JP7012030B2 - ポットホールを測位する方法、装置、コンピュータプログラム及び機械読取可能なメモリ媒体 - Google Patents
ポットホールを測位する方法、装置、コンピュータプログラム及び機械読取可能なメモリ媒体 Download PDFInfo
- Publication number
- JP7012030B2 JP7012030B2 JP2018561475A JP2018561475A JP7012030B2 JP 7012030 B2 JP7012030 B2 JP 7012030B2 JP 2018561475 A JP2018561475 A JP 2018561475A JP 2018561475 A JP2018561475 A JP 2018561475A JP 7012030 B2 JP7012030 B2 JP 7012030B2
- Authority
- JP
- Japan
- Prior art keywords
- information
- vehicle
- pothole
- locus
- positioning
- 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
Images
Classifications
-
- 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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3822—Road feature data, e.g. slope data
-
- 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
- B60W30/09—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, 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
-
- 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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
-
- 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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3844—Data obtained from position sensors only, e.g. from inertial navigation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Description
Claims (4)
- ポットホール(101)を測位する方法(300)であって、
ある位置における第1車両(110)の第1の移動を表す第1車両軌跡情報(140)を読み取る読取りステップ(305)と、
上記位置における前記第1車両(110)又は第2車両(111)の第2の移動を表す少なくとも1つの第2車両軌跡情報(145)を読み取る読取りステップ(310)と、
前記第1車両軌跡情報(140)を、上記位置におけるポットホール通過軌跡を表す少なくとも1つの参照軌跡情報と比較して、上記位置に前記ポットホール(101)が存在するか否かを示す第1ポットホール情報を決定する比較ステップ(315)と、
前記第2車両軌跡情報(145)を、上記位置におけるポットホール通過軌跡を表す少なくとも1つの参照軌跡情報と比較して、上記位置に前記ポットホール(101)が存在するか否かを示す第2ポットホール情報を決定する比較ステップ(320)と、
前記第1ポットホール情報及び前記第2ポットホール情報が、いずれも、前記ポットホール(101)が存在することを示した場合に、前記ポットホール(101)の位置を示す測位情報(150)を供給する供給ステップ(325)とを含み、
前記第1車両軌跡情報(140)は、走行時の前記第1の車両(110)の水平方向及び/又は鉛直方向における移動の少なくとも1つのパラメータを示す慣性情報と、移動時の前記第1の車両(110)の位置を示す地点情報とを使用して決定された情報であり、
前記第2車両軌跡情報(145)は、走行時の前記第1の車両(110)又は前記第2の車両(111)の水平方向及び/又は鉛直方向における移動の少なくとも1つのパラメータを示す慣性情報と、移動時の前記第1の車両(110)又は前記第2の車両(111)の位置を示す地点情報とを使用して決定された情報である、方法(300)。 - 請求項1に記載の方法(300)のステップを実施及び/又は制御するように構成された複数の装置(104,105)からなるシステム。
- 請求項1に記載の方法(300)を実施及び/又は制御するように構成されたコンピュータプログラム。
- 請求項3に記載のコンピュータプログラムが記憶された機械読取可能なメモリ媒体。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016208883.1A DE102016208883A1 (de) | 2016-05-23 | 2016-05-23 | Verfahren zum Bereitstellen einer Fahrzeugtrajektorieninformation und Verfahren zum Orten eines Schlaglochs |
DE102016208883.1 | 2016-05-23 | ||
PCT/EP2017/056936 WO2017202522A1 (de) | 2016-05-23 | 2017-03-23 | Verfahren zum bereitstellen einer fahrzeugtrajektorieninformation und verfahren zum orten eines schlaglochs |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019517000A JP2019517000A (ja) | 2019-06-20 |
JP7012030B2 true JP7012030B2 (ja) | 2022-01-27 |
Family
ID=58428260
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018561475A Active JP7012030B2 (ja) | 2016-05-23 | 2017-03-23 | ポットホールを測位する方法、装置、コンピュータプログラム及び機械読取可能なメモリ媒体 |
Country Status (6)
Country | Link |
---|---|
US (1) | US11299144B2 (ja) |
EP (1) | EP3465090B1 (ja) |
JP (1) | JP7012030B2 (ja) |
CN (1) | CN109196309A (ja) |
DE (1) | DE102016208883A1 (ja) |
WO (1) | WO2017202522A1 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7135796B2 (ja) * | 2018-11-30 | 2022-09-13 | トヨタ自動車株式会社 | サーバ装置、サーバ制御方法、サーバ制御プログラム、車両、車両制御方法、及び車両制御プログラム |
DE102017220094A1 (de) | 2017-11-10 | 2019-05-16 | Volkswagen Aktiengesellschaft | Verfahren und Fahrerassistenzsystem zur Verbesserung eines Fahrkomforts eines Fortbewegungsmittels sowie Fortbewegungsmittel |
DE102017130628A1 (de) | 2017-12-20 | 2019-07-11 | Autoliv Development Ab | System, Verfahren und Computerprogrammprodukt zur Erhöhung der Fahrsicherheit im Straßenverkehr |
DE102018203237A1 (de) * | 2018-03-05 | 2019-09-05 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Bereitstellen von Kartendaten eines Streckenabschnitts zur Querregelung eines Fahrzeugs, computerlesbares Medium, System, und Fahrzeug umfassend das System |
DE102018207023A1 (de) * | 2018-05-07 | 2019-11-07 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren, Vorrichtung, mobiles Anwendergerät und Computerprogramm zum Bereitstellen einer Information zur Nutzung in einem Fahrzeug |
GB2582280B (en) * | 2019-03-08 | 2021-08-04 | Trakm8 Ltd | Pothole monitoring |
DE102019206562A1 (de) * | 2019-05-07 | 2020-11-12 | Volkswagen Aktiengesellschaft | Verfahren zum Ermitteln einer Fahrzeugtrajektorie |
US11518410B2 (en) * | 2020-02-17 | 2022-12-06 | Wipro Limited | Method and system for generating velocity profiles for autonomous vehicles |
US11823395B2 (en) * | 2020-07-02 | 2023-11-21 | Magna Electronics Inc. | Vehicular vision system with road contour detection feature |
DE102021206875A1 (de) | 2021-06-30 | 2023-01-05 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Erkennen eines Hindernisses auf einer Fahrstrecke |
DE102022204831A1 (de) | 2022-05-17 | 2023-11-23 | Zf Friedrichshafen Ag | System zur Wahrnehmung von Straßenschäden durch automatisiert betreibbare Fahrzeuge |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008134754A (ja) | 2006-11-28 | 2008-06-12 | Hitachi Ltd | 突発事象解消判定システム |
US7421334B2 (en) | 2003-04-07 | 2008-09-02 | Zoom Information Systems | Centralized facility and intelligent on-board vehicle platform for collecting, analyzing and distributing information relating to transportation infrastructure and conditions |
EP2687818A2 (de) | 2012-07-20 | 2014-01-22 | MAN Truck & Bus AG | Verfahren und Vorrichtung zur Kartierung von Straßenzuständen |
US20150012165A1 (en) | 2013-07-03 | 2015-01-08 | Volvo Car Corporation | Vehicle system, a vehicle and a method for autonomous road irregularity avoidance |
JP2015064786A (ja) | 2013-09-25 | 2015-04-09 | 株式会社日立製作所 | 車線誘導装置、車線誘導システムおよび車線誘導方法 |
DE102014207084A1 (de) | 2014-04-14 | 2015-10-15 | Siemens Aktiengesellschaft | Verfahren, Vorrichtung und System zur Erfassung von Straßenschäden |
JP2015194463A (ja) | 2014-03-17 | 2015-11-05 | セイコーインスツル株式会社 | ナビゲーション装置及び地図データ更新システム |
Family Cites Families (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US97038A (en) | 1869-11-23 | Improvement in machinery for manufacturing semohna and flour | ||
DE2524762C2 (de) * | 1975-06-04 | 1983-02-03 | Christoph Dipl.-Ing. 2104 Hamburg Stiehler | Verfahren zum Füllen einer Fahrbahnspurrinne mit bituminösem Mischgut und Walze zur Durchführung des Verfahrens |
JPH0749942B2 (ja) * | 1990-05-29 | 1995-05-31 | 日本無線株式会社 | 路面横断凹凸測定装置 |
JP4800455B2 (ja) * | 1999-02-19 | 2011-10-26 | 富士通株式会社 | 車速計測方法および装置 |
US6590507B2 (en) * | 2001-03-05 | 2003-07-08 | Hrl Laboratories, Llc | Method and system for providing personalized traffic alerts |
JP4042980B2 (ja) * | 2004-05-14 | 2008-02-06 | 本田技研工業株式会社 | 車両操作支援装置 |
US20100076625A1 (en) * | 2006-11-30 | 2010-03-25 | Raphael Yoeli | Flight control cockpit modes in ducted fan vtol vehicles |
US7872764B2 (en) | 2007-10-16 | 2011-01-18 | Magna Electronics Inc. | Machine vision for predictive suspension |
JP4873042B2 (ja) * | 2009-04-13 | 2012-02-08 | トヨタ自動車株式会社 | 車両制御装置および車両制御方法 |
DE102010019866B4 (de) * | 2010-05-07 | 2015-07-09 | Andrzej Walczak | Gerät zum Verarbeiten von Asphaltgemisch, enthaltend Bitumen und Splitt |
US8818704B2 (en) * | 2010-10-18 | 2014-08-26 | Telenav, Inc. | Navigation system with road object detection mechanism and method of operation thereof |
FR2977333B1 (fr) * | 2011-06-28 | 2014-01-31 | Parrot | Procede de controle dynamique d'attitude d'un drone, pour l'execution automatique d'une figure de type vrille ou salto |
US8825265B1 (en) * | 2012-03-16 | 2014-09-02 | Google Inc. | Approach for consolidating observed vehicle trajectories into a single representative trajectory |
JP5724919B2 (ja) * | 2012-03-22 | 2015-05-27 | トヨタ自動車株式会社 | 軌道生成装置、移動体、軌道生成方法及びプログラム |
CN102874175B (zh) * | 2012-06-15 | 2015-02-18 | 浙江吉利汽车研究院有限公司杭州分公司 | 一种a柱盲区处理及路况自动识别装置 |
US9959687B2 (en) * | 2013-03-15 | 2018-05-01 | John Lindsay | Driver behavior monitoring |
US9511764B2 (en) * | 2014-02-28 | 2016-12-06 | Ford Global Technologies, Llc | Semi-autonomous mode control |
US9630498B2 (en) * | 2015-06-24 | 2017-04-25 | Nissan North America, Inc. | Vehicle operation assistance information management |
DE102015217891A1 (de) * | 2015-09-17 | 2017-03-23 | Volkswagen Aktiengesellschaft | Bestimmen einer Soll-Trajektorie für ein Fahrzeug |
US9632502B1 (en) * | 2015-11-04 | 2017-04-25 | Zoox, Inc. | Machine-learning systems and techniques to optimize teleoperation and/or planner decisions |
US10026317B2 (en) * | 2016-02-25 | 2018-07-17 | Ford Global Technologies, Llc | Autonomous probability control |
US20170247040A1 (en) * | 2016-02-25 | 2017-08-31 | Ford Global Technologies, Llc | Autonomous vehicle control transitioning |
US10289113B2 (en) * | 2016-02-25 | 2019-05-14 | Ford Global Technologies, Llc | Autonomous occupant attention-based control |
US9989963B2 (en) * | 2016-02-25 | 2018-06-05 | Ford Global Technologies, Llc | Autonomous confidence control |
US20170248953A1 (en) * | 2016-02-25 | 2017-08-31 | Ford Global Technologies, Llc | Autonomous peril control |
US10185029B2 (en) * | 2016-02-26 | 2019-01-22 | The United States Of America, As Represented By The Secretary Of The Army | Timing and synchronization of radio waves for scanning, detection, and measurement of surface non-uniformity |
US10267899B2 (en) * | 2017-03-28 | 2019-04-23 | Luminar Technologies, Inc. | Pulse timing based on angle of view |
US10121813B2 (en) * | 2017-03-28 | 2018-11-06 | Luminar Technologies, Inc. | Optical detector having a bandpass filter in a lidar system |
US20180284234A1 (en) * | 2017-03-29 | 2018-10-04 | Luminar Technologies, Inc. | Foveated Imaging in a Lidar System |
US9989629B1 (en) * | 2017-03-30 | 2018-06-05 | Luminar Technologies, Inc. | Cross-talk mitigation using wavelength switching |
US10627516B2 (en) * | 2018-07-19 | 2020-04-21 | Luminar Technologies, Inc. | Adjustable pulse characteristics for ground detection in lidar systems |
US10551501B1 (en) * | 2018-08-09 | 2020-02-04 | Luminar Technologies, Inc. | Dual-mode lidar system |
-
2016
- 2016-05-23 DE DE102016208883.1A patent/DE102016208883A1/de not_active Withdrawn
-
2017
- 2017-03-23 JP JP2018561475A patent/JP7012030B2/ja active Active
- 2017-03-23 EP EP17713911.0A patent/EP3465090B1/de active Active
- 2017-03-23 US US16/095,508 patent/US11299144B2/en active Active
- 2017-03-23 WO PCT/EP2017/056936 patent/WO2017202522A1/de unknown
- 2017-03-23 CN CN201780031977.1A patent/CN109196309A/zh active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7421334B2 (en) | 2003-04-07 | 2008-09-02 | Zoom Information Systems | Centralized facility and intelligent on-board vehicle platform for collecting, analyzing and distributing information relating to transportation infrastructure and conditions |
JP2008134754A (ja) | 2006-11-28 | 2008-06-12 | Hitachi Ltd | 突発事象解消判定システム |
EP2687818A2 (de) | 2012-07-20 | 2014-01-22 | MAN Truck & Bus AG | Verfahren und Vorrichtung zur Kartierung von Straßenzuständen |
US20150012165A1 (en) | 2013-07-03 | 2015-01-08 | Volvo Car Corporation | Vehicle system, a vehicle and a method for autonomous road irregularity avoidance |
JP2015064786A (ja) | 2013-09-25 | 2015-04-09 | 株式会社日立製作所 | 車線誘導装置、車線誘導システムおよび車線誘導方法 |
JP2015194463A (ja) | 2014-03-17 | 2015-11-05 | セイコーインスツル株式会社 | ナビゲーション装置及び地図データ更新システム |
DE102014207084A1 (de) | 2014-04-14 | 2015-10-15 | Siemens Aktiengesellschaft | Verfahren, Vorrichtung und System zur Erfassung von Straßenschäden |
Also Published As
Publication number | Publication date |
---|---|
US11299144B2 (en) | 2022-04-12 |
US20200353915A1 (en) | 2020-11-12 |
CN109196309A (zh) | 2019-01-11 |
DE102016208883A1 (de) | 2017-11-23 |
JP2019517000A (ja) | 2019-06-20 |
EP3465090B1 (de) | 2020-07-29 |
EP3465090A1 (de) | 2019-04-10 |
WO2017202522A1 (de) | 2017-11-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7012030B2 (ja) | ポットホールを測位する方法、装置、コンピュータプログラム及び機械読取可能なメモリ媒体 | |
US20210208597A1 (en) | Sensor aggregation framework for autonomous driving vehicles | |
CN105848981B (zh) | 用于车辆的驾驶员辅助方法和系统 | |
US9862315B2 (en) | Driver coaching from vehicle to vehicle and vehicle to infrastructure communications | |
US10166934B2 (en) | Capturing driving risk based on vehicle state and automatic detection of a state of a location | |
US10896122B2 (en) | Using divergence to conduct log-based simulations | |
CN109789777B (zh) | 非预期脉冲变化碰撞检测器 | |
CN101652802B (zh) | 安全驾驶支持装置 | |
CN102815300B (zh) | 巡航控制装置及其控制方法 | |
JP6605705B2 (ja) | 車両が逆走している場合に他の交通関与者に警告するための方法及び装置 | |
CN105774806A (zh) | 车辆行驶控制装置 | |
US20190051173A1 (en) | Method and apparatus for vehicle control hazard detection | |
CN106080595A (zh) | 车辆行驶控制装置 | |
CN113340615B (zh) | 一种汽车自动驾驶功能模拟测试系统及方法 | |
US9638615B2 (en) | Method and control device and detection device for recognizing an entry of a motor vehicle into a traffic lane opposite a driving direction | |
WO2019030916A1 (ja) | 車線情報管理方法、走行制御方法及び車線情報管理装置 | |
CN105599767A (zh) | 环形道探测装置 | |
JP6245186B2 (ja) | 合流支援装置 | |
JP2020098578A (ja) | 緊急車両に対して検知、警告及び応答する装置、システム及び方法 | |
JP2019009617A (ja) | 異常検知装置、異常検知システム、異常検知方法、異常検知プログラム及び記録媒体 | |
KR101677035B1 (ko) | 이동형 데이터 수집장치 | |
CN114184218A (zh) | 用于测试机动车的传感器系统的方法、设备和存储介质 | |
JP6350149B2 (ja) | 合流支援システム | |
JP2019064575A (ja) | 自動化された移動システムを運転するための方法および装置 | |
JP2016222136A (ja) | ドライバ推定装置、制御方法、プログラム及び記憶媒体 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190108 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20200210 |
|
RD03 | Notification of appointment of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7423 Effective date: 20200213 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200220 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200513 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20201104 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210119 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210729 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20211018 |
|
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: 20220111 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220117 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7012030 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |