JP2021131775A - 車両の運転支援システム - Google Patents
車両の運転支援システム Download PDFInfo
- Publication number
- JP2021131775A JP2021131775A JP2020027464A JP2020027464A JP2021131775A JP 2021131775 A JP2021131775 A JP 2021131775A JP 2020027464 A JP2020027464 A JP 2020027464A JP 2020027464 A JP2020027464 A JP 2020027464A JP 2021131775 A JP2021131775 A JP 2021131775A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- intersection
- road
- traveling
- information
- 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
- 208000019901 Anxiety disease Diseases 0.000 abstract description 4
- 230000036506 anxiety Effects 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 230000002093 peripheral effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 239000000470 constituent Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18159—Traversing an intersection
-
- 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
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current movement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/80—Arrangements for reacting to or preventing system or operator failure
- G05D1/81—Handing over between on-board automatic and on-board manual control
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
-
- 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
- B60W2552/10—Number of lanes
-
- 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
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
-
- 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
- B60W2554/404—Characteristics
- B60W2554/4041—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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4048—Field of view, e.g. obstructed view or 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
Abstract
Description
自車両Mの運転制御ユニット25は、図3に示すように、自律センサ部10および道路地図データの情報から前方の交差点を認識すると、自車両Mの車速、自律センサ部10および道路地図データの情報に基づく交差点の入り口まで到達する地点である所定の縦距離Y(m)、交差路の道路幅a(m)、自車両Mの走行道路の道幅X(m)などを取得する。
例えば、各形態に示される全構成要件から幾つかの構成要件が削除されても、述べられている課題が解決でき、述べられている効果が得られる場合には、この構成要件が削除された構成が発明として抽出され得るものである。
10…自律センサ部
11…ロケータユニット
12…地図ロケータ演算部
12a…自車位置推定演算部
12b…地図情報取得部
12c…目標進行路設定演算部
13…受信機
14…自律走行センサ
16…高精度道路地図データベース
20…走行環境認識部
21…ステレオカメラ装置
22…自律センサユニット
22a,22b…カメラ
24…前方走行環境認識部
25…運転制御ユニット
26…周辺走行環境認識部
31…操舵制御部
32…ブレーキ制御部
33…加減速制御部
34…警報装置
100…遮蔽物
A,B,C,D…目標進行路
M…自車両
X…道幅
Y…縦距離
a…道路幅
b…車体幅
Claims (4)
- 自車両の走行路に少なくとも1つの交差路が平面交差する交差点の地図情報が記憶された記憶手段と、
前方の前記走行路情報を検出する自律センサが接続された走行環境認識手段と、
前記交差点に到達する前の所定の地点において、前記走行環境認識手段からの前記走行路情報に基づき、遮蔽物の有無により前記交差路が死角となっているか否かを判定して、前記交差点を通過する際の前記自車両の進行路の横位置移動量を前記交差路から離間する方向へ変更する制御手段と、
を有することを特徴とする車両の運転支援システム。 - 前記制御手段は、前記走行環境認識手段の情報から対向車両の有無により、前記交差点を通過時における前記進行路の前記横位置移動量を設定する請求項1に記載の車両の運転支援システム。
- 前記制御手段は、前記自車両と前記対向車両の相対車速から前記自車両が前記交差点内において前記対向車両とすれ違うかを判定して、前記横位置移動量を変更することを特徴とする請求項2に記載の車両の運転支援システム。
- 前記走行路情報は、前記走行路の区画線、前記交差点の種類、対向車両、前記交差路の他車両の有無であることを特徴とする請求項1から請求項3のいずれか1項に記載の車両の運転支援システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020027464A JP7502869B2 (ja) | 2020-02-20 | 2020-02-20 | 車両の運転支援システム |
CN202011484562.XA CN113291298A (zh) | 2020-02-20 | 2020-12-16 | 车辆的驾驶辅助系统 |
US17/136,500 US11983011B2 (en) | 2020-02-20 | 2020-12-29 | Vehicle driving assist system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020027464A JP7502869B2 (ja) | 2020-02-20 | 2020-02-20 | 車両の運転支援システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021131775A true JP2021131775A (ja) | 2021-09-09 |
JP7502869B2 JP7502869B2 (ja) | 2024-06-19 |
Family
ID=77318684
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020027464A Active JP7502869B2 (ja) | 2020-02-20 | 2020-02-20 | 車両の運転支援システム |
Country Status (3)
Country | Link |
---|---|
US (1) | US11983011B2 (ja) |
JP (1) | JP7502869B2 (ja) |
CN (1) | CN113291298A (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10909866B2 (en) * | 2018-07-20 | 2021-02-02 | Cybernet Systems Corp. | Autonomous transportation system and methods |
US12071160B2 (en) * | 2020-07-20 | 2024-08-27 | Aurora Operations, Inc. | Systems and methods for generating vehicle corridors to improve path planning efficiency |
TWI817263B (zh) * | 2021-11-25 | 2023-10-01 | 財團法人金屬工業研究發展中心 | 移動載具側向盲點感測系統及其方法 |
KR102683741B1 (ko) * | 2022-10-17 | 2024-07-10 | 주식회사 현대케피코 | 차량 변속 제어 장치 및 방법 |
CN116318352B (zh) * | 2023-03-15 | 2024-09-20 | 陕西兴际通通信有限公司 | 一种遮挡物识别系统及识别方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11348598A (ja) * | 1998-06-09 | 1999-12-21 | Nissan Motor Co Ltd | 車両用制御装置 |
JP2018034709A (ja) * | 2016-09-01 | 2018-03-08 | マツダ株式会社 | 車両制御装置 |
JP2019156223A (ja) * | 2018-03-14 | 2019-09-19 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10218010A1 (de) * | 2002-04-23 | 2003-11-06 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Querführungsunterstützung bei Kraftfahrzeugen |
JP5754509B2 (ja) * | 2011-08-10 | 2015-07-29 | トヨタ自動車株式会社 | 運転支援装置 |
EP2848487B1 (en) * | 2013-09-12 | 2020-03-18 | Volvo Car Corporation | Manoeuvre generation for automated drive |
JP6354440B2 (ja) | 2014-08-11 | 2018-07-11 | 日産自動車株式会社 | 走行制御装置および走行制御方法 |
CN106604853B (zh) * | 2014-08-29 | 2018-05-29 | 日产自动车株式会社 | 行驶控制装置及行驶控制方法 |
JP6280850B2 (ja) | 2014-09-29 | 2018-02-14 | 日立建機株式会社 | 障害物回避システム |
KR20160115448A (ko) * | 2015-03-27 | 2016-10-06 | 주식회사 만도 | 차량의 운전 보조 시스템 및 운전 보조 방법 |
US10681613B2 (en) * | 2017-09-12 | 2020-06-09 | Tango Network, Inc. | Vehicle-to-everything (V2X), vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) policy for managing distracted driving |
JP6791093B2 (ja) | 2017-10-23 | 2020-11-25 | 株式会社デンソー | 自動運転制御装置、車両の自動運転制御方法 |
JP6676025B2 (ja) | 2017-10-23 | 2020-04-08 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
KR102423172B1 (ko) * | 2018-03-20 | 2022-07-22 | 모빌아이 비젼 테크놀로지스 엘티디 | 차량의 항법을 위한 시스템 및 방법 |
JP7113383B2 (ja) | 2018-03-26 | 2022-08-05 | パナソニックIpマネジメント株式会社 | 運転支援システム、運転支援装置、運転支援方法 |
-
2020
- 2020-02-20 JP JP2020027464A patent/JP7502869B2/ja active Active
- 2020-12-16 CN CN202011484562.XA patent/CN113291298A/zh active Pending
- 2020-12-29 US US17/136,500 patent/US11983011B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11348598A (ja) * | 1998-06-09 | 1999-12-21 | Nissan Motor Co Ltd | 車両用制御装置 |
JP2018034709A (ja) * | 2016-09-01 | 2018-03-08 | マツダ株式会社 | 車両制御装置 |
JP2019156223A (ja) * | 2018-03-14 | 2019-09-19 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
Also Published As
Publication number | Publication date |
---|---|
US20210263519A1 (en) | 2021-08-26 |
CN113291298A (zh) | 2021-08-24 |
JP7502869B2 (ja) | 2024-06-19 |
US11983011B2 (en) | 2024-05-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6788634B2 (ja) | 自動運転支援システム | |
CN109515434B (zh) | 车辆控制装置、车辆控制方法及存储介质 | |
CN109466542B (zh) | 车辆控制装置、车辆控制方法及存储介质 | |
JP7401978B2 (ja) | 交差点発進判定装置 | |
CN109421799B (zh) | 车辆控制装置、车辆控制方法及存储介质 | |
JP7502869B2 (ja) | 車両の運転支援システム | |
US20150153184A1 (en) | System and method for dynamically focusing vehicle sensors | |
JP7251611B2 (ja) | 移動体の挙動予測方法、挙動予測装置及び車両 | |
JP7495179B2 (ja) | 運転支援装置 | |
JP7129495B2 (ja) | 運転支援方法及び運転支援装置 | |
JP2021170165A (ja) | 車両の走行制御装置 | |
JP7183438B2 (ja) | 運転支援装置、運転支援方法及びプログラム | |
US20220144274A1 (en) | Vehicle drive assist apparatus | |
JP7521862B2 (ja) | 運転支援装置 | |
JP2023054084A (ja) | 車両用ステレオカメラ装置 | |
JP7336861B2 (ja) | 挙動予測方法及び挙動予測装置 | |
JP7038610B2 (ja) | 運転支援方法及び運転支援装置 | |
US20220402484A1 (en) | Driving assistance apparatus | |
JP7514167B2 (ja) | 車両の運転支援装置 | |
US20230182769A1 (en) | Drive assist apparatus | |
RU2806748C1 (ru) | Способ управления транспортным средством и устройство управления транспортным средством | |
JP2022153931A (ja) | 運転支援装置 | |
JP2023019038A (ja) | 運転支援装置 | |
JP2022129190A (ja) | 運転支援装置 | |
JP2023019039A (ja) | 運転支援装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20230112 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20230920 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230926 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20231114 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20240305 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20240416 |
|
RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7422 Effective date: 20240416 |
|
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: 20240514 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20240607 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7502869 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |