JP2019116229A - 表示システム - Google Patents
表示システム Download PDFInfo
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- JP2019116229A JP2019116229A JP2017251889A JP2017251889A JP2019116229A JP 2019116229 A JP2019116229 A JP 2019116229A JP 2017251889 A JP2017251889 A JP 2017251889A JP 2017251889 A JP2017251889 A JP 2017251889A JP 2019116229 A JP2019116229 A JP 2019116229A
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- 230000007423 decrease Effects 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 26
- 238000005259 measurement Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 description 17
- 238000003384 imaging method Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 4
- 239000004973 liquid crystal related substance Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000000414 obstructive effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
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- 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
-
- 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
-
- 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
- B60K35/23—Head-up displays [HUD]
-
- 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
-
- 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
- B60R11/0229—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof for displays, e.g. cathodic tubes
-
- 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
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/365—Guidance using head up displays or projectors, e.g. virtual vehicles or arrows projected on the windscreen or on the road itself
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
- G01C3/08—Use of electric radiation detectors
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
-
- 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
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/149—Instrument input by detecting viewing direction not otherwise provided for
-
- 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
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/166—Navigation
-
- 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
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/177—Augmented reality
-
- 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
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/179—Distances to obstacles or vehicles
-
- 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
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/18—Information management
- B60K2360/186—Displaying information according to relevancy
- B60K2360/1868—Displaying information according to relevancy according to driving situations
-
- 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
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/20—Optical features of instruments
- B60K2360/21—Optical features of instruments using cameras
-
- 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
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/20—Optical features of instruments
- B60K2360/33—Illumination features
- B60K2360/334—Projection means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
- B60R2300/205—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using a head-up display
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Optics & Photonics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Instrument Panels (AREA)
- Controls And Circuits For Display Device (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Transforming Electric Information Into Light Information (AREA)
Abstract
Description
120:物体検出部 130:HUD
131:光源 132:光学系
133:光変調手段 134:投射光学系
135:アクチュエータ 140:記憶部
150:I/F部 152:ナビゲーション装置
160:制御部
D:仮想マーカーの虚像 L:車間距離
X:前方車両
Claims (10)
- 自車の前方を走行する前方車両を検出する検出手段と、
前記前方車両との間の車間距離を計測する計測手段と、
自車の進行方向等の案内をするための仮想マーカー用の画像を自車のフロントガラスに向けて投射する投射手段と、
前記車間距離に応じて前記仮想マーカーの虚像の表示位置が可変するように前記投射手段を制御する制御手段と、
を有する表示システム。 - 前記制御手段は、前記車間距離が小さくなるにつれ前記仮想マーカーの虚像の表示位置を手前にシフトさせる、請求項1に記載の表示システム。
- 前記制御手段は、前記車間距離が第1の値以下になったとき前記仮想マーカーの虚像の一部を非表示にする、請求項1または2に記載の表示システム。
- 前記制御手段は、前記仮想マーカーの虚像が自車と重なる部分を非表示にする、請求項3に記載の表示システム。
- 前記制御手段は、前記車間距離が前記第1の値より小さい第2の値以下になったとき、前記仮想マーカーの虚像を完全に非表示にする、請求項3または4に記載の表示システム。
- 前記制御手段は、前記車間距離に応じて前記仮想マーカーの大きさを段階的に可変する、請求項1ないし5いずれか1つに記載の表示システム。
- 前記制御手段は、前記検出手段により検出された前方車両の大きさに基づき前記仮想マーカーの大きさを決定する、請求項6に記載の表示システム。
- 前記制御手段は、自車が停止したとき、前記車間距離の大小にかかわらず、前記仮想マーカーの虚像を非表示にする、請求項1ないし7いずれか1つに記載の表示システム。
- 前記仮想マーカーは、車両形状を表した画像であり、前記車両形状のリア部分を非表示にする、請求項2に記載の表示システム。
- 表示システムはさらに、運転者の視線または顔の向きを検出する検出手段を含み、前記制御手段は、前記検出手段の検出結果に基づいて前記仮想マーカーの虚像が表示される位置を制御する、請求項1ないし9いずれか1つに記載の表示システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017251889A JP6945933B2 (ja) | 2017-12-27 | 2017-12-27 | 表示システム |
US16/210,541 US20190196184A1 (en) | 2017-12-27 | 2018-12-05 | Display system |
EP18214339.6A EP3505381B1 (en) | 2017-12-27 | 2018-12-20 | Display system and display control program |
CN201811598115.XA CN109968977B (zh) | 2017-12-27 | 2018-12-26 | 显示系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017251889A JP6945933B2 (ja) | 2017-12-27 | 2017-12-27 | 表示システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019116229A true JP2019116229A (ja) | 2019-07-18 |
JP6945933B2 JP6945933B2 (ja) | 2021-10-06 |
Family
ID=64746310
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017251889A Active JP6945933B2 (ja) | 2017-12-27 | 2017-12-27 | 表示システム |
Country Status (4)
Country | Link |
---|---|
US (1) | US20190196184A1 (ja) |
EP (1) | EP3505381B1 (ja) |
JP (1) | JP6945933B2 (ja) |
CN (1) | CN109968977B (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111752046B (zh) * | 2015-10-15 | 2023-06-02 | 麦克赛尔株式会社 | 平视显示装置 |
JP7095291B2 (ja) | 2018-01-30 | 2022-07-05 | トヨタ自動車株式会社 | 車両用表示装置 |
DE102019105855A1 (de) * | 2019-03-07 | 2020-09-10 | Deutsche Post Ag | Fahrzeug mit Anzeigeeinrichtung |
JP7357284B2 (ja) * | 2020-02-12 | 2023-10-06 | パナソニックIpマネジメント株式会社 | 描画システム、表示システム、移動体、描画方法及びプログラム |
CN111301168B (zh) * | 2020-03-30 | 2021-09-03 | 广州小鹏汽车科技有限公司 | 一种车辆泊车方法和装置 |
CN115540898B (zh) * | 2022-12-02 | 2023-04-28 | 泽景(西安)汽车电子有限责任公司 | 前方车辆的标记方法、装置、抬头显示器和存储介质 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004322680A (ja) * | 2003-04-21 | 2004-11-18 | Denso Corp | ヘッドアップディスプレイ装置 |
WO2017138297A1 (ja) * | 2016-02-08 | 2017-08-17 | 株式会社リコー | 画像表示装置及び画像表示方法 |
JP2017189986A (ja) * | 2016-04-11 | 2017-10-19 | 富士通テン株式会社 | 運転支援方法、及び、運転支援装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6241093B2 (ja) * | 2013-06-28 | 2017-12-06 | アイシン・エィ・ダブリュ株式会社 | ヘッドアップディスプレイ装置 |
JP6524417B2 (ja) * | 2014-02-05 | 2019-06-05 | パナソニックIpマネジメント株式会社 | 車両用表示装置および車両用表示装置の表示方法 |
US20170134662A1 (en) * | 2014-07-01 | 2017-05-11 | Nissan Motor Co., Ltd. | Vehicular display apparatus and vehicular display method |
JP7156791B2 (ja) * | 2014-07-31 | 2022-10-19 | ビュージックス コーポレーション | 拡散媒体を介した画像および波フィールド投影 |
KR101646340B1 (ko) * | 2014-08-27 | 2016-08-05 | 현대자동차주식회사 | 차량정보 표시장치 및 그 표시방법 |
EP3693203B1 (en) * | 2014-12-10 | 2022-05-18 | Ricoh Company, Ltd. | Controller, display, method and carrier means for information provision |
JP6642972B2 (ja) | 2015-03-26 | 2020-02-12 | 修一 田山 | 車輌用画像表示システム及び方法 |
-
2017
- 2017-12-27 JP JP2017251889A patent/JP6945933B2/ja active Active
-
2018
- 2018-12-05 US US16/210,541 patent/US20190196184A1/en not_active Abandoned
- 2018-12-20 EP EP18214339.6A patent/EP3505381B1/en active Active
- 2018-12-26 CN CN201811598115.XA patent/CN109968977B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004322680A (ja) * | 2003-04-21 | 2004-11-18 | Denso Corp | ヘッドアップディスプレイ装置 |
WO2017138297A1 (ja) * | 2016-02-08 | 2017-08-17 | 株式会社リコー | 画像表示装置及び画像表示方法 |
JP2017189986A (ja) * | 2016-04-11 | 2017-10-19 | 富士通テン株式会社 | 運転支援方法、及び、運転支援装置 |
Also Published As
Publication number | Publication date |
---|---|
JP6945933B2 (ja) | 2021-10-06 |
EP3505381A1 (en) | 2019-07-03 |
CN109968977B (zh) | 2024-05-10 |
US20190196184A1 (en) | 2019-06-27 |
EP3505381B1 (en) | 2021-06-16 |
CN109968977A (zh) | 2019-07-05 |
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