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EP 4 352 536 A1

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(43) Date of publication: 17.04.2024 Bulletin 2024/16 (21) Application number: 21748959.0 (22) Date of filing: 22.07.2021

(51) International Patent Classification (IPC):  G01S 7/48(2006.01) G01S 7/499(2006.01) G01S 17/931(2020.01) (52) Cooperative Patent Classification (CPC): G01S 7/499; G01S 17/931; G01S 7/4802 (86) International application number: PCT/IB2021/056652 (87) International publication number: WO 2023/002237 (26.01.2023 Gazette 2023/04)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME Designated Validation States: KH MA MD TN (30) Priority: 21.07.2021 PT 2021117357 (71) Applicants: Bosch Car Multimedia Portugal, S.A. 4705-820 Braga (PT) Universidade do Minho 4700-320 Braga (PT)

(72) Inventors: ESTÉVEZ CARIDE, Irene 4800-058 Guimarães (PT) PEIXOTO OLIVEIRA, Filipe André 4710-057 Braga (PT) J. NUNES-PEREIRA, Eduardo 4700-150 Braga (PT) ROMANYSHYN, Nazar 4800-058 Guimarães (PT) FERNANDEZ CUNHA, Nelssom 4800-058 Guimarães (PT) DE LIMA FERREIRA RODRIGUES, Manuel José 4710-057 Braga (PT) SILVA TELES OLIVEIRA, Nuno Miguel 4800-058 Guimarães (PT) BRAGA FERNANDES, Pedro 4800-058 Guimarães (PT) VIANA GOMES, José Carlos 4710-057 Braga (PT) SOARES PEREIRA, Rui Miguel 4800-058 Guimarães (PT) PEREIRA DA CUNHA MARTINS COSTA, Manuel Filipe 4710-503 Braga (PT) DA CUNHA PEREIRA, Mário Rui 4700-289 Braga (PT) VITALIEVITCH SMIRNOV, Gueorgui 4455-018 Lavra (PT) FERNANDES REBOUTA, Luis Manuel 4800-058 Guimarães (PT) SILVA DUARTE, Moisés Alexandre 4730-020 Arcozelo VVD (PT) IGOREVICH VASILEVSKIY, Mikhail 4710-489 Braga (PT) (74) Representative: Couto, Cláudia  Clarke, Modet Portugal Av. Casal Ribeiro, 50 - 3º Dto. 1000-093 Lisboa 1000-093 Lisboa (PT)