JP6964278B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP6964278B2 JP6964278B2 JP2018071017A JP2018071017A JP6964278B2 JP 6964278 B2 JP6964278 B2 JP 6964278B2 JP 2018071017 A JP2018071017 A JP 2018071017A JP 2018071017 A JP2018071017 A JP 2018071017A JP 6964278 B2 JP6964278 B2 JP 6964278B2
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- 238000013459 approach Methods 0.000 claims description 128
- 238000012545 processing Methods 0.000 description 79
- 238000000034 method Methods 0.000 description 61
- 238000004891 communication Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 101100172132 Mus musculus Eif3a gene Proteins 0.000 description 2
- 238000010187 selection method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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- 238000004590 computer program Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/51—Relative positioning
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/28—Timers or timing mechanisms used in protocols
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
-
- 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
- B60W2050/143—Alarm 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Description
図6は、運転支援装置30による他車両接近判定処理の手順を示すフローチャートである。処理部52は、通信部48において受信された他車両22からのパケット信号を受けつける(ステップS10)。パケット信号の中にイベント発生通知が含まれている場合(ステップS12のY)、処理部52は第1運転支援処理を実行する(ステップS14)。第1運転支援処理については後述する。第1運転支援処理においてデータ追加フラグが「True」であれば(ステップS16のY)、処理部52は地点データ追加処理を実行する(ステップS18)。地点データ追加処理についても後述する。パケット信号の中にイベント発生通知が含まれていない場合(ステップS12のN)、あるいは第1運転支援処理においてデータ追加フラグが「True」でない場合(ステップS16のN)、他車両接近判定処理は終了される。
図9は、運転支援装置30による地点接近判定処理の手順を示すフローチャートである。例えば、これは、図6に示された他車両接近判定処理の終了後に実行される。処理部52は、地点データを取得する(ステップS80)。なお、図8において地点データが追加あるいは更新されている場合、追加あるいは更新された地点データが取得される。処理部52は第2運転支援処理を実行する(ステップS82)。第2運転支援処理については後述する。第2運転支援処理においてデータ有効フラグが「True」であれば(ステップS84のY)、処理部52は地点データ更新処理を実行する(ステップS86)。ここで、保持されている地点データの道程距離が最新の値に更新される。一方、第1運転支援処理においてデータ有効フラグが「True」でない場合(ステップS84のN)、処理部52は地点データを廃棄する(ステップS88)。地点データがあれば(ステップS90のY)、ステップS80に戻る。地点データがなければ(ステップS90のN)、処理は終了される。
図11は、運転支援装置30による選択手順を示すフローチャートである。これは、図9に示された地点接近判定処理の終了後に実行される。処理部52は、支援ありと決定された第1接近時間T1と、支援ありと決定された第2接近時間T2とを取得する。第1接近時間T1が第2接近時間T2よりも小さい場合(ステップS140のY)、処理部52は、第1接近時間T1をもとにした運転支援の出力を決定する(ステップS142)。第1接近時間T1が第2接近時間T2よりも小さくない場合(ステップS140のN)、処理部52は、第2接近時間T2をもとにした運転支援の出力を決定する(ステップS144)。つまり、処理部52は、第1接近時間T1と第2接近時間T2との小さい方に応じた運転支援を決定する。
Claims (3)
- 車両に搭載可能な運転支援装置であって、
前記車両の自車位置情報と、前記車両の自車速度情報と、前記車両と異なる他車両の他車位置情報と、前記他車両の他車速度情報と、前記他車両におけるイベントの発生が示される他車イベント発生通知と、を取得するように設定された取得部と、
運転支援情報を出力する出力部と、を備え、
前記取得部は、第1の前記自車位置情報と、第1の前記自車速度情報と、第1の前記他車位置情報と、第1の前記他車速度情報と、第1の前記他車イベント発生通知とを取得し、
次に前記取得部は、第2の前記自車位置情報と、第2の前記自車速度情報と、第2の前記他車位置情報と、第2の前記他車速度情報と、前記第1の前記他車イベント発生通知と同じイベントの発生が示される第2の前記他車イベント発生通知とを取得し、
前記運転支援装置は、
前記第2の前記自車位置情報、前記第2の前記自車速度情報、前記第2の前記他車位置情報、及び前記第2の前記他車速度情報を基に前記車両が前記他車両に接近するまでの、他車両への接近時間を導出するとともに、
前記第2の前記自車位置情報、前記第2の前記自車速度情報、及び前記第1の前記他車位置情報を基に前記車両が前記第1の前記他車位置情報が示す位置に接近するまでの、イベント発生地点への接近時間を導出し、
前記出力部は、前記他車両への接近時間及び/又は前記イベント発生地点への接近時間に応じて、運転支援情報を出力する、
運転支援装置。 - 請求項1に記載の運転支援装置であって、
前記第1の前記他車イベント発生通知及び前記第2の前記他車イベント発生通知は、制御不能イベントの発生が示される、
運転支援装置。 - 請求項1又は請求項2に記載の運転支援装置であって、
前記出力部は、前記他車両への接近時間と前記イベント発生地点への接近時間との小さい方に応じて、前記運転支援情報を出力する、
運転支援装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018071017A JP6964278B2 (ja) | 2018-04-02 | 2018-04-02 | 運転支援装置 |
US16/371,894 US10836404B2 (en) | 2018-04-02 | 2019-04-01 | Driver assistance device for notifying driver of assistance using vehicle-to-vehicle communication |
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Application Number | Priority Date | Filing Date | Title |
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JP2018071017A JP6964278B2 (ja) | 2018-04-02 | 2018-04-02 | 運転支援装置 |
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JP2019185124A JP2019185124A (ja) | 2019-10-24 |
JP6964278B2 true JP6964278B2 (ja) | 2021-11-10 |
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JP2018071017A Active JP6964278B2 (ja) | 2018-04-02 | 2018-04-02 | 運転支援装置 |
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JP (1) | JP6964278B2 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP7294199B2 (ja) | 2020-03-13 | 2023-06-20 | トヨタ自動車株式会社 | 通信装置、通信システム、車両、通信プログラム、及び通信方法 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3401026B2 (ja) * | 1992-03-19 | 2003-04-28 | 株式会社日立製作所 | 自動車間通信による走行制御装置 |
DE10007573C1 (de) * | 2000-02-18 | 2001-09-27 | Daimler Chrysler Ag | Vorrichtung zur funkbasierten Gefahrenwarnung des Fahrers eines Kraftfahrzeugs |
JP2004348430A (ja) * | 2003-05-22 | 2004-12-09 | Pioneer Electronic Corp | 急ブレーキ車両警告装置、急ブレーキ情報送信装置、サーバ装置、急ブレーキ警告システム及び方法等 |
JP2006099453A (ja) | 2004-09-29 | 2006-04-13 | Toyota Motor Corp | 運転支援装置 |
US7486199B2 (en) * | 2005-11-17 | 2009-02-03 | Nissan Technical Center North America, Inc. | Forward vehicle brake warning system |
US9091558B2 (en) * | 2013-12-23 | 2015-07-28 | Automotive Research & Testing Center | Autonomous driver assistance system and autonomous driving method thereof |
-
2018
- 2018-04-02 JP JP2018071017A patent/JP6964278B2/ja active Active
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2019
- 2019-04-01 US US16/371,894 patent/US10836404B2/en active Active
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Publication number | Publication date |
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US10836404B2 (en) | 2020-11-17 |
US20190300018A1 (en) | 2019-10-03 |
JP2019185124A (ja) | 2019-10-24 |
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