JP5904270B2 - 車両走行制御装置 - Google Patents
車両走行制御装置 Download PDFInfo
- Publication number
- JP5904270B2 JP5904270B2 JP2014504578A JP2014504578A JP5904270B2 JP 5904270 B2 JP5904270 B2 JP 5904270B2 JP 2014504578 A JP2014504578 A JP 2014504578A JP 2014504578 A JP2014504578 A JP 2014504578A JP 5904270 B2 JP5904270 B2 JP 5904270B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- preceding vehicle
- target
- acceleration
- target data
- 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
Links
- 230000001133 acceleration Effects 0.000 claims description 47
- 238000001514 detection method Methods 0.000 claims description 43
- 238000000034 method Methods 0.000 description 24
- 230000008569 process Effects 0.000 description 23
- 238000005336 cracking Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 9
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000001629 suppression Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000010586 diagram Methods 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
- B60W30/18—Propelling 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
- 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
-
- 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
- B60K31/0008—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 means for detecting potential obstacles in vehicle path
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land 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
- 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
- B60K31/0008—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 means for detecting potential obstacles in vehicle path
- B60K2031/0016—Identification of obstacles; Selection of a target vehicle
-
- 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
- B60K31/0008—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 means for detecting potential obstacles in vehicle path
- B60K2031/0025—Detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle
-
- 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
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/26—Distance setting methods, e.g. determining target distance to target vehicle
- B60K2310/266—Distance setting methods, e.g. determining target distance to target vehicle releasing distance control, e.g. inhibiting control if target vehicle lost or changing lane
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
-
- 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
- B60Y2400/30—Sensors
- B60Y2400/301—Sensors for position or displacement
- B60Y2400/3017—Radars
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
Description
Claims (3)
- 自車両と前記自車両の前方を走行する前方車両との位置関係に基づいて前記自車両の走行制御を行う前記自車両に搭載された車両走行制御装置であって、
出射した電磁波の反射波を受信して前方車両の物標データを取得するレーダ検出部と、
前記レーダ検出部により取得された物標データから前記自車両の正面を走行する先行車両の存在有無を判断し前記先行車両の存在有無に基づいて前記自車両の加減速制御を行うものであって、前記レーダ検出部により同一の物体に対して複数の物標データが取得される物標割れが生じた場合に加減速を抑制するように前記自車両の加減速制御を行う制御部と、を備え、
前記制御部は、前記物標割れが生じた場合であって、今回前記レーダ検出部により取得された物標データから前記先行車両が存在すると判断し且つ前回前記レーダ検出部により取得された物標データから前記先行車両が存在しないと判断した場合には、減速を抑制するように前記自車両の加減速制御を行う、
車両走行制御装置。 - 前記制御部は、前記物標割れが生じた場合であって、今回前記レーダ検出部により取得された物標データから前記先行車両が存在しないと判断し且つ前回前記レーダ検出部により取得された物標データから前記先行車両が存在すると判断した場合には、加速を抑制するように前記自車両の加減速制御を行う、
請求項1に記載の車両走行制御装置。 - 自車両と前記自車両の前方を走行する前方車両との位置関係に基づいて前記自車両の走行制御を行う前記自車両に搭載された車両走行制御装置であって、
出射した電磁波の反射波を受信して前方車両の物標データを取得するレーダ検出部と、
前記レーダ検出部により取得された物標データから前記自車両の正面を走行する先行車両の存在有無を判断し前記先行車両の存在有無に基づいて前記自車両の加減速制御を行うものであって、前記レーダ検出部により同一の物体に対して複数の物標データが取得される物標割れが生じた場合に加減速を抑制するように前記自車両の加減速制御を行う制御部と、を備え、
前記制御部は、前記物標割れが生じた場合であって、今回前記レーダ検出部により取得された物標データから前記先行車両が存在しないと判断し且つ前回前記レーダ検出部により取得された物標データから前記先行車両が存在すると判断した場合には、加速を抑制するように前記自車両の加減速制御を行う、
車両走行制御装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014504578A JP5904270B2 (ja) | 2012-03-15 | 2012-03-15 | 車両走行制御装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014504578A JP5904270B2 (ja) | 2012-03-15 | 2012-03-15 | 車両走行制御装置 |
PCT/JP2012/056759 WO2013136495A1 (ja) | 2012-03-15 | 2012-03-15 | 車両走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2013136495A1 JPWO2013136495A1 (ja) | 2015-08-03 |
JP5904270B2 true JP5904270B2 (ja) | 2016-04-13 |
Family
ID=49160461
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014504578A Active JP5904270B2 (ja) | 2012-03-15 | 2012-03-15 | 車両走行制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9610950B2 (ja) |
EP (1) | EP2826685B1 (ja) |
JP (1) | JP5904270B2 (ja) |
CN (1) | CN104169154B (ja) |
WO (1) | WO2013136495A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2810303T3 (es) | 2016-03-31 | 2021-03-08 | Romark Laboratories Lc | Compuestos de tiazolida para tratar infecciones virales |
JP6706196B2 (ja) * | 2016-12-26 | 2020-06-03 | 株式会社デンソー | 走行制御装置 |
JP7018277B2 (ja) * | 2017-09-14 | 2022-02-10 | 株式会社デンソー | 物体検出装置、物体検出方法及び車両制御システム |
CN111361558B (zh) * | 2018-12-25 | 2022-12-23 | 富泰华工业(深圳)有限公司 | 车辆及车辆自动减速方法 |
CN109828583A (zh) * | 2019-02-28 | 2019-05-31 | 北京百度网讯科技有限公司 | 无人驾驶车辆控制方法和装置 |
EP4182304A1 (en) | 2020-07-20 | 2023-05-24 | Romark Laboratories, L.C. | Crystalline salts of tizoxanide and 2-hydroxy-n-(5-chloro-1,3-thiazol-2-yl)benzamide (rm-4848) with ethanolamine, morpholine, propanolamine, piperazine and n-methylpiperazine |
EP4199923A1 (en) | 2020-08-24 | 2023-06-28 | Romark Laboratories, L.C. | Use of thiazolides against coronaviruses |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000038121A (ja) * | 1998-07-22 | 2000-02-08 | Mitsubishi Motors Corp | 車両の走行制御方法 |
JP3866479B2 (ja) * | 2000-04-07 | 2007-01-10 | 株式会社デンソー | 車間制御装置、記録媒体 |
JP4079623B2 (ja) | 2001-11-13 | 2008-04-23 | 富士通テン株式会社 | レーダ測距装置 |
JP3997837B2 (ja) * | 2002-05-27 | 2007-10-24 | 株式会社デンソー | 車載レーダ装置、プログラム |
JP3901020B2 (ja) * | 2002-06-05 | 2007-04-04 | 日産自動車株式会社 | 車間距離制御装置 |
JP3903856B2 (ja) * | 2002-06-14 | 2007-04-11 | 株式会社デンソー | 車両制御装置,プログラム |
JP4215520B2 (ja) * | 2003-01-14 | 2009-01-28 | 富士通テン株式会社 | レーダ装置 |
JP2005186813A (ja) * | 2003-12-25 | 2005-07-14 | Fuji Heavy Ind Ltd | 車両用運転支援装置 |
US20060091654A1 (en) * | 2004-11-04 | 2006-05-04 | Autoliv Asp, Inc. | Sensor system with radar sensor and vision sensor |
DE102005032182A1 (de) * | 2005-07-09 | 2007-01-18 | Bayerische Motoren Werke Ag | Verfahren zur Regelung der Geschwindigkeit eines Kraftfahrzeugs |
JP2007178183A (ja) * | 2005-12-27 | 2007-07-12 | Mazda Motor Corp | 車両の障害物検知装置 |
JP4595833B2 (ja) * | 2006-02-24 | 2010-12-08 | トヨタ自動車株式会社 | 物体検出装置 |
JP4890924B2 (ja) * | 2006-04-27 | 2012-03-07 | オムロンオートモーティブエレクトロニクス株式会社 | レーダ装置 |
JP5127182B2 (ja) | 2006-08-14 | 2013-01-23 | 富士重工業株式会社 | 物体検出装置 |
DE102007018470A1 (de) * | 2007-04-19 | 2008-10-23 | Robert Bosch Gmbh | Fahrerassistenzsystem und Verfahren zur Objektplausibilisierung |
JP2009073315A (ja) | 2007-09-20 | 2009-04-09 | Suzuki Motor Corp | 車両用制御装置 |
WO2011158327A1 (ja) * | 2010-06-15 | 2011-12-22 | トヨタ自動車株式会社 | 運転支援システム |
US8825345B2 (en) * | 2010-07-16 | 2014-09-02 | Honda Motor Co., Ltd. | Engine control for a motor vehicle |
JP5510173B2 (ja) * | 2010-08-11 | 2014-06-04 | トヨタ自動車株式会社 | 車両制御装置 |
WO2012077204A1 (ja) * | 2010-12-08 | 2012-06-14 | トヨタ自動車 株式会社 | 運転支援装置 |
JP2013002927A (ja) * | 2011-06-15 | 2013-01-07 | Honda Elesys Co Ltd | 障害物検知装置及びコンピュータプログラム |
DE102012101686A1 (de) * | 2012-03-01 | 2013-09-05 | Continental Teves Ag & Co. Ohg | Verfahren für ein Fahrerassistenzsystem zur autonomen Längs- und/oder Querregelung eines Fahrzeugs |
-
2012
- 2012-03-15 WO PCT/JP2012/056759 patent/WO2013136495A1/ja active Application Filing
- 2012-03-15 JP JP2014504578A patent/JP5904270B2/ja active Active
- 2012-03-15 CN CN201280071408.7A patent/CN104169154B/zh active Active
- 2012-03-15 US US14/385,052 patent/US9610950B2/en active Active
- 2012-03-15 EP EP12871362.5A patent/EP2826685B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20150025768A1 (en) | 2015-01-22 |
EP2826685B1 (en) | 2021-06-30 |
EP2826685A4 (en) | 2016-03-16 |
JPWO2013136495A1 (ja) | 2015-08-03 |
US9610950B2 (en) | 2017-04-04 |
WO2013136495A1 (ja) | 2013-09-19 |
EP2826685A1 (en) | 2015-01-21 |
CN104169154A (zh) | 2014-11-26 |
CN104169154B (zh) | 2017-04-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5904270B2 (ja) | 車両走行制御装置 | |
JP5776702B2 (ja) | 運転支援装置 | |
JP6507839B2 (ja) | 車両の走行制御装置 | |
US10967857B2 (en) | Driving support device and driving support method | |
JP5825239B2 (ja) | 車両制御装置 | |
WO2018056212A1 (ja) | 物体検知装置及び物体検知方法 | |
WO2014203333A1 (ja) | 追い越し支援システム | |
US10857999B2 (en) | Vehicle device | |
JP2008132822A (ja) | 車間距離制御装置 | |
US11136013B2 (en) | Vehicle control apparatus and vehicle control method | |
EP3007149A1 (en) | Driving assistance device for vehicles and onboard computer | |
US9481299B2 (en) | Warning device for a possible vehicle collision based on time and distance | |
WO2019012995A1 (ja) | 走行支援装置 | |
JP2008152390A (ja) | 車両用周辺監視装置 | |
JP6623422B2 (ja) | 制動力制御装置および制動力制御方法 | |
EP2808854B1 (en) | Vehicle control device | |
JP2009074804A (ja) | 物体検出装置 | |
JP6477377B2 (ja) | 車両制御装置、及び車両制御方法 | |
JP2009074803A (ja) | 物体検出装置 | |
US11260884B2 (en) | Vehicle control apparatus, vehicle, operation method of vehicle control apparatus, and non-transitory computer-readable storage medium | |
JP6631096B2 (ja) | 制動力制御装置および制動力制御方法 | |
KR20230045381A (ko) | 차량 및 그 제어 방법 | |
US20240208503A1 (en) | Driving support device | |
US20230192192A1 (en) | Driving assistance device | |
JP6634735B2 (ja) | 制動力制御装置および制動力制御方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20150804 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20150917 |
|
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: 20160216 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20160229 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 5904270 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |