JP2016025683A - 車両走行制御装置 - Google Patents
車両走行制御装置 Download PDFInfo
- Publication number
- JP2016025683A JP2016025683A JP2014146225A JP2014146225A JP2016025683A JP 2016025683 A JP2016025683 A JP 2016025683A JP 2014146225 A JP2014146225 A JP 2014146225A JP 2014146225 A JP2014146225 A JP 2014146225A JP 2016025683 A JP2016025683 A JP 2016025683A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- creep torque
- preceding vehicle
- value
- target value
- 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.)
- Granted
Links
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 230000001133 acceleration Effects 0.000 description 34
- 238000000034 method Methods 0.000 description 20
- 230000008569 process Effects 0.000 description 17
- 238000004364 calculation method Methods 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 6
- 230000007423 decrease Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000003313 weakening effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- 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
- B60K31/02—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 electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
-
- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18063—Creeping
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- 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
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W2554/801—Lateral 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/60—Electric Machines, e.g. motors or generators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Traffic Control Systems (AREA)
Abstract
【解決手段】車両走行制御装置10は、クリープトルクを発生させる電気モータ42と、少なくとも自車が停止状態に至るまで、先行車の走行状態に基づいて先行車と自車との車間を調整する先行車追従制御を継続する先行車追従制御手段20と、先行車追従制御中且つ自車走行中は、電気モータで発生させるクリープトルクの目標値を所定値に保持するクリープトルク制御手段とを含む。
【選択図】図1
Description
少なくとも自車が停止状態に至るまで、先行車の走行状態に基づいて先行車と自車との車間を調整する先行車追従制御を継続する先行車追従制御手段と、
前記先行車追従制御中且つ自車走行中は、前記電気モータで発生させるクリープトルクの目標値を所定値に保持するクリープトルク制御手段とを含む、車両走行制御装置が提供される。
10 車両走行制御装置
11 レーダ
20 先行車追従制御ECU
21 目標加速度演算部
22 走行状態判定部
31 駆動系ECU
Claims (5)
- クリープトルクを発生させる電気モータと、
少なくとも自車が停止状態に至るまで、先行車の走行状態に基づいて先行車と自車との車間を調整する先行車追従制御を継続する先行車追従制御手段と、
前記先行車追従制御中且つ自車走行中は、前記電気モータで発生させるクリープトルクの目標値を所定値に保持するクリープトルク制御手段とを含む、車両走行制御装置。 - 前記所定値は、0である、請求項1に記載の車両走行制御装置。
- 前記クリープトルク制御手段は、前記先行車追従制御中且つ自車走行中、前記クリープトルクの目標値を所定周期毎に演算し、前記クリープトルクの目標値の今回周期の演算値が前回周期の演算値以下である場合に、前記クリープトルクの目標値を前記前回周期の演算値に保持し、それ以外の場合は、前記クリープトルクの目標値を今回周期の演算値で更新する、請求項1に記載の車両走行制御装置。
- 前記クリープトルク制御手段は、自車停止中は、前記クリープトルクの目標値を停止位置における道路斜度に基づいて設定する、請求項1〜3のうちのいずれか1項に記載の車両走行制御装置。
- 前記先行車追従制御手段は、前記先行車追従制御中、停止間際の目標減速度を、前記停止間際よりも前の目標減速度よりも小さく設定する、請求項1〜4のうちのいずれか1項に記載の車両走行制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014146225A JP6048457B2 (ja) | 2014-07-16 | 2014-07-16 | 車両走行制御装置 |
US14/735,439 US20160016469A1 (en) | 2014-07-16 | 2015-06-10 | Vehicle travel control apparatus |
DE102015111212.4A DE102015111212A1 (de) | 2014-07-16 | 2015-07-10 | Fahrzeugfahrtsteuerungsvorrichtung |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014146225A JP6048457B2 (ja) | 2014-07-16 | 2014-07-16 | 車両走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016025683A true JP2016025683A (ja) | 2016-02-08 |
JP6048457B2 JP6048457B2 (ja) | 2016-12-21 |
Family
ID=55021930
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014146225A Active JP6048457B2 (ja) | 2014-07-16 | 2014-07-16 | 車両走行制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20160016469A1 (ja) |
JP (1) | JP6048457B2 (ja) |
DE (1) | DE102015111212A1 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019078232A (ja) * | 2017-10-25 | 2019-05-23 | トヨタ自動車株式会社 | 車両 |
JP2019536403A (ja) * | 2016-11-01 | 2019-12-12 | ジーイー グローバル ソーシング エルエルシーGE Global Sourcing LLC | 車両を制御するためのシステムおよび方法 |
WO2020158145A1 (ja) * | 2019-01-29 | 2020-08-06 | 日立オートモティブシステムズ株式会社 | 電動車両の制御装置、制御方法および制御システム |
US11203338B2 (en) | 2017-10-25 | 2021-12-21 | Toyota Jidosha Kabushiki Kaisha | Vehicle |
WO2022202619A1 (ja) * | 2021-03-24 | 2022-09-29 | いすゞ自動車株式会社 | 車両制御装置及び車両制御方法 |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101714218B1 (ko) * | 2015-09-11 | 2017-03-08 | 현대자동차주식회사 | 환경차량의 정지 전 크립토크 제어 해제 방법 |
WO2017156670A1 (zh) * | 2016-03-14 | 2017-09-21 | 华为技术有限公司 | 一种计费测量的方法、装置及系统 |
KR102429495B1 (ko) * | 2017-10-18 | 2022-08-05 | 현대자동차주식회사 | 환경차의 크립 토크 제어 장치 및 방법 |
DE102017219675A1 (de) * | 2017-11-06 | 2019-05-09 | Audi Ag | Verfahren zum Betrieb eines Kraftfahrzeugs und Kraftfahrzeug |
KR20190080053A (ko) * | 2017-12-28 | 2019-07-08 | 현대자동차주식회사 | 관성주행 안내장치 및 제어방법 |
CN111542464B (zh) * | 2018-01-22 | 2021-09-07 | 日产自动车株式会社 | 车辆控制方法及车辆控制装置 |
CN113261191B (zh) | 2019-06-26 | 2023-05-05 | 华为数字能源技术有限公司 | 双向多端口功率转换系统及方法 |
CN112644493B (zh) * | 2020-04-21 | 2022-04-29 | 长城汽车股份有限公司 | 车辆控制方法、装置、存储介质及车辆 |
US11535251B2 (en) * | 2020-08-11 | 2022-12-27 | GM Global Technology Operations LLC | Full speed range adaptive cruise control for a vehicle |
CN114506322B (zh) * | 2022-02-16 | 2023-06-30 | 岚图汽车科技有限公司 | 跟车控制方法、装置、设备及可读存储介质 |
US20240043003A1 (en) * | 2022-08-04 | 2024-02-08 | International Engine Intellectual Property Company, Llc | Systems and methods for managing electric vehicle following distance |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH118912A (ja) * | 1997-06-16 | 1999-01-12 | Mitsubishi Motors Corp | 電気自動車のモータトルク制御装置 |
JP2003118551A (ja) * | 2001-10-11 | 2003-04-23 | Nissan Motor Co Ltd | ブレーキ装置 |
JP2004036489A (ja) * | 2002-07-03 | 2004-02-05 | Toyota Motor Corp | 自動車 |
JP2006298064A (ja) * | 2005-04-18 | 2006-11-02 | Nissan Motor Co Ltd | 車両のクリープ制御装置 |
JP2008301547A (ja) * | 2007-05-29 | 2008-12-11 | Toyota Motor Corp | 電動車両のモータトルク制御装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5377026B2 (ja) | 2009-03-27 | 2013-12-25 | ダイハツ工業株式会社 | 追従走行制御装置 |
KR101220388B1 (ko) * | 2011-08-11 | 2013-01-09 | 현대자동차주식회사 | 전기자동차의 이코노미 주행장치 및 그 제어방법 |
KR20130042967A (ko) * | 2011-10-19 | 2013-04-29 | 현대자동차주식회사 | 하이브리드 차량의 크리프 제어장치 및 방법 |
JP2014146225A (ja) | 2013-01-30 | 2014-08-14 | Panasonic Corp | 電子機器と、それを搭載した自動車 |
JP2015123831A (ja) * | 2013-12-26 | 2015-07-06 | 富士重工業株式会社 | 車両の制御装置及び制御方法 |
-
2014
- 2014-07-16 JP JP2014146225A patent/JP6048457B2/ja active Active
-
2015
- 2015-06-10 US US14/735,439 patent/US20160016469A1/en not_active Abandoned
- 2015-07-10 DE DE102015111212.4A patent/DE102015111212A1/de not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH118912A (ja) * | 1997-06-16 | 1999-01-12 | Mitsubishi Motors Corp | 電気自動車のモータトルク制御装置 |
JP2003118551A (ja) * | 2001-10-11 | 2003-04-23 | Nissan Motor Co Ltd | ブレーキ装置 |
JP2004036489A (ja) * | 2002-07-03 | 2004-02-05 | Toyota Motor Corp | 自動車 |
JP2006298064A (ja) * | 2005-04-18 | 2006-11-02 | Nissan Motor Co Ltd | 車両のクリープ制御装置 |
JP2008301547A (ja) * | 2007-05-29 | 2008-12-11 | Toyota Motor Corp | 電動車両のモータトルク制御装置 |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019536403A (ja) * | 2016-11-01 | 2019-12-12 | ジーイー グローバル ソーシング エルエルシーGE Global Sourcing LLC | 車両を制御するためのシステムおよび方法 |
JP7212233B2 (ja) | 2016-11-01 | 2023-01-25 | トランスポーテーション アイピー ホールディングス,エルエルシー | 車両を制御するためのシステムおよび方法 |
JP2023040053A (ja) * | 2016-11-01 | 2023-03-22 | トランスポーテーション アイピー ホールディングス,エルエルシー | 車両を制御するためのシステムおよび方法 |
JP2019078232A (ja) * | 2017-10-25 | 2019-05-23 | トヨタ自動車株式会社 | 車両 |
US11203338B2 (en) | 2017-10-25 | 2021-12-21 | Toyota Jidosha Kabushiki Kaisha | Vehicle |
US11433876B2 (en) | 2017-10-25 | 2022-09-06 | Toyota Jidosha Kabushiki Kaisha | Vehicle drive source control based on preceding vehicle |
WO2020158145A1 (ja) * | 2019-01-29 | 2020-08-06 | 日立オートモティブシステムズ株式会社 | 電動車両の制御装置、制御方法および制御システム |
JP2020124006A (ja) * | 2019-01-29 | 2020-08-13 | 日立オートモティブシステムズ株式会社 | 電動車両の制御装置、制御方法および制御システム |
JP7132862B2 (ja) | 2019-01-29 | 2022-09-07 | 日立Astemo株式会社 | 電動車両の制御装置、制御方法および制御システム |
WO2022202619A1 (ja) * | 2021-03-24 | 2022-09-29 | いすゞ自動車株式会社 | 車両制御装置及び車両制御方法 |
JP2022148176A (ja) * | 2021-03-24 | 2022-10-06 | いすゞ自動車株式会社 | 車両制御装置及び車両制御方法 |
JP7415997B2 (ja) | 2021-03-24 | 2024-01-17 | いすゞ自動車株式会社 | 車両制御装置及び車両制御方法 |
Also Published As
Publication number | Publication date |
---|---|
US20160016469A1 (en) | 2016-01-21 |
DE102015111212A1 (de) | 2016-01-21 |
JP6048457B2 (ja) | 2016-12-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6048457B2 (ja) | 車両走行制御装置 | |
JP5994755B2 (ja) | 車両走行制御装置 | |
JP2015051716A (ja) | 車両走行制御装置 | |
JP6350465B2 (ja) | 車両の制御装置 | |
CN107709123B (zh) | 车辆用控制装置 | |
WO2017056723A1 (ja) | 車両制御装置 | |
US8996275B2 (en) | Control device for vehicle | |
JP2017154614A (ja) | 車両走行制御装置 | |
JP2017058891A (ja) | 車両の制御装置及び追従走行システム | |
JP6020510B2 (ja) | 車両制御装置 | |
JP2017154657A (ja) | 車両の制御装置 | |
JP2019059474A (ja) | ハイブリッド自動車の制御装置 | |
JP4243155B2 (ja) | 車両速度の制限方法および装置 | |
WO2021057583A1 (en) | A method for driving a vehicle platoon | |
CN111542464B (zh) | 车辆控制方法及车辆控制装置 | |
JP2012240531A (ja) | 車両用走行制御装置 | |
JP2024521301A (ja) | アダプティブクルーズコントロールによる原動機付き車両の自動化された発進のための原動機付き車両の目標加速度の決定及び出力 | |
WO2019188142A1 (ja) | 走行制御装置 | |
JP2008044421A (ja) | 車両走行制御装置 | |
JP6389664B2 (ja) | 車両用制御装置 | |
JP2014172456A (ja) | アイドルストップ車の制御装置 | |
JP5402745B2 (ja) | 走行制御装置 | |
JP7494830B2 (ja) | 車両運転支援装置、車両運転支援方法、車両運転支援プログラム及び車両運転支援装置を備えた車両 | |
US20220219702A1 (en) | Control device for vehicle, control method, non-transitory computer- readable storage medium, manager, and vehicle | |
JP6806666B2 (ja) | 制動力制御システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20160119 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20160830 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20160831 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20160930 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20161025 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20161107 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 6048457 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |