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SE1650521A1 - Method and control unit in a vehicle for estimating a stretch of a road based on a set of tracks of another vehicle - Google Patents

Method and control unit in a vehicle for estimating a stretch of a road based on a set of tracks of another vehicle

Info

Publication number
SE1650521A1
SE1650521A1 SE1650521A SE1650521A SE1650521A1 SE 1650521 A1 SE1650521 A1 SE 1650521A1 SE 1650521 A SE1650521 A SE 1650521A SE 1650521 A SE1650521 A SE 1650521A SE 1650521 A1 SE1650521 A1 SE 1650521A1
Authority
SE
Sweden
Prior art keywords
tracks
road
vehicle
detected
control unit
Prior art date
Application number
SE1650521A
Other languages
English (en)
Other versions
SE539816C2 (sv
Inventor
Nyström Tom
Malinen Samuel
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1650521A priority Critical patent/SE539816C2/sv
Priority to PCT/SE2017/050379 priority patent/WO2017184061A1/en
Priority to KR1020187031957A priority patent/KR102089706B1/ko
Priority to BR112018069164A priority patent/BR112018069164A2/pt
Priority to EP17786249.7A priority patent/EP3445626B1/en
Priority to US16/093,110 priority patent/US10962374B2/en
Priority to CN201780023270.6A priority patent/CN109070890B/zh
Publication of SE1650521A1 publication Critical patent/SE1650521A1/sv
Publication of SE539816C2 publication Critical patent/SE539816C2/sv

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
    • B60W30/10—Path keeping
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W30/14—Adaptive cruise control
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/50—Magnetic or electromagnetic sensors
    • B60W2420/506—Inductive sensors, i.e. passive wheel sensors
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/60—Doppler effect
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • 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
    • B60W2554/20—Static objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Databases & Information Systems (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Mathematical Physics (AREA)
  • General Engineering & Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Claims (11)

1. Förfarande (400) i ett fordon (100) för att uppskatta en sträcka av en väg (120),baserat pä en spàruppsättning (130) frän ett annat fordon (140), när fordonet (100) körslängs vägen (120) i en körriktning (105) mot en destination (200), vilket förfarande (400),med användning av en styrenhet (310), innefattar: att detektera (401) en spàruppsättning (130) frän det andra fordonet (140) pä vägen(120); att uppskatta (402) den geografiska positionen för den detekterade (401) spärupp-sättningen (130); att jämföra (404) den uppskattade (402) geografiska positionen för den detekterade(401) späruppsättningen (130) med kartdata; att förkasta (407) den detekterade (401) späruppsättningen (130) när den lämnarvägen (120) till destinationen (200) eller när den befinner sig i ett körfält med en riktningmotsatt körriktningen (105), och vidare att uppskatta (408) sträckan av vägen (120) baserat pä den detekterade (401 ) spär-uppsättningen (130) från det andra fordonet (140).
2. Förfarande (400) enligt patentkrav 1, vidare innefattande: att detektera (403) ett objekt (210) pä vägkanten längs vägen (120) i körriktningen(105) till destinationen (200); att jämföra (405) den detekterade (401) späruppsättningen (130) med det detekte-rade (403) objektet (210) pä vägkanten längs vägen (120), och varvid förkastandet (407) av den detekterade (401) späruppsättningen (130) ge-nomförs om den detekterade (401) späruppsättningen (130) är inriktad mot det detekterade(403) objektet (210) pä vägkanten.
3. Förfarande (400) enligt nägot av patentkrav 1 eller patentkrav 2, vidare innefat-tande: att ta emot (406) trafikinformation relaterad till den uppskattade (402) geografiskapositionen för den detekterade (401) späruppsättningen (130), och varvid förkastandet (407) av den detekterade (401) späruppsättningen (130) ge-nomförs om trafikinformation tas emot (406) avseende den detekterade (401) späruppsätt-ningen (130).
4. Förfarande (400) enligt nägot av patentkraven 1-3, vidare innefattande: att placera (409) fordonet (100) lateralt pä vägen (120) i förhällande till den detek-terade (401) späruppsättningen (130), baserat på fordonets (100) förhällanden avseendedäckens traktion.
5. Styrenhet (310) i ett fordon (100) för att uppskatta en sträcka av en väg (120), ba-serat pä en spàruppsättning (130) frän ett annat fordon (140), när fordonet (100) körs längsvägen (120) i en körriktning (105) mot en destination (200), varvid styrenheten (210) är kon-figurerad för: att detektera späruppsättningen (130) frän ett annat fordon (140) pä vägen (120)genom en sensor (110); att uppskatta den geografiska positionen för den detekterade späruppsättningen(130); att jämföra den uppskattade geografiska positionen för den detekterade spärupp-sättningen (130) med kartdata; att förkasta den detekterade späruppsättningen (130) när den lämnar vägen (120)till destinationen (200) eller när den befinner sig i ett körfält med en riktning motsatt körrikt-ningen (105), och vidare att uppskatta sträckan av vägen (120) baserat pä den detekterade späruppsätt-ningen (130) från det andra fordonet (140).
6. Styrenhet (310) enligt patentkrav 5, vidare konfigurerad för: att detektera ett objekt (210) pä vägkanten längs vägen (120) i körriktningen (105)mot destinationen (200); att jämföra den detekterade späruppsättningen (130) med det detekterade objektet(210) pä vägkanten längs vägen (120) och att förkasta den detekterade späruppsättningen (130) om den detekterade spärupp-sättningen (130) är inriktad mot det detekterade objektet (210) pä vägkanten.
7. Styrenhet (310) enligt nägot av patentkrav 5 eller patentkrav 6, vidare konfigureradför: att ta emot trafikinformation relaterad till den uppskattade geografiska positionen förden detekterade späruppsättningen (130) och att förkasta den detekterade späruppsättningen (130) om trafikinformation tas emotavseende den detekterade späruppsättningen (130).
8. Styrenhet (310) enligt nägot av patentkraven 5-7, vidare konfigurerad för:att placera fordonet (100) lateralt pä vägen (120) i förhällande till den detekteradespäruppsättningen (130), baserat pä fordonets (100) förhållanden avseende däckens trakt- ion.
9. Styrenhet (310) enligt nägot av patentkraven 5-8, vari den geografiska positionen 21 för den detekterade spåruppsättningen (130) uppskattas genom fastställande av fordonets(100) geografiska position via en positioneringsenhet (330) och fastställande av den detek-terade spåruppsättningens (130) position i förhållande till fordonet (100).
10. något av patentkraven 1-4, när datorprogrammet körs i en styrenhet (310) enligt något av Datorprogram innefattande programkod för utförande av ett förfarande (400) enligt patentkraven 5-9.
11. System (500) för att uppskatta en sträcka av en väg (120), baserat på en spårupp-sättning (130) från ett annat fordon (140), när fordonet (100) körs längs vägen (120) i enkörriktning (105) mot en destination (200), varvid systemet (500) innefattar: en sensor (110) som anordnats på fordonet (100); en positioneringsenhet (330) för uppskattning av fordonets (100) geografiska posit-ion; en databas (340) innefattande kartdata och en styrenhet (210) enligt något av patentkraven 5-9.
SE1650521A 2016-04-19 2016-04-19 Method and control unit in a vehicle for estimating a stretch of a road based on a set of tracks of another vehicle SE539816C2 (sv)

Priority Applications (7)

Application Number Priority Date Filing Date Title
SE1650521A SE539816C2 (sv) 2016-04-19 2016-04-19 Method and control unit in a vehicle for estimating a stretch of a road based on a set of tracks of another vehicle
PCT/SE2017/050379 WO2017184061A1 (en) 2016-04-19 2017-04-13 Method and control unit in a vehicle for estimating a stretch of a road based on a set of tracks of another vehicle
KR1020187031957A KR102089706B1 (ko) 2016-04-19 2017-04-13 다른 차량의 자국들의 세트에 기초하여 도로의 스트레치를 추정하기 위한 차량의 방법 및 제어 유닛
BR112018069164A BR112018069164A2 (pt) 2016-04-19 2017-04-13 método e unidade de controle em um veículo para estimar um trecho de uma estrada com base em um conjunto de trilhas de outro veículo
EP17786249.7A EP3445626B1 (en) 2016-04-19 2017-04-13 Method and control unit in a vehicle for estimating a stretch of a road based on a set of tracks of another vehicle
US16/093,110 US10962374B2 (en) 2016-04-19 2017-04-13 Method and control unit in a vehicle for estimating a stretch of a road based on a set of tracks of another vehicle
CN201780023270.6A CN109070890B (zh) 2016-04-19 2017-04-13 用于基于另外的车辆的一组轨迹来估算道路的延展的车辆中的方法和控制单元

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1650521A SE539816C2 (sv) 2016-04-19 2016-04-19 Method and control unit in a vehicle for estimating a stretch of a road based on a set of tracks of another vehicle

Publications (2)

Publication Number Publication Date
SE1650521A1 true SE1650521A1 (sv) 2017-10-20
SE539816C2 SE539816C2 (sv) 2017-12-05

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SE1650521A SE539816C2 (sv) 2016-04-19 2016-04-19 Method and control unit in a vehicle for estimating a stretch of a road based on a set of tracks of another vehicle

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US (1) US10962374B2 (sv)
EP (1) EP3445626B1 (sv)
KR (1) KR102089706B1 (sv)
CN (1) CN109070890B (sv)
BR (1) BR112018069164A2 (sv)
SE (1) SE539816C2 (sv)
WO (1) WO2017184061A1 (sv)

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SE544257C2 (en) * 2019-08-23 2022-03-15 Scania Cv Ab Method and control device for controlling driving of a vehicle along a road
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CN109070890A (zh) 2018-12-21
US20190154451A1 (en) 2019-05-23
EP3445626A1 (en) 2019-02-27
EP3445626A4 (en) 2019-12-04
BR112018069164A2 (pt) 2019-01-29
SE539816C2 (sv) 2017-12-05
EP3445626B1 (en) 2020-12-30
WO2017184061A1 (en) 2017-10-26

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