CN107614329B - 报告避撞方向的避撞装置 - Google Patents

报告避撞方向的避撞装置 Download PDF

Info

Publication number
CN107614329B
CN107614329B CN201680028878.3A CN201680028878A CN107614329B CN 107614329 B CN107614329 B CN 107614329B CN 201680028878 A CN201680028878 A CN 201680028878A CN 107614329 B CN107614329 B CN 107614329B
Authority
CN
China
Prior art keywords
vehicle
moving direction
collision
target object
collision avoidance
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.)
Active
Application number
CN201680028878.3A
Other languages
English (en)
Chinese (zh)
Other versions
CN107614329A (zh
Inventor
徳田哲也
三浦健
向井靖彦
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.)
Denso Corp
Original Assignee
Denso Corp
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 Denso Corp filed Critical Denso Corp
Publication of CN107614329A publication Critical patent/CN107614329A/zh
Application granted granted Critical
Publication of CN107614329B publication Critical patent/CN107614329B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • 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
    • 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
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W40/10—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 vehicle motion
    • 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
    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
    • H04B10/114—Indoor or close-range type systems
    • H04B10/1141—One-way transmission
    • 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
    • B60Q1/525—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 automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
CN201680028878.3A 2015-05-18 2016-05-17 报告避撞方向的避撞装置 Active CN107614329B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2015101177A JP6384400B2 (ja) 2015-05-18 2015-05-18 衝突回避装置
JP2015-101177 2015-05-18
PCT/JP2016/064579 WO2016186105A1 (ja) 2015-05-18 2016-05-17 衝突回避方向を報知する衝突回避装置

Publications (2)

Publication Number Publication Date
CN107614329A CN107614329A (zh) 2018-01-19
CN107614329B true CN107614329B (zh) 2019-09-13

Family

ID=57320115

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680028878.3A Active CN107614329B (zh) 2015-05-18 2016-05-17 报告避撞方向的避撞装置

Country Status (5)

Country Link
US (1) US10328849B2 (enExample)
JP (1) JP6384400B2 (enExample)
CN (1) CN107614329B (enExample)
DE (1) DE112016002233B4 (enExample)
WO (1) WO2016186105A1 (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6981270B2 (ja) 2018-01-18 2021-12-15 トヨタ自動車株式会社 運転支援装置及び方法
US11262755B2 (en) * 2018-04-09 2022-03-01 Toyota Motor Engineering & Manufacturing North America, Inc. Driver assistance system for autonomously indicating vehicle user intent in response to a predefined driving situation
EP3626585A1 (en) * 2018-09-21 2020-03-25 Visteon Global Technologies, Inc. Driver assistance system and method for displaying traffic information
JP7414025B2 (ja) * 2021-01-21 2024-01-16 トヨタ自動車株式会社 衝突回避支援装置
JP2023065745A (ja) * 2021-10-28 2023-05-15 キヤノン株式会社 光学装置、車載システム、及び移動装置

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000318513A (ja) * 1999-05-17 2000-11-21 Mitsubishi Electric Corp 車両用障害物検出装置
JP2003095046A (ja) * 2001-09-20 2003-04-03 Nissan Motor Co Ltd 車両の横切り障害警報装置
JP2003346297A (ja) * 2002-05-30 2003-12-05 Matsushita Electric Ind Co Ltd 情報タグ、路側無線送受信装置、車載無線送受信装置及び交通安全支援装置
JP2005247004A (ja) * 2004-03-01 2005-09-15 Koito Mfg Co Ltd 車両用方向指示装置
JP2006031443A (ja) * 2004-07-16 2006-02-02 Denso Corp 衝突回避通知システム
JP2006209325A (ja) * 2005-01-26 2006-08-10 Denso Corp 車両用警報装置及び車両における警報発生方法
WO2007023899A1 (ja) * 2005-08-24 2007-03-01 Pioneer Corporation 運転支援装置、運転支援方法、運転支援プログラムおよび記録媒体
JP2008094151A (ja) * 2006-10-06 2008-04-24 Denso Corp 車両用灯火制御システム
CN102750837A (zh) * 2012-06-26 2012-10-24 北京航空航天大学 无信号交叉口车车协同避撞系统
JP2012238080A (ja) * 2011-05-10 2012-12-06 Honda Motor Co Ltd 事故回避支援装置
CN103171554A (zh) * 2011-12-26 2013-06-26 现代自动车株式会社 利用侧方和后方传感器控制车辆间距离的系统和方法
US8977007B1 (en) * 2013-04-23 2015-03-10 Google Inc. Detecting a vehicle signal through image differencing and filtering

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4532007B2 (ja) 2001-03-15 2010-08-25 富士重工業株式会社 車両運動制御装置
JP4454490B2 (ja) * 2004-12-17 2010-04-21 ダイハツ工業株式会社 衝突防止支援方法及び衝突防止支援装置
US20080087286A1 (en) 2006-10-11 2008-04-17 James Jones Disposable nasal filter
US8537030B2 (en) * 2010-02-15 2013-09-17 Ford Global Technologies, Llc Pedestrian alert system and method
EP2363846B1 (en) * 2010-03-03 2014-10-15 Volvo Car Corporation System and method for collision warning
US9230419B2 (en) * 2010-07-27 2016-01-05 Rite-Hite Holding Corporation Methods and apparatus to detect and warn proximate entities of interest
DE102011081394B3 (de) 2011-08-23 2012-10-31 Robert Bosch Gmbh Verfahren und Steuergerät zum Hervorheben eines erwarteten Bewegungspfads eines Fahrzeugs
JP6178142B2 (ja) * 2013-07-12 2017-08-09 株式会社東芝 生成装置、方法およびプログラム
JP5886809B2 (ja) * 2013-09-27 2016-03-16 富士重工業株式会社 車外環境認識装置
US9988047B2 (en) * 2013-12-12 2018-06-05 Magna Electronics Inc. Vehicle control system with traffic driving control
JP6269606B2 (ja) * 2015-07-21 2018-01-31 トヨタ自動車株式会社 車両制御装置

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000318513A (ja) * 1999-05-17 2000-11-21 Mitsubishi Electric Corp 車両用障害物検出装置
JP2003095046A (ja) * 2001-09-20 2003-04-03 Nissan Motor Co Ltd 車両の横切り障害警報装置
JP2003346297A (ja) * 2002-05-30 2003-12-05 Matsushita Electric Ind Co Ltd 情報タグ、路側無線送受信装置、車載無線送受信装置及び交通安全支援装置
JP2005247004A (ja) * 2004-03-01 2005-09-15 Koito Mfg Co Ltd 車両用方向指示装置
JP2006031443A (ja) * 2004-07-16 2006-02-02 Denso Corp 衝突回避通知システム
JP2006209325A (ja) * 2005-01-26 2006-08-10 Denso Corp 車両用警報装置及び車両における警報発生方法
WO2007023899A1 (ja) * 2005-08-24 2007-03-01 Pioneer Corporation 運転支援装置、運転支援方法、運転支援プログラムおよび記録媒体
JP2008094151A (ja) * 2006-10-06 2008-04-24 Denso Corp 車両用灯火制御システム
JP2012238080A (ja) * 2011-05-10 2012-12-06 Honda Motor Co Ltd 事故回避支援装置
CN103171554A (zh) * 2011-12-26 2013-06-26 现代自动车株式会社 利用侧方和后方传感器控制车辆间距离的系统和方法
CN102750837A (zh) * 2012-06-26 2012-10-24 北京航空航天大学 无信号交叉口车车协同避撞系统
US8977007B1 (en) * 2013-04-23 2015-03-10 Google Inc. Detecting a vehicle signal through image differencing and filtering

Also Published As

Publication number Publication date
CN107614329A (zh) 2018-01-19
US10328849B2 (en) 2019-06-25
JP2016215752A (ja) 2016-12-22
DE112016002233T5 (de) 2018-02-08
WO2016186105A1 (ja) 2016-11-24
US20180141492A1 (en) 2018-05-24
DE112016002233B4 (de) 2023-07-20
JP6384400B2 (ja) 2018-09-05

Similar Documents

Publication Publication Date Title
CN109421714B (zh) 车辆控制系统、车辆控制方法及存储介质
CN109760673B (zh) 车道变换支持设备
JP2019119216A (ja) 車両走行制御装置、車両走行制御システムおよび車両走行制御方法
CN113022554B (zh) 驾驶支援装置
US11840223B2 (en) Driver assistant system and method of controlling the same
CN107614329B (zh) 报告避撞方向的避撞装置
US12030486B2 (en) Apparatus for assisting driving, vehicle having the same, and method of controlling the same
US20200226930A1 (en) Collision avoidance control apparatus
JP2019061612A (ja) 制御対象車両設定装置、制御対象車両設定システムおよび制御対象車両設定方法
CN110036308A (zh) 车辆周边信息获取装置以及车辆
CN113942498A (zh) 碰撞躲避辅助装置
US11305761B2 (en) Collision avoidance control apparatus
US11840220B2 (en) Driver assistance system and control method thereof
US20170259813A1 (en) Method for avoiding a rear-end collision between a first vehicle and a second vehicle and control unit
US11250707B2 (en) Collision avoidance assistance device
KR20220119229A (ko) 운전자 보조 시스템 및 그를 가지는 차량
CN113002535B (zh) 驾驶员辅助设备和驾驶员辅助方法
US20190315349A1 (en) Collision determination apparatus and method
US11648937B2 (en) Driver assistance device
JP7631914B2 (ja) 運転支援装置
US20180158336A1 (en) Method and device for operating a vehicle
JP7347193B2 (ja) 運転支援装置
CN116331192A (zh) 车辆控制装置、车辆控制方法、以及存储介质
CN114954445B (zh) 驾驶辅助装置
US12497029B2 (en) Vehicle and control method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant