WO2017002471A1 - 車両制御装置と車両制御方法およびプログラム - Google Patents
車両制御装置と車両制御方法およびプログラム Download PDFInfo
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- WO2017002471A1 WO2017002471A1 PCT/JP2016/064602 JP2016064602W WO2017002471A1 WO 2017002471 A1 WO2017002471 A1 WO 2017002471A1 JP 2016064602 W JP2016064602 W JP 2016064602W WO 2017002471 A1 WO2017002471 A1 WO 2017002471A1
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- vehicle
- vehicle braking
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- driver
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Definitions
- This technology relates to a vehicle control device, a vehicle control method, and a program, and makes it possible to easily perform vehicle braking control from the outside, for example, on a traveling vehicle such as automatic driving.
- Patent Document 1 when it is determined that the driver is abnormal, the follow-up control for the preceding vehicle is automatically started, and the own vehicle is stopped when stop information of the preceding vehicle is acquired during the execution of the follow-up control. Thus, it is disclosed to avoid secondary damage.
- an object of the present technology is to provide a vehicle control device, a vehicle control method, and a program that can easily perform vehicle braking control from the outside on a traveling vehicle.
- the first aspect of this technology is An environmental information acquisition unit for acquiring information on the surrounding environment of the vehicle;
- the vehicle control apparatus includes a vehicle braking control unit that determines a vehicle braking instruction from the outside based on the surrounding environment information acquired by the environment information acquisition unit and starts a vehicle braking sequence based on the determination result.
- the environment information acquisition unit identifies, as surrounding environment information of the own vehicle, an image obtained by imaging the periphery of the own vehicle, information indicating contact with or impact on the own vehicle, ambient sounds, and the approach of the emergency vehicle Acquire possible approach identification information.
- the vehicle braking control unit is a predetermined external stimulus information included in the surrounding environment information acquired by the environment information acquiring unit, for example, a specific cue of a subject included in a surrounding captured image or a movement of a specific pattern, identification of the own vehicle It is possible to ensure safety by touching a part or impacting a specific pattern on the host vehicle, specific sounds included in ambient sounds, predetermined information included in approach identification information, etc. as vehicle braking instructions from the outside A vehicle braking sequence for stopping the host vehicle is started.
- control for retracting the host vehicle or control for shifting to manual operation is performed as part of the vehicle braking sequence in order to prioritize traveling of the emergency vehicle.
- the vehicle braking sequence is provided with a process of invalidating the vehicle braking sequence in accordance with an instruction from the driver after starting the vehicle braking sequence.
- the recording / reproducing processing unit encrypts the invalidation history of the vehicle braking sequence performed according to the instruction from the driver, Record unrewritable and erasable.
- the vehicle braking control unit restricts the automatic driving according to the surrounding environment at the time of the continuation.
- the driver warning unit notifies the driver that the vehicle braking sequence is started.
- the vehicle braking sequence is executed according to the situation including the brake control, the driver's condition grasping, the driving environment grasping, the external environment grasping, the steering control, the display control, the driver state transition reflecting control, etc. A series of controls is shown.
- the second aspect of this technology is Acquiring the surrounding environment information of the vehicle by the environment information acquisition unit;
- a vehicle control method comprising: discriminating a vehicle braking instruction from outside based on the surrounding environment information acquired by the environment information acquiring unit by a vehicle braking control unit; and starting a vehicle braking sequence based on the determination result.
- the third aspect of this technology is A program for controlling a vehicle by a computer, Procedures for obtaining information on the surrounding environment of the vehicle, The program causes the computer to execute a procedure for discriminating an external vehicle braking instruction based on the acquired ambient environment information and starting a vehicle braking sequence based on the discrimination result.
- the vehicle braking control unit determines the vehicle braking instruction from the outside, and the vehicle braking sequence is started based on the determination result. The For this reason, vehicle braking control can be easily performed on the traveling vehicle from the outside. Note that the effects described in the present specification are merely examples and are not limited, and may have additional effects.
- FIG. 1 shows the configuration of the vehicle control device.
- the vehicle control device 10 includes an environment information acquisition unit 20 and an electronic control unit 60. Further, the vehicle control device 10 includes an emergency stop button 41, a driver monitoring unit 42, a setting / control operation unit 43, a manual driving operation unit 44, an actuator unit 45, a driver alarm unit 46, and an external notification unit 47. Yes.
- the environment information acquisition unit 20 acquires the surrounding environment information of the host vehicle in which the vehicle control device 10 is provided.
- the environment information acquisition unit 20 includes, for example, an imaging unit 21, a sound acquisition unit 22, a radar unit 23, a sensor unit 24, a communication unit 25, and a position / traffic information acquisition unit 26.
- the imaging unit 21 is a camera (single camera) that captures an image from one viewpoint, an image that is captured from a plurality of viewpoints, and can calculate the distance from a captured image of the plurality of viewpoints to a subject.
- a TOF (Time Of Flight) camera or the like that enables distance measurement based on optical delay is used.
- the imaging unit 21 outputs a captured image generated by the camera to the electronic control unit 60 as peripheral environment information.
- the imaging unit 21 may be composed of three cameras having different focal lengths. For example, a first camera having a long focal length and an angle of view of 25 degrees, a second camera having a focal length shorter than that of the first camera and an angle of view of 50 degrees, and a focal length shorter than that of the second camera. It is composed of a third camera having an angle of view of 150 degrees.
- a first camera having a long focal length and an angle of view of 25 degrees a second camera having a focal length shorter than that of the first camera and an angle of view of 50 degrees
- a focal length shorter than that of the second camera It is composed of a third camera having an angle of view of 150 degrees.
- an image captured by a first camera having a long focal length is used.
- an image captured by the second camera is used.
- an image captured by a third camera having a short focal distance and a wide angle of view is used.
- the first to third cameras are arranged in the vicinity of the room mirror inside the windshield.
- the first to third cameras may be housed in a common housing, or may be housed in separate housings.
- the first to third cameras are arranged side by side in the horizontal direction.
- the arrangement order is arbitrary, it is desirable to arrange the third camera having the largest angle of view in the center. Thereby, a possibility that a part of housing may be reflected in the image imaged with the 3rd camera with a large angle of view can be reduced.
- the housing is composed of a housing body and a windshield mounting member, and the windshield mounting member is fixed to the inside of the windshield with an adhesive member.
- the housing body is configured to be detachable from the windshield mounting member in a state where the windshield mounting member is fixed to the windshield. By making it detachable, repair or replacement in the event of a camera failure is facilitated.
- the housing may be configured integrally with the rearview mirror.
- the housing body and the rearview mirror may be detachable with respect to one windshield mounting member.
- the voice acquisition unit 22 is configured using a microphone.
- the voice acquisition unit 22 outputs the surrounding sound of the host vehicle to the electronic control unit 60 as the surrounding environment information.
- the radar unit 23 is configured using RADAR or LIDAR (Light Detection and Ranging).
- the radar unit 23 radiates radio waves and light, measures a reflected wave and reflected light from an object located, for example, in front of or behind the host vehicle, and outputs the analysis result to the electronic control unit 60 as surrounding environment information.
- the sensor unit 24 is configured using a contact detection sensor, an impact detection sensor, or the like.
- the sensor unit 24 detects a contact or an impact when an external party strikes the vehicle body or side mirror of the host vehicle.
- the sensor unit 24 detects an impact such as a collision with an object or a rear-end collision of a subsequent vehicle.
- the sensor unit 24 outputs the detection result to the electronic control unit 60 as ambient environment information.
- the sensor unit 24 is also provided with a sensor or the like for obtaining, for example, an inter-vehicle distance or the like necessary for performing the automatic driving.
- the communication unit 25 is any one of a wireless communication network for mobile phones such as 3G, LTE, and 4G, a wireless communication network for wireless LAN, a wireless communication network for DSRC (registered trademark) (Dedicated Short Range Communication), and the like. Communication with the outside is performed via the above wireless communication network.
- the communication unit 25 communicates with the outside and outputs the received information to the electronic control unit 60 as ambient environment information.
- the position / traffic information acquisition unit 26 receives a satellite positioning system such as a GPS (Global Positioning System) signal and performs positioning. In addition, a beacon signal indicating road traffic information and the like is received. The position / traffic information acquisition unit 26 outputs the positioning result and the received road traffic information to the electronic control unit 60 as the surrounding environment information.
- a satellite positioning system such as a GPS (Global Positioning System) signal
- a beacon signal indicating road traffic information and the like is received.
- the position / traffic information acquisition unit 26 outputs the positioning result and the received road traffic information to the electronic control unit 60 as the surrounding environment information.
- the emergency stop button 41 is a button operated when an abnormality is detected during driving of the vehicle and the vehicle is quickly stopped.
- the emergency stop button 41 outputs to the electronic control unit 60 that the button operation has been performed.
- the driver monitoring unit 42 monitors the driver to determine whether or not the driver has lost normal judgment ability and physical movement ability. For example, the driver monitoring unit 42 detects a face direction, an eyelid opening degree, and the like from an image obtained by imaging the driver, and sets a threshold value for a period when the eyelid is not facing forward or a period when the eyelid is closed more than a predetermined opening degree. If it exceeds, it is determined whether normal judgment ability and physical movement ability are lost. In addition, the driver monitoring unit 42 determines the intake of drugs and alcohol based on the driver's facial expression and behavior, and determines whether normal determination ability and physical movement ability are lost from the determination result. May be. The driver monitoring unit 42 outputs the determination result to the electronic control unit 60.
- the setting / control operation unit 43 is provided for a driver or the like to perform various setting operations and control operations on the vehicle. For example, the setting / control operation unit 43 performs setting and approval operations such as a travel route and a travel mode. Further, in the setting / control operation unit 43, a control operation for invalidating a part or all of a vehicle braking sequence described later is performed. The setting / control operation unit 43 outputs an operation signal corresponding to the operation of the driver or the like to the electronic control unit 60.
- the manual driving operation unit 44 is operated by the driver when performing manual driving.
- the manual driving operation unit 44 includes, for example, a steering, an accelerator pedal, a brake pedal, and the like, and outputs an operation signal corresponding to the driver's operation to the electronic control unit 60.
- the manual driving operation in the present invention is not limited to the driving operation by the manual transmission, and represents the entire driving operation intervened by the driver in the driving operation.
- Actuator unit 45 performs drive operation in automatic operation or manual operation.
- the actuator unit 45 is composed of, for example, a steering actuator, an accelerator actuator, a brake actuator, and the like.
- the actuator unit 45 is provided with a steering signal or an accelerator based on a drive signal generated by the electronic control unit 60 according to automatic driving or a drive signal generated by the electronic control unit 60 according to an operation signal from the manual driving operation unit 44. Drive the brakes.
- the driver warning unit 46 gives an external vehicle braking instruction based on the surrounding environment information and notifies the driver of the start of the vehicle braking sequence.
- the notification to the driver uses the five senses of the driver.
- FIG. 2 illustrates the configuration of the driver alarm unit.
- the driver warning unit 46 includes a warning output control unit 461 and a warning output unit 462.
- the alarm output unit 462 includes an auditory alarm output unit 462a, a visual alarm output unit 462b, a tactile alarm output unit 462c, and an olfactory alarm output unit 462d.
- a sheet vibration unit 462f is connected.
- the alarm output control unit 461 generates an alarm drive signal based on the alarm control signal from the electronic control unit 60 and makes it possible to determine the start of the vehicle braking sequence from the alarm output unit 462 using the driver's five senses.
- the warning is not limited to the start of the vehicle braking sequence, and may be output so that the driver can determine the reason for starting the vehicle braking sequence.
- the auditory warning output unit 462a is configured using, for example, a speaker, and notifies the start of the vehicle braking sequence by voice.
- the visual alarm output unit 462b is configured by using a display device, and notifies the start of the vehicle braking sequence with characters or images.
- As the display device a navigation display device may be used, and a display device may be provided in the meter.
- the tactile alarm output unit 462c supplies an excitation drive signal to the steering excitation unit 462e to notify the start of the vehicle braking sequence by the vibration of the steering.
- the tactile alarm output unit 462c supplies an excitation drive signal to the seating seat excitation unit 462f to notify the start of the vehicle braking sequence by the vibration of the seat on which the driver is seated.
- the olfactory alarm output unit 462d outputs a specific aromatic odor or stimulation odor so that the driver can determine the start of the vehicle braking sequence.
- the external notification unit 47 generates an alarm driving signal based on the alarm control signal from the electronic control unit 60 so that the start of the vehicle braking sequence can be determined from the outside.
- the external notification unit 47 supplies, for example, an alarm driving signal to the hazard lamp or stop lamp to notify the outside that the vehicle braking sequence has started using the hazard lamp or stop lamp.
- the electronic control unit 60 includes a vehicle control processing unit 61, a recording / reproducing processing unit 62, and the like.
- the vehicle control processing unit 61 determines a vehicle braking instruction from the outside based on the surrounding environment information acquired by the environment information acquisition unit 20, and starts vehicle braking control, for example, a vehicle braking sequence based on the determination result.
- the vehicle braking sequence includes at least one of lighting of a hazard lamp, lighting of a brake lamp, evacuation from an automatic travel lane, deceleration of the own vehicle, slowing down of the own vehicle, and stopping of the own vehicle.
- the vehicle control processing unit 61 performs automatic driving control by generating a drive signal based on the surrounding environment information acquired by the environment information acquiring unit 20 and outputting it to the actuator unit 45. Further, the vehicle control processing unit 61 performs manual driving control by generating a drive signal based on the operation signal from the manual driving operation unit 44 and outputting it to the actuator unit 45.
- the recording / playback processing unit 62 records events and incidents so that they cannot be deleted. For example, when the vehicle braking sequence is started, the start of the vehicle braking sequence and the cause of the start are recorded as an incident. In addition, the fact that a part or all of the vehicle braking sequence is invalidated after the vehicle braking sequence is started is recorded as an event. Information on events and incidents is recorded in an erasable and non-rewritable manner so as not to be tampered with. Further, the information may be recorded after being encrypted so that the information content is not easily discriminated.
- the electronic control unit 60 has a functional block for performing navigation and the like based on an operation signal from the setting / control operation unit 43 and various information stored therein. Furthermore, the electronic control unit 60 may be configured using a CPU (Central Processing Unit), a memory, or the like. In this case, the CPU of the electronic control unit 60 uses the above-described driving control program, vehicle braking sequence program, subject recognition program, map information, various information for driving control, etc. stored in the memory. Perform various controls.
- a CPU Central Processing Unit
- the CPU of the electronic control unit 60 uses the above-described driving control program, vehicle braking sequence program, subject recognition program, map information, various information for driving control, etc. stored in the memory. Perform various controls.
- FIG. 3 is a flowchart showing the operation of the vehicle control device.
- the vehicle control processing unit 61 prepares for autonomous traveling.
- the vehicle control processing unit 61 confirms its own position based on the information acquired by the position / traffic information acquisition unit 26, for example. Further, the vehicle control processing unit 61 makes it possible to acquire information on a route that can be used in automatic driving from a communication unit or the like based on the destination and route set based on the setting operation in the setting / control operation unit 43. .
- the vehicle control processing unit 61 may acquire weather data and the like up to the destination, and may perform a self-diagnosis of the vehicle, a manual driving ability diagnosis of the driver, and the like.
- a step of confirming whether or not the driver knows the characteristics of the autonomous traveling vehicle may be included.
- the vehicle control processing unit 61 is provided with a driving propriety determination unit, and the driving propriety determination unit permits driving when it is determined that the driver has a driving license capable of driving an autonomous driving vehicle. Good.
- an authentication function may be provided in the driving availability determination unit to perform individual authentication of the driver and allow driving based on the authentication result.
- the driving propriety determination unit can be provided in a vehicle that does not have a function of starting a vehicle braking sequence based on the determination result of the vehicle braking instruction.
- the vehicle control processing unit 61 performs the autonomous traveling preparation as described above, and proceeds to step ST2.
- the vehicle control processing unit 61 performs an intention confirmation procedure.
- the vehicle control processing unit 61 confirms the driver's approval operation for the travel route, the travel mode, and the like.
- the travel route is the route with the shortest travel distance, the route with the shortest travel time, the route with the cheapest charge, the route that prioritizes the main road, the route that passes through a place with good scenery, the past travel history
- the route learned based on the above can be selected.
- the normal driving mode, the fuel efficiency priority driving mode, and the like can be selected as the driving mode.
- the vehicle control processing unit 61 confirms the driver's approval operation for the travel route, travel mode, etc. selected in the autonomous travel preparation in step ST1, and then proceeds to step ST3.
- step ST3 the vehicle control processing unit 61 starts running.
- the vehicle control processing unit 61 starts autonomous automatic driving in the approved travel mode and travel route, and proceeds to steps ST4 to ST6.
- step ST4 the vehicle control processing unit 61 performs own vehicle / driver state grasping processing.
- the vehicle control processing unit 61 grasps whether or not an abnormality has been detected by self-diagnosis. Further, the vehicle control processing unit 61 grasps whether or not the driver has lost normal determination ability and physical movement ability based on the determination result from the driver monitoring unit 42.
- the vehicle control processing unit 61 grasps the state of the host vehicle and the driver and proceeds to step ST7.
- the vehicle control processing unit 61 performs a front outside world grasping process.
- the vehicle control processing unit 61 determines predetermined external stimulus information in the surrounding environment information of the front outside world acquired by the environment information acquiring unit 20 by performing the front outside world grasping process.
- the vehicle control processing unit 61 performs determination of a cue or a gesture performed by a person in the outside world captured by the imaging unit 21, determination of a braking instruction operation of a vehicle in front, and the like.
- the vehicle control processing unit 61 transmits a gesture indicating the movement of the specific pattern to a predetermined external Discriminated as stimulus information.
- the vehicle control processing unit 61 determines the specified specific signal as predetermined external stimulus information. . Further, blinking or lighting of a specific pattern of the overtaking lane side direction indicator of the vehicle ahead is determined as predetermined external stimulus information as a signal for starting the vehicle braking sequence. Further, when an emergency vehicle is included in the captured image of the front outside world, an image of the emergency vehicle may be determined as predetermined external stimulus information. The vehicle control processing unit 61 thus performs the front outside world grasping process and proceeds to step ST7. The vehicle control processing unit 61 recognizes the driving environment as well as determining predetermined external stimulus information. The vehicle control processing unit 61 uses the captured image of the front outside world acquired by the imaging unit 21 to recognize, for example, a line drawn on a road and a vehicle or a pedestrian ahead.
- the vehicle control processing unit 61 performs a non-front external environment grasping process.
- the vehicle control processing unit 61 determines predetermined external stimulus information in the surrounding environment information of the non-front external environment acquired by the environmental information acquisition unit 20 by performing the non-front external environment grasping process. For example, the vehicle control processing unit 61 determines, as predetermined external stimulus information, the above-described signal or gesture made by a person in the non-front outside world imaged by the imaging unit 21. Further, the vehicle control processing unit 61 obtains the detection result from the sensor unit 24, and generates a specific sound such as a horn sound of a specific pattern from a surrounding vehicle, a whistle sound from a whistle used by a police officer, or a siren sound of an emergency vehicle.
- a specific sound such as a horn sound of a specific pattern from a surrounding vehicle, a whistle sound from a whistle used by a police officer, or a siren sound of an emergency vehicle.
- the vehicle control processing unit 61 obtains the detection result from the sensor unit 24, contacts a specific part of the own vehicle such as a side mirror from an external third party, an impact of a specific pattern from the outside, a rear-end collision of the following vehicle. Are determined as predetermined external stimulus information. Further, the vehicle control processing unit 61 grasps the situation of the non-front outside world based on the reception information of the communication unit 25. For example, wireless reception information indicating the approach of an emergency vehicle obtained by communication via a DSRC wireless communication network or the like is determined as predetermined external stimulus information.
- the vehicle control processing unit 61 determines a remote instruction from a management center that remotely manages the host vehicle as predetermined external stimulus information. Further, the vehicle control processing unit 61 acquires at least one of the captured image of the surrounding area, the ambient sound, and the wireless reception information as the approach identification information that allows the approach of the emergency vehicle to be identified, The vehicle control processing unit 61 may use the emergency vehicle image in the captured image, the specific sound of the emergency vehicle included in the ambient sound, and the wireless reception information indicating the approach of the emergency vehicle as a start trigger of the vehicle braking sequence. The vehicle control processing unit 61 thus performs the non-front external environment grasping process and proceeds to step ST7.
- steps ST4 to ST6 are not limited to being performed in parallel. For example, when an abnormality has occurred, if it is possible to quickly determine the end of travel in step ST7, the processing from step ST4 to step ST6 may be performed in order.
- step ST7 the vehicle control processing unit 61 determines whether or not to end the traveling. If the electronic control unit determines that there is no abnormality in continuing traveling in the state of the host vehicle or the driver and the grasped conditions of the front outside world and the non-front outside world, the electronic control unit determines that the traveling is continued and performs steps ST4 to ST4. The process returns to step ST6. In addition, the vehicle control processing unit 61 ends the traveling when it is determined that there is an abnormality in continuing traveling in either the state of the own vehicle or the driver and the grasped front outside world or non-front outside world state. Then, it discriminate
- the vehicle control processing unit 61 detects the abnormality. Determine that there is. Furthermore, when the vehicle control processing unit 61 determines that an outside person has made a predetermined signal or gesture, when an external third party strikes the vehicle body, etc., it determines whether an emergency vehicle is approaching, It is determined that there is.
- step ST8 the vehicle control processing unit 61 outputs a vehicle braking sequence start alarm.
- the vehicle control processing unit 61 notifies the driver of the start of the vehicle braking sequence from the driver warning unit 46 and proceeds to step ST9.
- the vehicle control processing unit 61 determines whether there is any driver intervention. For example, the vehicle control processing unit 61 determines the driver's intervention according to an operation on the invalidation operation switch for invalidating the vehicle braking sequence provided in the setting / control operation unit 43. Further, the vehicle control processing unit 61 may be able to determine the driver's intervention according to the operation in the manual driving operation unit 44 after outputting the vehicle braking sequence start warning, for example, the steering operation or the brake operation. .
- the vehicle control processing unit 61 determines that there is no driver intervention and proceeds to step ST10.
- the vehicle control processing unit 61 performs driving. It is determined that there is a person's intervention and the process proceeds to step ST11.
- the driver's intervention may be determined including the driver's condition.
- the vehicle control processing unit 61 has a normal determination ability and physical movement ability. The invalidation operation in a state in which is confirmed may be validated.
- the driver's intervention is determined after notifying the driver of the start of the vehicle braking sequence, for example, a malicious third party performs an operation to start the vehicle braking sequence in order to stop the host vehicle. Even so, the driver can invalidate the vehicle braking sequence based on this operation or the like. Further, when the vehicle braking sequence is started due to the approach of the emergency vehicle, the driver can invalidate the vehicle braking sequence when it is determined that the own vehicle does not interfere with the travel of the emergency vehicle.
- the vehicle braking sequence includes at least one of lighting of a hazard lamp, lighting of a brake lamp, evacuation from an automatic driving lane, deceleration of the own vehicle, slowing down of the own vehicle, and stopping of the own vehicle, and the invalidation is partially Alternatively, all may be invalidated.
- the vehicle control processing unit 61 starts a vehicle braking sequence.
- the vehicle control processing unit 61 starts a vehicle braking sequence and stops the host vehicle so as to ensure safety.
- the vehicle control processing unit 61 outputs a notification signal to the external notification unit 47 to turn on or blink a hazard lamp, a brake lamp, or the like so that the following vehicle can identify that the host vehicle is urgently stopped.
- the vehicle control processing unit 61 outputs a braking control signal to the actuator unit 45, and performs control to decelerate the vehicle and retract it to the road shoulder or the like to stop.
- the vehicle control processing unit 61 may vary the external notification according to the braking state.
- the blinking cycle is shortened to attract the attention of the following vehicle, and then the cycle is lengthened as the vehicle speed decreases. In this way, the following vehicle can easily determine the braking state of the own vehicle. Further, when the vehicle braking sequence is started by the approach of the emergency vehicle, the host vehicle is retracted so that the emergency vehicle can be prioritized.
- step ST11 the recording / playback processing unit 62 records the release operation of the vehicle braking sequence.
- the recording / reproducing processor 62 records the fact that the release operation has been performed at the start of the vehicle braking sequence as the invalidation history of the vehicle braking sequence, and proceeds to step ST12.
- the recording / reproducing processor 62 records the invalidation history of the vehicle braking sequence in a non-rewritable and non-erasable manner. If the invalidation history is recorded in this way, it is possible to determine that the driver has intentionally released the vehicle braking sequence when the vehicle braking sequence is started by an external instruction or the like.
- the recording / playback processing unit 62 can prevent the invalidation history from being viewed by an unauthorized driver or the like.
- step ST12 the vehicle control processing unit 61 acquires automatic driving continuation determination information.
- the vehicle control processing unit 61 acquires automatic driving continuation determination information for determining whether or not automatic driving can be continued.
- the vehicle control processing unit 61 acquires, as automatic driving continuation determination information, an automatic driving continuation instruction from the driver, a self-diagnosis result, a determination result that there is no abnormality in running, and the like, and proceeds to step ST13.
- step ST13 the vehicle control processing unit 61 determines whether automatic driving cannot be continued. Based on the acquired automatic driving continuation determination information, the vehicle control processing unit 61 determines whether or not it is in a state where automatic driving cannot be continued. When the automatic driving continuation determination information satisfies the conditions for automatic driving, the vehicle control processing unit 61 determines that automatic driving can be continued, returns to step ST4 to step ST6, and restarts automatic driving. Further, if any of the automatic driving continuation determination information does not satisfy the automatic driving condition, the vehicle control processing unit 61 determines that the automatic driving cannot be continued and proceeds to step ST14. In addition, when invalidating the start of a vehicle braking sequence and restarting automatic driving
- step ST14 the vehicle control processing unit 61 performs a manual driving transition process.
- the vehicle control processing unit 61 switches the control operation so that the driver can drive the vehicle by manual operation since it is determined in step ST13 that the automatic driving cannot be continued. That is, the vehicle control processing unit 61 switches the operation control so as to generate a drive signal in response to an operation from the manual driving operation unit 44 and supply it to the actuator unit 45 (if it is not drive-by-wire, direct drive is performed).
- the vehicle control processing unit 61 switches the control so as to generate a drive signal in response to an operation from the manual driving operation unit 44 and supply it to the actuator unit 45 (if it is not drive-by-wire, direct drive is performed).
- FIG. 4 As a situation where a third party wishes to stop the vehicle from the outside, a situation as shown in FIG. 4 is assumed. For example, with respect to the driver, situations such as strange behavior, inability to see the driver, and the driver's apparent behavior seeming to run away from the surroundings are assumed. In addition, with regard to vehicles, driving after committing a violation, entering a prohibited area, traveling in a prohibited area, traveling backward on a one-way road, running away, etc. This situation is assumed.
- the external environment includes a remote transmission notification of the occurrence of an abnormality to the passenger, a remote command from the central monitoring service, an unexpected event such as an accident in a dedicated lane, an emergency situation, and the subsequent vehicle
- an unexpected event such as an accident in a dedicated lane, an emergency situation
- the subsequent vehicle A stop instruction is required, an emergency vehicle is approaching, it is necessary to detect an accident such as an accident or a broken car while driving on a dedicated lane, and the subsequent vehicle must be notified, and a lane closure is notified in the event of an emergency Situations such as accidents and river floods are assumed.
- FIG. 5 illustrates the operation or information of the braking instruction side and the braking instruction when the vehicle is stopped from the outside.
- the vehicle control processing unit 61 performs a front external world grasping process, recognizes a person's upper arm using a captured image of the front external world, and swings a hand up and swings up a hand. When it is detected that the vehicle is running, it is determined that the traveling is finished. In addition, the vehicle control process part 61 performs the process after step ST8 in FIG. 3, when it determines with completion
- the vehicle control processing unit 61 determines that the traveling is finished when a touch in a specific pattern, a touch on a specific part, or the like is detected.
- the vehicle in front When the vehicle in front is the braking instruction side, the vehicle in front performs blinking or lighting of a specific pattern of the overtaking lane side direction indicator, output of a specific sound, etc. as a braking instruction operation.
- the vehicle control processing unit 61 recognizes the vehicle using a captured image of the front outside world in the front outside world grasping process, and a blinking or lighting operation of a specific pattern is performed with the overtaking lane side direction indicator of the recognized vehicle.
- it is detected that the vehicle is running it is determined that the traveling is finished.
- the voice acquisition unit 22 detects a specific sound or the like, it is determined that the traveling is finished.
- the vehicle on the side When the vehicle on the side is the braking instruction side, the vehicle on the side outputs a specific sound as a braking instruction operation.
- the vehicle control processing unit 61 determines that the traveling is finished when a specific sound or the like is detected in the non-front external environment grasping process.
- the vehicle behind the vehicle When the vehicle behind is the braking instruction side, the vehicle behind the vehicle outputs a specific sound as a braking instruction operation.
- the vehicle control processing unit 61 determines that the traveling is finished when a specific sound or the like is detected in the non-front external environment grasping process.
- the side running motorcycle When the side running motorcycle is the braking instruction side, the side running motorcycle outputs a specific sound or a touch by a motorcycle driver in a specific pattern or a specific part as a braking instruction operation.
- the vehicle control processing unit 61 determines that the traveling is finished when a touch with a specific sound or a specific pattern, a touch to a specific part, or the like is detected in the non-front external environment grasping process.
- the police officer or the like When a police officer or the like is a braking instruction side, the police officer or the like transmits emergency stop radio information or the like via a wireless communication network (for example, DSRC) as a braking instruction operation.
- the vehicle control processing unit 61 determines that the traveling is finished when emergency stop radio information or the like is received in the non-front external environment grasping process.
- the road network is equipped with a road management system that can remotely manage roads and remote braking instructions can be given to traveling vehicles on each road, if the road management system administrator or automatic remote braking instruction operation is possible.
- a driving failure event occurs in an automatic driving lane
- wireless information that notifies the occurrence of the event sufficiently before the location where the driving failure event occurs wireless information that notifies the occurrence of a temporary suspension section of automatic driving, remote control Send information etc.
- the vehicle control processing unit 61 receives wireless information or the like from the road management system in the non-front external environment grasping process, the vehicle control processing unit 61 determines the end of traveling based on the received wireless information.
- FIG. 6 is a diagram illustrating an operation when a vehicle braking instruction is received.
- the vehicle control processing unit 61 continues the automatic driving and moves the host vehicle to the evacuation lane based on the vehicle braking sequence and stops the vehicle.
- the driver is limited so as not to rush back to manual operation.
- the vehicle control processing unit 61 switches to manual operation when there is a driver's intervention after outputting the start warning of the vehicle braking sequence.
- the vehicle moves to a normal lane.
- the vehicle control processing unit 61 When switching to manual driving, the vehicle control processing unit 61 performs an arousal state confirmation process to confirm that the driver is in an awake state in which driving is possible. For example, when the setting / control operation unit 43 performs an operation of invalidating the vehicle braking sequence in a specific pattern designated in advance, it is determined that the driver is in an awake state in which driving is possible. In this way, if the arousal state is confirmed by recognition and judgment rather than a simple button pressing operation that can be pushed in a reflex reaction, the driver will be switched to manual driving in an awakening state that is insufficient for driving. Can be prevented.
- the vehicle control processing unit 61 may shift the traveling mode in stages. For example, when switching from automatic operation to manual operation, speed limitation is performed so that safe driving is performed immediately after operation switching. Thereafter, after a predetermined time or a predetermined travel distance has elapsed, the speed limit is released and normal manual operation is enabled. In this way, if the driving mode is shifted in stages, the shift to the manual operation can be completed more safely. When switching to manual operation, record a history to that effect.
- the vehicle control processing unit 61 may limit automatic driving when there is a driver's intervention after outputting a vehicle braking sequence start alarm and automatic driving is continued by operating a forced continuous driving button or the like. Moreover, in the restriction
- the vehicle control process part 61 restrict
- the vehicle control processing unit 61 invalidates the vehicle braking sequence started in response to a third party's gesture or the like and continues the automatic driving, the third party may have malicious intent. Less restrictions compared to emergency vehicles approaching.
- the recording / reproducing processor 62 records, for example, an encrypted history so that it cannot be rewritten and erased when the automatic operation is continued.
- the vehicle control processing unit 61 notifies the police station, etc. of the history regarding the continuation of the automatic driving via the wireless communication network or the like when the continuation of the automatic driving causes a violation of laws and regulations. May be.
- the vehicle braking instruction may be issued not only from the outside of the vehicle but also from the passenger seat side or the rear seat side. For example, an operation of a switch for starting a vehicle braking sequence provided on the passenger seat side or the rear seat side, a specific pattern of impact applied to the vehicle or the like from the passenger seat side or the rear seat side as a vehicle braking instruction Also good.
- the program can be recorded in advance on a hard disk, SSD (Solid State Drive), or ROM (Read Only Memory) as a recording medium.
- the program is a flexible disk, a CD-ROM (Compact Disc Read Only Memory), an MO (Magneto optical disc), a DVD (Digital Versatile Disc), a BD (Blu-Ray Disc (registered trademark)), a magnetic disk, or a semiconductor memory card. It can be stored (recorded) in a removable recording medium such as temporarily or permanently. Such a removable recording medium can be provided as so-called package software.
- the program is transferred to the computer wirelessly or by wire from the in-vehicle failure diagnosis system (OBD system) or the download site via a network such as LAN (Local Area Network) or the Internet May be.
- OBD system in-vehicle failure diagnosis system
- the computer can receive the program transferred in this way and install it on a recording medium such as a built-in hard disk.
- the vehicle control apparatus of this technique can also take the following structures.
- An environmental information acquisition unit that acquires environmental information about the host vehicle;
- a vehicle control device comprising: a vehicle braking control unit that determines a vehicle braking instruction from the outside based on the surrounding environment information acquired by the environment information acquisition unit and starts a vehicle braking sequence based on the determination result.
- the environment information acquisition unit acquires an image obtained by capturing the periphery of the host vehicle as the surrounding environment information, The vehicle control apparatus according to (2), wherein the vehicle braking control unit determines a movement of a specific signal or a specific pattern of a subject included in the acquired image as the vehicle braking instruction.
- the environment information acquisition unit acquires information indicating contact with the host vehicle or impact on the host vehicle as the surrounding environment information, The vehicle control apparatus according to (2) or (3), wherein the vehicle braking control unit determines that a contact with a specific part of the own vehicle or an impact of a specific pattern on the own vehicle is the vehicle braking instruction.
- the environment information acquisition unit acquires ambient sounds as the surrounding environment information, The vehicle control apparatus according to any one of (2) to (4), wherein the vehicle braking control unit determines that a specific sound included in the ambient sound is the vehicle braking instruction.
- the environment information acquisition unit acquires approach identification information that makes it possible to identify the approach of an emergency vehicle as the surrounding environment information, The vehicle control apparatus according to any one of (2) to (5), wherein the vehicle braking control unit determines predetermined information included in the approach identification information as an external vehicle braking instruction.
- the environment information acquisition unit acquires at least one of a captured image of the surrounding area, ambient sound, and wireless reception information as the approach identification information
- the vehicle braking control unit determines an image of the emergency vehicle in the captured image, a specific sound of the emergency vehicle included in the ambient sound, and wireless reception information indicating approach of the emergency vehicle as the vehicle braking instruction ( The vehicle control device according to 6).
- the vehicle control device according to (6) or (7) wherein in the vehicle braking sequence, control for retracting the own vehicle or control for shifting to manual operation is performed in order to prioritize traveling of the emergency vehicle.
- the vehicle braking sequence includes at least one of lighting of a hazard lamp, lighting of a brake lamp, evacuation from an automatic travel lane, deceleration of the own vehicle, slowing down of the own vehicle, and stopping of the own vehicle
- the vehicle control device according to any one of (8) to (8).
- the vehicle control device according to any one of (1) to (9), wherein the vehicle braking sequence includes a process of invalidating a part or all of the vehicle braking sequence according to an instruction from a driver after the vehicle braking sequence is started. .
- the vehicle braking control unit In the case where the vehicle braking control unit invalidates the vehicle braking sequence and continues the automatic driving, the vehicle braking control unit limits the automatic driving according to a traveling state at the time of the continuing (10) to (13).
- the vehicle control device according to any one of (1) to (15), wherein the vehicle braking sequence is a sequence for stopping the host vehicle so as to ensure safety.
- the host vehicle is an autonomous traveling vehicle in which a driver can travel without being involved in a driving operation.
- the vehicle control device according to any one of (1) to (16), further including a driving availability determination unit that determines whether or not the driver can drive the autonomously traveling vehicle.
- the driving availability determination unit further includes a driver authentication function.
- the surrounding environment information of the host vehicle is acquired, the vehicle braking instruction is determined from the outside based on the surrounding environment information, and the vehicle braking sequence is based on the determination result. Is started. Therefore, the vehicle braking control can be easily performed from the outside to the traveling vehicle, and the vehicle braking control is started from the outside when, for example, the abnormality of the automatic driving operation is not noticed or the manual driving cannot be restored. be able to. For this reason, this technique is suitable for an automobile having an automatic driving function.
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Abstract
Description
自車両の周辺環境情報を取得する環境情報取得部と、
前記環境情報取得部で取得された周辺環境情報に基づき外部からの車両制動指示の判別を行い、判別結果に基づき車両制動シーケンスを開始する車両制動制御部と
を有する車両制御装置にある。
環境情報取得部によって、自車両の周辺環境情報を取得することと、
車両制動制御部によって、前記環境情報取得部で取得された周辺環境情報に基づき外部からの車両制動指示の判別を行い、判別結果に基づき車両制動シーケンスを開始することを含む車両制御方法。
車両の制御をコンピュータで実行させるプログラムであって、
自車両の周辺環境情報を取得する手順と、
前記取得した周辺環境情報に基づき外部からの車両制動指示の判別を行い、判別結果に基づき車両制動シーケンスを開始する手順と
を前記コンピュータで実行させるプログラムにある。
1.車両制御装置の構成
2.車両制御装置の動作
図1は、車両制御装置の構成を示している。車両制御装置10は、環境情報取得部20と、電子制御ユニット60を有している。また、車両制御装置10は、緊急停止ボタン41、運転者モニタリング部42、設定・制御操作部43、マニュアル運転操作部44、アクチュエータ部45、運転者警報部46、外部通知部47が設けられている。
次に、車両制御装置の動作について説明する。図3は、車両制御装置の動作を示すフローチャートである。ステップST1で車両制御処理部61は、自律走行準備を行う。車両制御処理部61は、例えば位置・交通情報取得部26で取得された情報に基づき自己の位置を確認する。また、車両制御処理部61は、設定・制御操作部43における設定操作に基づき設定された目的地やルートに基づき、自動運転で利用可能なルート上の情報を通信部等から取得できるようにする。また、車両制御処理部61は、目的地までの天候データ等を取得してもよく、車両の自己診断や運転者のマニュアル運転能力診断等を行ってもよい。また、自律走行準備として、運転者が自律走行車両の特性を把握しているかどうかを確認するステップを含んでもよい。例えば、車両制御処理部61に運転可否判別部を設けて、運転可否判別部は、自動運転車両を運転可能である運転免許証を所持していることを判別した場合に運転を許可してもよい。さらに、運転可否判別部に認証機能を設けて運転者の個別認証を行い、認証結果に基づき運転を許可してもよい。このように認証機能を設ければ、車両の運転を予め登録された運転者のみに限定することが可能となり、車両の不正利用等を防止できる。なお、運転可否判別部は、車両制動指示の判別結果に基づき車両制動シーケンスを開始する機能を有していない車両に設けることも可能である。車両制御処理部61は、以上のような自律走行準備を行ってステップST2に進む。
(1) 自車両の周辺環境情報を取得する環境情報取得部と、
前記環境情報取得部で取得された周辺環境情報に基づき外部からの車両制動指示の判別を行い、判別結果に基づき車両制動シーケンスを開始する車両制動制御部と
を有する車両制御装置。
(2) 前記車両制動制御部は、前記周辺環境情報に含まれた所定の外部刺激情報を外部からの車両制動指示と判別して、前記車両制動シーケンスを開始する(1)に記載の車両制御装置。
(3) 前記環境情報取得部は、前記周辺環境情報として自車両の周辺を撮像した画像を取得して、
前記車両制動制御部は、取得した前記画像に含まれる被写体の特定の合図または特定パターンの動きを前記車両制動指示と判別する(2)に記載の車両制御装置。
(4) 前記環境情報取得部は、前記周辺環境情報として自車両に対する接触または自車両への衝撃を示す情報を取得して、
前記車両制動制御部は、前記自車両の特定部位への接触または前記自車両への特定パターンの衝撃を前記車両制動指示と判別する(2)または(3)に記載の車両制御装置。
(5) 前記環境情報取得部は、前記周辺環境情報として周囲音を取得して、
前記車両制動制御部は、前記周囲音に含まれた特定音を前記車両制動指示と判別する(2)乃至(4)のいずれかに記載の車両制御装置。
(6) 前記環境情報取得部は、前記周辺環境情報として緊急車両の接近を識別可能とする接近識別情報の取得を行い、
前記車両制動制御部は、前記接近識別情報に含まれた所定情報を外部からの車両制動指示と判別する(2)乃至(5)のいずれかに記載の車両制御装置。
(7) 前記環境情報取得部は、前記接近識別情報として周辺領域の撮像画と周囲音と無線受信情報の少なくともいずれかを取得して、
前記車両制動制御部は、前記撮像画における前記緊急車両の画像、前記周囲音に含まれた前記緊急車両の特定音および前記緊急車両の接近を示す無線受信情報を前記車両制動指示と判別する(6)に記載の車両制御装置。
(8) 前記車両制動シーケンスには、前記緊急車両の走行を優先させるために自車両を退避させる制御、またはマニュアル運転への移行制御を行う(6)または(7)に記載の車両制御装置。
(9) 前記車両制動シーケンスは、ハザードランプの点灯、ブレーキランプの点灯、自動走行レーンからの退避、自車両の減速、自車両の徐行、自車両の停止のいずれか1つを少なくとも含む(1)乃至(8)のいずれかに記載の車両制御装置。
(10) 前記車両制動シーケンスは、前記車両制動シーケンスを開始したのち運転者からの指示によって一部または全てを無効化する処理を有する(1)乃至(9)のいずれかに記載の車両制御装置。
(11) 前記車両制動シーケンスを無効化するための操作部を有する(10)に記載の車両制御装置。
(12) 前記運転者からの指示によって行われた前記車両制動シーケンスの無効化履歴を、書き換え不能および消去不能に記録する記録再生処理部をさらに有する(10)または(11)に記載の車両制御装置。
(13) 前記記録再生処理部は、前記無効化履歴を暗号化して記録する(12)に記載の車両制御装置。
(14) 前記車両制動制御部は、前記車両制動シーケンスを無効化して自動運転を継続する場合、継続時の走行状況に応じて自動運転に制限を加える(10)乃至(13)のいずれかに記載の車両制御装置。
(15) 前記車両制動シーケンスが開始されることを運転者に通知する運転者警報部をさらに有する(1)乃至(14)のいずれかに記載の車両制御装置。
(16) 前記車両制動シーケンスは、安全を確保できるように自車両を停車させるシーケンスである(1)乃至(15)のいずれかに記載の車両制御装置。
(17) 前記自車両は、運転者が運転操作に介在することなく走行可能な自律走行車両であり、
前記運転者が前記自律走行車両を運転可能であるか否かを判別する運転可否判別部をさらに有する(1)乃至(16)のいずれかに記載の車両制御装置。
(18) 前記運転可否判別部は運転者の認証機能をさらに有する(17)に記載の車両制御装置。
20・・・環境情報取得部
21・・・撮像部
22・・・音声取得部
23・・・レーダー部
24・・・センサ部
25・・・通信部
26・・・位置・交通情報取得部
41・・・緊急停止ボタン
42・・・運転者モニタリング部
43・・・設定・制御操作部
44・・・マニュアル運転操作部
45・・・アクチュエータ部
46・・・運転者警報部
47・・・外部通知部
60・・・電子制御ユニット
61・・・車両制御処理部
62・・・記録再生処理部
461・・・警報出力制御部
462・・・警報出力部
Claims (20)
- 自車両の周辺環境情報を取得する環境情報取得部と、
前記環境情報取得部で取得された周辺環境情報に基づき外部からの車両制動指示の判別を行い、判別結果に基づき車両制動シーケンスを開始する車両制動制御部と
を有する車両制御装置。 - 前記車両制動制御部は、前記周辺環境情報に含まれた所定の外部刺激情報を外部からの車両制動指示と判別して、前記車両制動シーケンスを開始する
請求項1に記載の車両制御装置。 - 前記環境情報取得部は、前記周辺環境情報として自車両の周辺を撮像した画像を取得して、
前記車両制動制御部は、取得した前記画像に含まれる被写体の特定の合図または特定パターンの動きを前記車両制動指示と判別する
請求項2に記載の車両制御装置。 - 前記環境情報取得部は、前記周辺環境情報として自車両に対する接触または自車両への衝撃を示す情報を取得して、
前記車両制動制御部は、前記自車両の特定部位への接触または前記自車両への特定パターンの衝撃を前記車両制動指示と判別する
請求項2に記載の車両制御装置。 - 前記環境情報取得部は、前記周辺環境情報として周囲音を取得して、
前記車両制動制御部は、前記周囲音に含まれた特定音を前記車両制動指示と判別する
請求項2に記載の車両制御装置。 - 前記環境情報取得部は、前記周辺環境情報として緊急車両の接近を識別可能とする接近識別情報の取得を行い、
前記車両制動制御部は、前記接近識別情報に含まれた所定情報を外部からの車両制動指示と判別する
請求項2に記載の車両制御装置。 - 前記環境情報取得部は、前記接近識別情報として周辺領域の撮像画と周囲音と無線受信情報の少なくともいずれかを取得して、
前記車両制動制御部は、前記撮像画における前記緊急車両の画像、前記周囲音に含まれた前記緊急車両の特定音および前記緊急車両の接近を示す無線受信情報を前記車両制動指示と判別する
請求項6に記載の車両制御装置。 - 前記車両制動シーケンスには、前記緊急車両の走行を優先させるために自車両を退避させる制御、またはマニュアル運転への移行制御を行う
請求項6に記載の車両制御装置。 - 前記車両制動シーケンスは、ハザードランプの点灯、ブレーキランプの点灯、自動走行レーンからの退避、自車両の減速、自車両の徐行のいずれか1つを少なくとも含む
請求項1に記載の車両制御装置。 -
前記車両制動シーケンスは、前記車両制動シーケンスを開始したのち運転者からの指示によって一部または全てを無効化する処理を有する
請求項1に記載の車両制御装置。 - 前記車両制動シーケンスを無効化するための操作部を有する
請求項10に記載の車両制御装置。 - 前記運転者からの指示によって行われた前記車両制動シーケンスの無効化履歴を、書き換え不能および消去不能に記録する記録再生処理部をさらに有する
請求項10に記載の車両制御装置。 - 前記記録再生処理部は、前記無効化履歴を暗号化して記録する
請求項12に記載の車両制御装置。 - 前記車両制動制御部は、前記車両制動シーケンスを無効化して自動運転を継続する場合、継続時の周辺環境に応じて自動運転に制限を加える
請求項10に記載の車両制御装置。 - 前記車両制動シーケンスが開始されることを運転者に通知する運転者警報部をさらに有する
請求項1に記載の車両制御装置。 - 前記車両制動シーケンスは、安全を確保できるように自車両を停車させるシーケンスである
請求項1に記載の車両制御装置。 - 前記自車両は、運転者が運転操作に介在することなく走行可能な自律走行車両であり、
前記運転者が前記自律走行車両を運転可能であるか否かを判別する運転可否判別部をさらに有する
請求項1に記載の車両制御装置。 - 前記運転可否判別部は運転者の認証機能をさらに有する
請求項17に記載の車両制御装置。 - 環境情報取得部によって、自車両の周辺環境情報を取得することと、
車両制動制御部によって、前記環境情報取得部で取得された周辺環境情報に基づき外部からの車両制動指示の判別を行い、判別結果に基づき車両制動シーケンスを開始することを含む車両制御方法。 - 車両の制御をコンピュータで実行させるプログラムであって、
自車両の周辺環境情報を取得する手順と、
前記取得した周辺環境情報に基づき外部からの車両制動指示の判別を行い、判別結果に基づき車両制動シーケンスを開始する手順と
を前記コンピュータで実行させるプログラム。
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Publication number | Publication date |
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EP3318456A1 (en) | 2018-05-09 |
JP6743816B2 (ja) | 2020-08-19 |
JPWO2017002471A1 (ja) | 2018-04-19 |
JP7006733B2 (ja) | 2022-01-24 |
US20210221339A1 (en) | 2021-07-22 |
EP3318456A4 (en) | 2019-02-20 |
EP3936394A1 (en) | 2022-01-12 |
US20180178766A1 (en) | 2018-06-28 |
EP3318456B1 (en) | 2021-09-22 |
JP2020194553A (ja) | 2020-12-03 |
US10994712B2 (en) | 2021-05-04 |
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