JP2018167773A - 車両運転支援システム - Google Patents
車両運転支援システム Download PDFInfo
- Publication number
- JP2018167773A JP2018167773A JP2017068378A JP2017068378A JP2018167773A JP 2018167773 A JP2018167773 A JP 2018167773A JP 2017068378 A JP2017068378 A JP 2017068378A JP 2017068378 A JP2017068378 A JP 2017068378A JP 2018167773 A JP2018167773 A JP 2018167773A
- Authority
- JP
- Japan
- Prior art keywords
- driving
- vehicle
- driver
- information
- demand
- 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
- 238000011946 reduction process Methods 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 claims description 142
- 230000008569 process Effects 0.000 claims description 134
- 230000006996 mental state Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 description 24
- 230000007423 decrease Effects 0.000 description 22
- 238000012545 processing Methods 0.000 description 20
- 230000009467 reduction Effects 0.000 description 15
- 238000011156 evaluation Methods 0.000 description 13
- 230000003340 mental effect Effects 0.000 description 9
- 238000006243 chemical reaction Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- DFPAKSUCGFBDDF-UHFFFAOYSA-N Nicotinamide Chemical compound NC(=O)C1=CC=CN=C1 DFPAKSUCGFBDDF-UHFFFAOYSA-N 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 230000003247 decreasing effect Effects 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 4
- 230000008451 emotion Effects 0.000 description 4
- 230000001737 promoting effect Effects 0.000 description 4
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 3
- 206010041349 Somnolence Diseases 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 210000005252 bulbus oculi Anatomy 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000000744 eyelid Anatomy 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009191 jumping Effects 0.000 description 2
- 230000002040 relaxant effect Effects 0.000 description 2
- 230000035900 sweating Effects 0.000 description 2
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 206010048909 Boredom Diseases 0.000 description 1
- 208000032140 Sleepiness Diseases 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000037007 arousal Effects 0.000 description 1
- 230000003935 attention Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000002124 endocrine Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000001508 eye Anatomy 0.000 description 1
- 230000008921 facial expression Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000037321 sleepiness Effects 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
Images
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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- 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
- B60W40/08—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 drivers or passengers
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/14—Traffic procedures, e.g. traffic regulations
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/16—Control of vehicles or other craft
- G09B19/167—Control of land vehicles
-
- 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
- B60W40/08—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 drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
-
- 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
- B60W40/08—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 drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
-
- 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
- B60W40/08—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 drivers or passengers
- B60W2040/0872—Driver physiology
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- 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
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
- B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2540/043—Identity of occupants
-
- 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
- B60W2540/10—Accelerator 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
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
- B60W2540/21—Voice
-
- 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
- B60W2540/22—Psychological state; Stress level or workload
-
- 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
- B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
-
- 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
- B60W2540/225—Direction of gaze
-
- 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
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
-
- 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
- B60W2540/30—Driving style
-
- 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
- B60W2554/20—Static 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
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Business, Economics & Management (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Theoretical Computer Science (AREA)
- Entrepreneurship & Innovation (AREA)
- Human Computer Interaction (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Game Theory and Decision Science (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
Abstract
【解決手段】車両運転支援システムSは、車両周囲の交通環境と車両Vにより運転者Eへ提供されている運転支援とに基づいて、交通環境において車両Vを運転するために運転者Eに要求される運転ディマンドD(要求運転能力)を推定する要求運転能力推定部(D推定部)22と、運転者Eの運転パフォーマンスP(現在運転能力)を推定する現在運転能力推定部(P推定部)21と、運転パフォーマンスPが運転ディマンドDよりも低い場合に、運転者Eによる交通環境の状況把握を促進させる低減処理(情報関連低減処理)を実行することにより運転ディマンドDを低減する変更部23と、を備えている。
【選択図】図2
Description
このように構成された本発明によれば、運転者が処理すべき情報量が減少するので、交通環境の状況把握が容易になる。これにより、要求運転能力を低下させることができる。
このように構成された本発明によれば、視線誘導装置が運転者の視線方向を車両前方の所定位置付近に誘導すると、運転者は車両前方の交通環境を把握し易くなる。これにより、要求運転能力を低下させることができる。
現在運転能力が比較的低い運転者は、視線方向が車両近傍に向いていることが多く、視線方向の誘導が要求運転能力の低減に有効である。そこで本発明では、現在運転能力が低い運転者に対しては、視線誘導処理を優先的に選択する。
低減処理の実行だけでは要求運転能力が現在運転能力付近まで低減しない場合、要求運転能力が非常に高い状況である。このため、本発明では、運転技量の向上よりも運転者の安心を優先するため、自動運転支援を付加して、要求運転能力を更に低減することができる。
運転ディマンドD=交通環境要因Dt−運転支援要因Da
運転支援要因Da=情報関連要因Di+自動運転要因Dd
運転パフォーマンスP=運転技量要因Ps−身体要因Pp−精神要因Pm
図3に示すように、車両運転支援システムSは、車載コントローラ(ECU)1と、車両センサ3と、情報提示装置5と、車両駆動制御システム7を備えている。
生体センサは、運転者の心拍,脈拍,発汗,脳波等を計測し、生体データを出力する。
マイクは、運転者や他の乗員の音声を取集し、音声データを出力する。
車外カメラは、車両の前方,側方,後方の画像を撮像し、車外画像データを出力する。
ナビゲーション装置は、車両位置情報を取得し、内部地図情報,外部から取得した交通渋滞情報,入力情報(目的地,経由地等)と組み合わせて、ナビゲーションデータ(複数のルート情報,運転者により選択されたルート情報等)を出力する。
自動運転支援モードは、代表的には、レーンキープアシストモード,自動速度制御モード,先行車追従モード等を含む。
レーンキープアシストモードでは、車両が車線を逸脱することを防止するように、ステアリング駆動装置が自動的に制御される。
自動速度制御モードでは、車両が設定速度での走行を維持するように、エンジン駆動装置が自動的に制御される。
先行車追従モードでは、所定の車間距離を維持した状態で先行車に追従するように、エンジン駆動装置が自動的に制御される。なお、このモードでは、車線中央を走行するように、ステアリング駆動装置も自動的に制御される。
交通環境要因Dtの算出のため、D推定部22は、交通環境について、上述の交通量,道路構造,天候,交通参加者,走行状態,車両構造,車両性能をそれぞれ分析し、評価値を算出する。
図8は、運転パフォーマンスP及び運転ディマンドDの推定値が、それぞれP3,D3(P3<D3)であった場合に、運転ディマンドの低減処理(「D減」処理)が実行された状況を示している。制御部11は、P3とD3を釣り合わせるように、低減処理を実行する。このとき、「自動運転」処理よりも「情報関連」処理が優先して実行される。なお、「情報関連」処理に含まれる可能な組合せの複数の処理によって、十分に運転ディマンドを低下させられない場合は、「自動運転」処理に含まれる1又は複数の処理が選択される。
本実施形態の車両運転支援システムSは、車両周囲の交通環境と車両Vにより運転者Eへ提供されている運転支援とに基づいて、交通環境において車両Vを運転するために運転者Eに要求される運転ディマンドD(要求運転能力)を推定する要求運転能力推定部(D推定部)22と、運転者Eの運転パフォーマンスP(現在運転能力)を推定する現在運転能力推定部(P推定部)21と、運転パフォーマンスPが運転ディマンドDよりも低い場合に、運転者Eによる交通環境の状況把握を促進させる低減処理(情報関連低減処理)を実行することにより運転ディマンドDを低減する変更部23と、を備えている。
3 車両センサ
5 情報提示装置
5E 視線誘導装置
7 車両駆動制御システム
9 ウインドシールド
9a スポット光
9b 視線誘導点
11 制御部
13 記憶部
21 現在運転能力推定部
22 要求運転能力推定部
23 変更部
C 視線方向
D 運転ディマンド
P 運転パフォーマンス
S 車両運転支援システム
V 車両
Claims (6)
- 車両周囲の交通環境と車両により運転者へ提供されている運転支援とに基づいて、前記交通環境において前記車両を運転するために前記運転者に要求される要求運転能力を推定する要求運転能力推定部と、
前記運転者の現在運転能力を推定する現在運転能力推定部と、
前記現在運転能力が前記要求運転能力よりも低い場合に、前記運転者による前記交通環境の状況把握を促進させる低減処理を実行することにより前記要求運転能力を低減する変更部と、を備えた車両運転支援システム。 - 前記低減処理は、車載情報提示装置による前記運転者への情報提示量を低減する情報量低減処理を含む、請求項1に記載の車両運転支援システム。
- 前記低減処理は、視線誘導装置により前記運転者の視線方向を車両前方の所定位置付近へ誘導する視線誘導処理を含む、請求項1に記載の車両運転支援システム。
- 前記変更部は、前記現在運転能力が所定閾値よりも低い場合、前記低減処理のうち、視線誘導装置により前記運転者の視線方向を車両前方の所定位置付近へ誘導する視線誘導処理を優先的に実行する、請求項1又は2に記載の車両運転支援システム。
- 前記変更部は、前記低減処理を実行しても前記現在運転能力が前記要求運転能力よりも低い場合には、1又は複数の自動運転制御システムを作動させて前記要求運転能力をさらに低減する、請求項1〜4のいずれか1項に記載の車両運転支援システム。
- 前記現在運転能力推定部は、前記車両の運転履歴データ、及び、前記運転者の身体状態及び/又は精神状態に基づいて、前記運転者の現在運転能力を推定する、請求項1〜5いずれか1項に記載の車両運転支援システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017068378A JP6593712B2 (ja) | 2017-03-30 | 2017-03-30 | 車両運転支援システム |
CN201810116280.0A CN108706012B (zh) | 2017-03-30 | 2018-02-06 | 车辆驾驶支援系统 |
US15/895,409 US10558215B2 (en) | 2017-03-30 | 2018-02-13 | Vehicle drive assistance system |
DE102018001369.4A DE102018001369A1 (de) | 2017-03-30 | 2018-02-21 | Fahrzeugfahrassistenzsystem, Verfahren zum Unterstützen des Fahrens eines Fahrzeugs und Computerprogrammprodukt |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017068378A JP6593712B2 (ja) | 2017-03-30 | 2017-03-30 | 車両運転支援システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018167773A true JP2018167773A (ja) | 2018-11-01 |
JP6593712B2 JP6593712B2 (ja) | 2019-10-23 |
Family
ID=63524521
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017068378A Active JP6593712B2 (ja) | 2017-03-30 | 2017-03-30 | 車両運転支援システム |
Country Status (4)
Country | Link |
---|---|
US (1) | US10558215B2 (ja) |
JP (1) | JP6593712B2 (ja) |
CN (1) | CN108706012B (ja) |
DE (1) | DE102018001369A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021116003A (ja) * | 2020-01-28 | 2021-08-10 | 株式会社Subaru | 車両制御装置 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6593712B2 (ja) * | 2017-03-30 | 2019-10-23 | マツダ株式会社 | 車両運転支援システム |
US10585433B2 (en) * | 2017-08-28 | 2020-03-10 | Ford Global Technologies, Llc | Methods and apparatus for automotive drive mode selection |
US11130497B2 (en) * | 2017-12-18 | 2021-09-28 | Plusai Limited | Method and system for ensemble vehicle control prediction in autonomous driving vehicles |
US20190185012A1 (en) | 2017-12-18 | 2019-06-20 | PlusAI Corp | Method and system for personalized motion planning in autonomous driving vehicles |
US11273836B2 (en) * | 2017-12-18 | 2022-03-15 | Plusai, Inc. | Method and system for human-like driving lane planning in autonomous driving vehicles |
JP6937856B2 (ja) * | 2020-02-13 | 2021-09-22 | 本田技研工業株式会社 | 運転支援装置および車両 |
JP7251524B2 (ja) * | 2020-07-01 | 2023-04-04 | トヨタ自動車株式会社 | 眠気兆候通知システム、眠気兆候通知方法、及び眠気兆候通知プログラム |
JP2022178813A (ja) * | 2021-05-21 | 2022-12-02 | マツダ株式会社 | 車両運転支援システム及び車両運転支援方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007047914A (ja) * | 2005-08-08 | 2007-02-22 | Denso Corp | 危険反応地点記録システム及び運転支援システム |
JP2007512989A (ja) * | 2003-05-16 | 2007-05-24 | ダイムラークライスラー・アクチェンゲゼルシャフト | 自動車内における運転者の負荷を調整するための方法及び装置 |
WO2013128920A1 (ja) * | 2012-02-27 | 2013-09-06 | ヤマハ発動機株式会社 | 運転状態共有装置および運転状態共有システム |
JP2014127099A (ja) * | 2012-12-27 | 2014-07-07 | Denso Corp | 音像定位装置、及び、プログラム |
JP2015110417A (ja) * | 2015-01-08 | 2015-06-18 | マツダ株式会社 | ドライバ感情に基づく運転支援装置 |
US20160176412A1 (en) * | 2014-12-19 | 2016-06-23 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and apparatus for generating and using driver specific vehicle controls |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3516986B2 (ja) | 1993-06-02 | 2004-04-05 | 本田技研工業株式会社 | 運転技量推定装置 |
JP4203857B2 (ja) * | 2004-03-01 | 2009-01-07 | 株式会社デンソー | 安全運転支援システム |
JP4811025B2 (ja) | 2006-01-06 | 2011-11-09 | トヨタ自動車株式会社 | 車両用制御装置 |
JP4333797B2 (ja) | 2007-02-06 | 2009-09-16 | 株式会社デンソー | 車両用制御装置 |
JP5359467B2 (ja) | 2009-03-31 | 2013-12-04 | 日産自動車株式会社 | 情報提示装置および情報提示方法 |
JP5742184B2 (ja) * | 2010-11-16 | 2015-07-01 | トヨタ自動車株式会社 | 運転支援装置 |
EP2915718B1 (en) * | 2014-03-04 | 2018-07-11 | Volvo Car Corporation | Apparatus and method for continuously establishing a boundary for autonomous driving availability and an automotive vehicle comprising such an apparatus |
US10185998B1 (en) * | 2014-05-20 | 2019-01-22 | State Farm Mutual Automobile Insurance Company | Accident fault determination for autonomous vehicles |
US9972054B1 (en) * | 2014-05-20 | 2018-05-15 | State Farm Mutual Automobile Insurance Company | Accident fault determination for autonomous vehicles |
US9783204B2 (en) * | 2015-02-02 | 2017-10-10 | International Business Machines Corporation | Cognitive displays |
JP6555648B2 (ja) * | 2017-03-30 | 2019-08-07 | マツダ株式会社 | 車両運転支援システム |
JP6593712B2 (ja) * | 2017-03-30 | 2019-10-23 | マツダ株式会社 | 車両運転支援システム |
-
2017
- 2017-03-30 JP JP2017068378A patent/JP6593712B2/ja active Active
-
2018
- 2018-02-06 CN CN201810116280.0A patent/CN108706012B/zh not_active Expired - Fee Related
- 2018-02-13 US US15/895,409 patent/US10558215B2/en active Active
- 2018-02-21 DE DE102018001369.4A patent/DE102018001369A1/de not_active Withdrawn
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007512989A (ja) * | 2003-05-16 | 2007-05-24 | ダイムラークライスラー・アクチェンゲゼルシャフト | 自動車内における運転者の負荷を調整するための方法及び装置 |
JP2007047914A (ja) * | 2005-08-08 | 2007-02-22 | Denso Corp | 危険反応地点記録システム及び運転支援システム |
WO2013128920A1 (ja) * | 2012-02-27 | 2013-09-06 | ヤマハ発動機株式会社 | 運転状態共有装置および運転状態共有システム |
JP2014127099A (ja) * | 2012-12-27 | 2014-07-07 | Denso Corp | 音像定位装置、及び、プログラム |
US20160176412A1 (en) * | 2014-12-19 | 2016-06-23 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and apparatus for generating and using driver specific vehicle controls |
JP2015110417A (ja) * | 2015-01-08 | 2015-06-18 | マツダ株式会社 | ドライバ感情に基づく運転支援装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021116003A (ja) * | 2020-01-28 | 2021-08-10 | 株式会社Subaru | 車両制御装置 |
JP7534852B2 (ja) | 2020-01-28 | 2024-08-15 | 株式会社Subaru | 車両制御装置 |
Also Published As
Publication number | Publication date |
---|---|
US10558215B2 (en) | 2020-02-11 |
US20180284766A1 (en) | 2018-10-04 |
DE102018001369A1 (de) | 2018-10-04 |
JP6593712B2 (ja) | 2019-10-23 |
CN108706012A (zh) | 2018-10-26 |
CN108706012B (zh) | 2021-08-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6555647B2 (ja) | 車両運転支援システム及び車両運転支援方法 | |
JP6555648B2 (ja) | 車両運転支援システム | |
JP6593712B2 (ja) | 車両運転支援システム | |
JP6555646B2 (ja) | 車両運転支援システム | |
JP6342856B2 (ja) | 車両制御装置 | |
US10338583B2 (en) | Driving assistance device | |
US20150258996A1 (en) | Method for providing a context based coaching message to a driver of a vehicle | |
JP2007512989A (ja) | 自動車内における運転者の負荷を調整するための方法及び装置 | |
MX2013009434A (es) | Sistema y método de respuesta al comportamiento del conductor. | |
JP6269360B2 (ja) | 運転支援システム及び運転支援方法 | |
US10800425B2 (en) | Method and system for preventing concentration errors when driving a motor vehicle | |
US20170178509A1 (en) | Method and apparatus for operating a driver assistance system, driver assistance system | |
JP6358197B2 (ja) | 運転支援制御装置 | |
JP2018008575A (ja) | 車両制御装置 | |
JP6555649B2 (ja) | 車両運転支援システム及び車両運転支援方法 | |
JP2005162189A (ja) | 運転支援方策決定方法および運転支援装置 | |
JP6555650B2 (ja) | 車両運転支援システム及び車両運転支援方法 | |
JP6555651B2 (ja) | 車両運転支援システム及び車両運転支援方法 | |
JP6645489B2 (ja) | 運転支援装置 | |
WO2018168046A1 (ja) | 集中度判定装置、集中度判定方法及び集中度判定のためのプログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180228 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20190116 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190128 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20190211 |
|
RD03 | Notification of appointment of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7423 Effective date: 20190516 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190529 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190617 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190806 |
|
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: 20190830 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190912 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6593712 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |