folgeabstands eines ersten Fahrzeugs zu einem zweiten Fahrzeug |
KR20120094365A (ko) * | 2011-02-16 | 2012-08-24 | 주식회사 만도 | 가속 제어 조절 방법 및 그 적응 순항 제어 시스템 |
US9428190B2 (en) * | 2014-12-23 | 2016-08-30 | Ford Global Technologies, Llc | Adaptive cruise control while towing |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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EP1063626A1 (de) * | 1999-06-23 | 2000-12-27 | Nissan Motor Company, Limited | Verfahren zur Abstandsregelung von Kraftfahrzeugen |
EP1225079A2 (de) * | 2001-01-19 | 2002-07-24 | Nissan Motor Company, Limited | Abstandsbezogenes, adaptives Fahrgeschwindigkeitsregelsystem |
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US5014200A (en) | 1990-02-20 | 1991-05-07 | General Motors Corporation | Adaptive cruise system |
US5173859A (en) | 1990-11-05 | 1992-12-22 | General Motors Corporation | Automatic vehicle deceleration |
JPH04238742A (ja) * | 1991-01-08 | 1992-08-26 | Mazda Motor Corp | 車両用走行制御装置 |
JP3389287B2 (ja) * | 1993-07-07 | 2003-03-24 | マツダ株式会社 | 車両の走行制御装置 |
JP3191621B2 (ja) * | 1995-03-14 | 2001-07-23 | トヨタ自動車株式会社 | 車両走行誘導システム |
JP3633709B2 (ja) * | 1996-03-18 | 2005-03-30 | 日産ディーゼル工業株式会社 | 車群走行制御装置 |
JP3732292B2 (ja) * | 1996-11-27 | 2006-01-05 | 本田技研工業株式会社 | 車群走行制御システム |
JP3468001B2 (ja) * | 1996-12-16 | 2003-11-17 | 日産自動車株式会社 | 車両用走行制御装置 |
JPH10261194A (ja) * | 1997-03-18 | 1998-09-29 | Fujitsu Ten Ltd | 車両群形成制御装置および方法 |
JPH10318009A (ja) * | 1997-05-16 | 1998-12-02 | Mitsubishi Electric Corp | 車両用追従走行制御装置 |
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JPH11301307A (ja) * | 1998-04-16 | 1999-11-02 | Honda Motor Co Ltd | 車両の駆動力制御装置 |
DE19822914A1 (de) * | 1998-05-22 | 1999-11-25 | Alcatel Sa | Verfahren zur Informationsübertragung von Fahrzeugdaten und Verkehrsinformationssystem |
JP2000099890A (ja) * | 1998-09-25 | 2000-04-07 | Nissan Diesel Motor Co Ltd | 車群走行制御装置 |
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DE10019190B4 (de) | 2000-04-17 | 2018-04-05 | Robert Bosch Gmbh | Verfahren zur adaptiven Abstands- und/oder Fahrgeschwindigkeitsregelung bei einem Kraftfahrzeug |
JP4384798B2 (ja) * | 2000-10-17 | 2009-12-16 | 本田技研工業株式会社 | オートクルーズ装置 |
DE10102216A1 (de) * | 2001-01-19 | 2002-07-25 | Bayerische Motoren Werke Ag | Vorrichtung und Verfahren zum Beruhigen des Regelkreisverhaltens bei einer automatischen Geschwindigkeitssteuerung eines Fahrzeuges |
JP2002326525A (ja) * | 2001-05-07 | 2002-11-12 | Nissan Motor Co Ltd | 車両走行制御装置 |
DE10153527A1 (de) * | 2001-10-30 | 2003-05-15 | Bosch Gmbh Robert | Vorrichtung zur Längsführung eines Kraftfahrzeugs |
JP3775353B2 (ja) * | 2002-06-19 | 2006-05-17 | 日産自動車株式会社 | 先行車追従制御装置 |
US7231288B2 (en) * | 2005-03-15 | 2007-06-12 | Visteon Global Technologies, Inc. | System to determine distance to a lead vehicle |
-
2003
- 2003-02-25 DE DE10308256A patent/DE10308256A1/de not_active Withdrawn
-
2004
- 2004-02-07 WO PCT/EP2004/001138 patent/WO2004076223A1/de active IP Right Grant
- 2004-02-07 DE DE502004001669T patent/DE502004001669D1/de not_active Expired - Lifetime
- 2004-02-07 US US10/546,716 patent/US7451039B2/en not_active Expired - Fee Related
- 2004-02-07 JP JP2006501769A patent/JP2006520285A/ja active Pending
- 2004-02-07 EP EP04709135A patent/EP1597106B1/de not_active Expired - Lifetime
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1063626A1 (de) * | 1999-06-23 | 2000-12-27 | Nissan Motor Company, Limited | Verfahren zur Abstandsregelung von Kraftfahrzeugen |
EP1225079A2 (de) * | 2001-01-19 | 2002-07-24 | Nissan Motor Company, Limited | Abstandsbezogenes, adaptives Fahrgeschwindigkeitsregelsystem |
Also Published As
Publication number | Publication date |
---|---|
EP1597106A1 (de) | 2005-11-23 |
JP2006520285A (ja) | 2006-09-07 |
DE502004001669D1 (de) | 2006-11-16 |
US20070150167A1 (en) | 2007-06-28 |
DE10308256A1 (de) | 2004-09-09 |
EP1597106B1 (de) | 2006-10-04 |
US7451039B2 (en) | 2008-11-11 |
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