JP6829255B2 - 障害物との衝突が切迫した状況におけるモーター式車両の操舵手段の制御システム - Google Patents

障害物との衝突が切迫した状況におけるモーター式車両の操舵手段の制御システム Download PDF

Info

Publication number
JP6829255B2
JP6829255B2 JP2018516759A JP2018516759A JP6829255B2 JP 6829255 B2 JP6829255 B2 JP 6829255B2 JP 2018516759 A JP2018516759 A JP 2018516759A JP 2018516759 A JP2018516759 A JP 2018516759A JP 6829255 B2 JP6829255 B2 JP 6829255B2
Authority
JP
Japan
Prior art keywords
vehicle
obstacle
steering
lane
gain
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
Application number
JP2018516759A
Other languages
English (en)
Japanese (ja)
Other versions
JP2018536572A (ja
JP2018536572A5 (enExample
Inventor
エナシュ， ニコレータ ミノワイウ
エナシュ， ニコレータ ミノワイウ
ミヘ シルカ，
ミヘ シルカ，
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Original Assignee
Renault SAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Renault SAS filed Critical Renault SAS
Publication of JP2018536572A publication Critical patent/JP2018536572A/ja
Publication of JP2018536572A5 publication Critical patent/JP2018536572A5/ja
Application granted granted Critical
Publication of JP6829255B2 publication Critical patent/JP6829255B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B60W30/08—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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W2420/90—Single sensor for two or more measurements
    • B60W2420/905—Single sensor for two or more measurements the sensor being an xyz axis sensor
    • 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
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • 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
    • 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
    • B60W2554/802—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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/202—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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2018516759A 2015-09-30 2016-09-28 障害物との衝突が切迫した状況におけるモーター式車両の操舵手段の制御システム Active JP6829255B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1559256A FR3041590B1 (fr) 2015-09-30 2015-09-30 Systeme de commande de la direction d'un vehicule automobile en cas de collision imminente avec un obstacle
FR1559256 2015-09-30
PCT/FR2016/052458 WO2017055738A1 (fr) 2015-09-30 2016-09-28 Système de commande de la direction d'un véhicule automobile en cas de collision imminente avec un obstacle

Publications (3)

Publication Number Publication Date
JP2018536572A JP2018536572A (ja) 2018-12-13
JP2018536572A5 JP2018536572A5 (enExample) 2019-11-07
JP6829255B2 true JP6829255B2 (ja) 2021-02-10

Family

ID=54783824

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018516759A Active JP6829255B2 (ja) 2015-09-30 2016-09-28 障害物との衝突が切迫した状況におけるモーター式車両の操舵手段の制御システム

Country Status (7)

Country Link
US (1) US10730555B2 (enExample)
EP (1) EP3356204B1 (enExample)
JP (1) JP6829255B2 (enExample)
KR (1) KR102437124B1 (enExample)
CN (1) CN108349532B (enExample)
FR (1) FR3041590B1 (enExample)
WO (1) WO2017055738A1 (enExample)

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6801274B2 (ja) * 2016-07-11 2020-12-16 株式会社デンソー 運転支援装置、及び運転支援方法
JP6572880B2 (ja) * 2016-12-28 2019-09-11 トヨタ自動車株式会社 運転支援装置
FR3082162B1 (fr) * 2018-06-11 2020-06-05 Renault S.A.S Procede et dispositif de mise au point d'une boucle fermee d'un dispositif d'aide a la conduite avance
FR3088040B1 (fr) * 2018-11-05 2021-07-30 Renault Sas Procede de determination d'une trajectoire d'un vehicule autonome
FR3088275B1 (fr) 2018-11-13 2021-06-18 Renault Sas Procede et systeme d'evitement d'obstacles comprenant la commande des systemes de braquage et de freinage differentiel
CN109733392B (zh) * 2019-01-30 2021-01-19 浙江吉利汽车研究院有限公司 一种避障方法及装置
FR3093689B1 (fr) * 2019-03-12 2021-04-09 Renault Procédé d’élaboration d’une consigne de pilotage mixte d’un système de braquage de roues et d’un système de freinage différentiel d’un véhicule automobile
CN109910878B (zh) * 2019-03-21 2020-10-20 山东交通学院 基于轨迹规划的自动驾驶车辆避障控制方法及系统
FR3094324B1 (fr) * 2019-03-28 2021-09-03 Renault Sas Procédé de pilotage autonome d’un organe de commande de trajectoire d’un appareil
FR3096948B1 (fr) * 2019-06-06 2021-05-14 Renault Sas Procédé de calcul de la position latérale d'un véhicule automobile
CN110171412B (zh) * 2019-06-27 2021-01-15 浙江吉利控股集团有限公司 用于车辆的障碍物识别方法及系统
KR20210003343A (ko) * 2019-07-01 2021-01-12 현대자동차주식회사 차량의 안전 장비 제어 장치 및 방법
JP7095661B2 (ja) * 2019-07-15 2022-07-05 トヨタ自動車株式会社 車両用外乱対処システム
FR3100780B1 (fr) * 2019-09-17 2021-09-24 Renault Sas Procédé de régulation de la position latérale d'un véhicule automobile.
US11352010B2 (en) * 2019-09-30 2022-06-07 Baidu Usa Llc Obstacle perception calibration system for autonomous driving vehicles
US11130493B2 (en) * 2019-12-30 2021-09-28 Automotive Research & Testing Center Trajectory planning method for lane changing, and driver assistance system for implementing the same
CN111189653B (zh) * 2020-01-10 2021-12-14 中南大学 一种用于轨道车辆碰撞试验的测速、定位及触发装置
US11312373B2 (en) * 2020-03-05 2022-04-26 Ford Global Technologies, Llc Vehicle detection and response
FR3112326B1 (fr) * 2020-07-10 2022-06-24 Renault Sas Procédé de commande d’un véhicule automobile muni de moyens de conduite autonome
JP7276306B2 (ja) * 2020-11-17 2023-05-18 トヨタ自動車株式会社 自動運転進路生成装置及び自動運転装置
CN112525554B (zh) * 2020-12-18 2022-03-15 奇瑞汽车股份有限公司 汽车的碰撞角度确定方法、装置及计算机存储介质
KR20220095310A (ko) * 2020-12-29 2022-07-07 주식회사 에이치엘클레무브 운전자 보조 장치 및 운전자 보조 방법
CN113359760B (zh) * 2021-07-01 2022-04-22 厦门大学 一种消除最佳路径算法运行结果中车辆碰撞的方法
US12049236B2 (en) * 2021-07-29 2024-07-30 Ford Global Technologies, Llc Complementary control system detecting imminent collision of autonomous vehicle in fallback monitoring region
JP2023077065A (ja) * 2021-11-24 2023-06-05 トヨタ自動車株式会社 車両の衝突回避支援装置
TWI818364B (zh) * 2021-11-29 2023-10-11 財團法人工業技術研究院 車輛行駛控制裝置及其控制與預警資訊顯示方法
CN114187752B (zh) * 2022-02-14 2022-04-15 西南交通大学 危化品车辆在跨海桥梁运输中的预警系统及方法
CN114426061B (zh) * 2022-02-23 2023-05-02 中国第一汽车股份有限公司 车辆及其后轮转向控制方法、装置和计算机可读存储介质
CN115092136B (zh) * 2022-07-27 2023-09-12 广州小鹏自动驾驶科技有限公司 车速规划方法、装置、车辆及存储介质
CN119178625B (zh) * 2024-10-12 2025-09-26 宜昌泰力盟环保科技有限公司 车辆转向检测系统及操作方法

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001001927A (ja) * 1999-06-18 2001-01-09 Mazda Motor Corp 車両の操舵装置
JP3870911B2 (ja) 2003-02-10 2007-01-24 日産自動車株式会社 車線逸脱防止装置
US7444224B2 (en) 2003-11-14 2008-10-28 Nissan Motor Co., Ltd. Lane departure prevention apparatus
FR2864001B1 (fr) 2003-12-18 2007-11-23 Renault Sas Procede et systeme de commande du braquage de roue arriere directrice et vehicule correspondant
US7501938B2 (en) 2005-05-23 2009-03-10 Delphi Technologies, Inc. Vehicle range-based lane change assist system and method
JP5130638B2 (ja) * 2006-03-22 2013-01-30 日産自動車株式会社 回避操作算出装置、回避制御装置、各装置を備える車両、回避操作算出方法および回避制御方法
KR100851120B1 (ko) 2006-12-13 2008-08-08 현대자동차주식회사 이에스피 통합형 차선 유지 지원장치 및 그 제어 방법
EP2119617A1 (en) 2008-05-12 2009-11-18 IVECO S.p.A. Vehicle driving aid system for lane changing assistance
US8111147B2 (en) 2008-05-13 2012-02-07 GM Global Technology Operations LLC Lane departure warning and change assist system utilizing active materials
DE102010061829A1 (de) * 2010-11-24 2012-05-24 Continental Teves Ag & Co. Ohg Verfahren und Abstandskontrolleinrichtung zur Vermeidung von Kollisionen eines Kraftfahrzeugs in einer Fahrsituation mit geringem Seitenabstand
JP5397565B2 (ja) * 2011-02-23 2014-01-22 トヨタ自動車株式会社 運転支援装置、運転支援方法及び運転支援プログラム
DE102011018159A1 (de) * 2011-04-19 2012-10-25 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Vorrichtung und Verfahren zur Fahrerunterstützung
DE102012202916B4 (de) 2012-02-27 2025-10-02 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs
DE102012208712A1 (de) * 2012-05-24 2013-11-28 Robert Bosch Gmbh Verfahren und Vorrichtung zum Vermeiden oder Abmildern einer Kollision eines Fahrzeugs mit einem Hindernis
US8473144B1 (en) * 2012-10-30 2013-06-25 Google Inc. Controlling vehicle lateral lane positioning
GB2512317A (en) * 2013-03-26 2014-10-01 Jaguar Land Rover Ltd Vehicle control system and method
JP6042794B2 (ja) * 2013-12-03 2016-12-14 本田技研工業株式会社 車両制御方法
DE102013225778A1 (de) * 2013-12-12 2015-06-18 Robert Bosch Gmbh Verfahren und Vorrichtung zur Querführung eines Kraftfahrzeugs, insbesondere zur Ausweichunterstützung

Also Published As

Publication number Publication date
EP3356204A1 (fr) 2018-08-08
FR3041590A1 (fr) 2017-03-31
CN108349532A (zh) 2018-07-31
EP3356204B1 (fr) 2024-05-08
FR3041590B1 (fr) 2018-08-17
JP2018536572A (ja) 2018-12-13
US20180290686A1 (en) 2018-10-11
CN108349532B (zh) 2021-01-26
KR20180063199A (ko) 2018-06-11
US10730555B2 (en) 2020-08-04
KR102437124B1 (ko) 2022-08-26
WO2017055738A1 (fr) 2017-04-06

Similar Documents

Publication Publication Date Title
JP6829255B2 (ja) 障害物との衝突が切迫した状況におけるモーター式車両の操舵手段の制御システム
CN105539434B (zh) 用于躲避转向操作的路径规划方法
US10853670B2 (en) Road surface characterization using pose observations of adjacent vehicles
CN107128366B (zh) 用于对拖曳车辆通过弯道提供校正的车道跟随路径的系统和方法
CN105539586B (zh) 用于自主驾驶的车辆躲避移动障碍物的统一的运动规划
JP6294924B2 (ja) 車両の走行制御装置
CN111226267B (zh) 驾驶辅助车辆的行驶控制方法及行驶控制装置
US9116784B2 (en) System and method for preventing vehicle from rolling over in curved lane
EP4049916B1 (en) Vehicle control method, vehicle control system, and vehicle
JP7667800B2 (ja) 経路制御モジュール、関連する経路制御デバイスおよび関連する方法
JP6809531B2 (ja) 車両判定方法、走行経路補正方法、車両判定装置、及び走行経路補正装置
JP7315039B2 (ja) 自動車の回避経路を求める方法
US11662741B2 (en) Vehicle visual odometry
KR20180004206A (ko) 자기 위치 추정 장치 및 자기 위치 추정 방법
CN104943747A (zh) 车辆的防止偏离车道控制装置
CN107054361A (zh) 车辆的转向控制装置
CN112305911B (zh) 一种复杂环境下的反馈预测控制方法及其装置、车辆
US12100189B2 (en) Three-dimensional object detection
JP2018039285A (ja) 車両の走行制御装置
AU2017203011A1 (en) Lane departure prevention device
JP2015189410A (ja) 車両の車線逸脱防止制御装置
KR102011663B1 (ko) 차선 유지 보조 시스템의 시험 평가 장치 및 방법
CA3064011C (en) Driving assistance method and driving assistance apparatus
JP2023551248A (ja) 道路標示検出
JP7454122B2 (ja) 車両制御装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190927

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190927

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20200728

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200908

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20201207

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: 20210105

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210121

R150 Certificate of patent or registration of utility model

Ref document number: 6829255

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313113

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R360 Written notification for declining of transfer of rights

Free format text: JAPANESE INTERMEDIATE CODE: R360

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350