WO2019073318A1 - 鞍乗り型車両用情報処理装置、及び、鞍乗り型車両用情報処理方法 - Google Patents
鞍乗り型車両用情報処理装置、及び、鞍乗り型車両用情報処理方法 Download PDFInfo
- Publication number
- WO2019073318A1 WO2019073318A1 PCT/IB2018/056995 IB2018056995W WO2019073318A1 WO 2019073318 A1 WO2019073318 A1 WO 2019073318A1 IB 2018056995 W IB2018056995 W IB 2018056995W WO 2019073318 A1 WO2019073318 A1 WO 2019073318A1
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- WIPO (PCT)
- Prior art keywords
- crash
- type vehicle
- saddle
- physical quantity
- traveling state
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/017—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including arrangements for providing electric power to safety arrangements or their actuating means, e.g. to pyrotechnic fuses or electro-mechanic valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J27/00—Safety equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0027—Post collision measures, e.g. notifying emergency services
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0065—Type of vehicles
- B60R2021/0088—Cycles, e.g. motorcycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
- B60R2021/01327—Angular velocity or angular acceleration
Definitions
- Patent application title Information processing apparatus for straddle type vehicle, and information processing method for straddle type vehicle
- the present invention relates to an information processing apparatus and an information processing method for recognizing that a crash has occurred in a saddle-ride type vehicle in motion.
- a crash has occurred in a running vehicle based on a running state information acquisition unit that obtains information related to the running state of the vehicle, and information obtained by the running state information acquisition unit.
- a system that includes a crash recognition unit that recognizes the situation, and an output unit that performs an output according to the recognition of the crash in the crash recognition unit.
- the traveling state information acquisition unit acquires, as the information related to the traveling state, the acceleration occurring in the traveling vehicle.
- the crash recognition unit recognizes that a crash has occurred in a running vehicle when the acceleration exceeds a threshold (see, for example, Patent Document 1).
- Patent Document 1 Japanese Patent Application Laid-Open No. 2 0 0 9-2 9 0 7 8 9
- the conventional information processing apparatus for vehicles is directed to vehicles having relatively stable traveling, such as automobiles and trucks, that is, vehicles having relatively small changes in acceleration generated during traveling. Also, the recognition of a crash in the conventional information processing apparatus for vehicles is intended for vehicles such as automobiles and trucks that have relatively high occupant safety. Therefore, if it is attempted to use the conventional vehicle information processing apparatus as a saddle-ride type vehicle information processing apparatus to recognize that a crash has occurred in a saddle-ride-type vehicle in motion, the acceleration generated during Due to the relatively large change, the frequency of misrecognition that a crash occurs in a straddle-type vehicle will increase. In addition, if the threshold is set high to suppress the increase, crash recognition will be delayed even though the safety of the occupant is relatively low.
- the present invention has been made on the background of the above-mentioned problems, and recognizes that the occurrence of a crash in a saddle-sliding type vehicle while traveling is accurately recognized at an appropriate timing that can contribute to the improvement of the safety of the occupant.
- An information processing apparatus for straddle-type vehicles and a method for processing information for straddle-type vehicles are provided.
- a traveling state information acquisition unit for acquiring information related to a traveling state of a straddle type vehicle, and the straddle type vehicle in operation based on the information acquired by the traveling state information acquisition unit.
- An information processing apparatus for a saddle-ride type vehicle comprising: a crash recognition unit that recognizes that a crash has occurred; and an output unit that performs an output according to the recognition of the crash in the crash recognition unit,
- the traveling state information acquisition unit acquires a physical quantity set including at least two types of physical quantities as the information, and the crash recognition unit is configured to acquire the physical quantity set acquired by the traveling state information acquisition unit.
- a Mahalanobis distance to a reference sample group is acquired, and it is determined whether or not the crash has occurred based on the relationship between the Mahalanobis distance and a reference value.
- the present invention provides a traveling state information acquisition step for acquiring information related to the traveling state of a straddle-type vehicle, and the above-mentioned traveling while traveling based on the information acquired in the traveling state information acquisition step.
- Information processing for a saddle-ride type vehicle comprising: a crash recognition step for recognizing that a crash has occurred in a riding type vehicle; and an output step for outputting an output according to the recognition of the crash in the crash recognition step
- a physical quantity set composed of at least two types of physical quantities is acquired as the information
- the crash recognition step acquisition is performed in the traveling state information acquisition step.
- a Mahalanobis distance to a reference sample group of the physical quantity set is acquired, and it is determined whether the crash has occurred based on a relationship between the Mahalanobis distance and a reference value.
- a physical quantity set composed of at least two types of physical quantities as information related to the traveling state of a straddle-type vehicle The habit is acquired, the Mahalanobis distance to the reference sample group of the physical quantity set is acquired, and whether the crash has occurred or not is determined based on the relationship between the Mahalanobis distance and the reference value. In other words, it is judged whether or not a crash has occurred after taking into consideration the dispersion state of at least two types of physical quantities in the non-crash state.
- FIG. 1 is a view showing an example of a system configuration of an information processing apparatus for a saddle-ride type vehicle according to an embodiment of the present invention.
- FIG. 2 is a view showing an example of an operation flow of the information processing apparatus for a saddle-ride type vehicle according to the embodiment of the present invention.
- FIG. 3 is a view for explaining the operation of the crash recognition step performed by the crash recognition unit of the information processing apparatus for a saddle-ride type vehicle according to the embodiment of the present invention.
- FIG. 4 is a view for explaining the operation of the crash recognition step performed by the crash recognition unit of the information processing apparatus for a saddle-ride type vehicle according to the embodiment of the present invention.
- An information processing apparatus for a straddle-type vehicle and an information processing method for a straddle-type vehicle according to the present invention will be described below with reference to the drawings.
- the configuration, operation and the like described below are an example, and the information processing apparatus for a saddle-ride type vehicle and the information processing method for a saddle-ride type vehicle according to the present invention have such a configuration, operation and the like. It is not limited.
- FIG. 1 is a view showing an example of a system configuration of an information processing apparatus for a saddle-ride type vehicle according to an embodiment of the present invention.
- the information processing apparatus 10 for saddle-ride type vehicle includes a traveling state information acquisition unit 1 1, a crash recognition unit 1 2, and an output unit 1 3.
- a saddle-ride type vehicle information processing apparatus 10 is mounted on a saddle-ride type vehicle 1.
- the saddle-ride type vehicle 1 means, for example, a vehicle of a type in which a passenger such as a motorcycle (motorcycle, motorcycle, etc.), buggy or the like is straddled.
- the traveling state information mounted on the saddle-ride type vehicle 1 Sensor 20 is connected.
- the traveling state information acquisition unit 11 acquires information related to the traveling state of the saddle-ride type vehicle 1.
- the traveling state information acquisition unit 11 continuously acquires, as information related to the traveling state of the straddle-type vehicle 1, a physical quantity set s configured with at least two types of physical quantities at that time.
- the traveling state information sensor 20 is an inertial measurement unit (I MU) including a 3-axis gyro sensor and a 3-direction acceleration sensor.
- the traveling state information acquisition unit 1 1 determines, as information related to the traveling state of the saddle riding type vehicle 1, the angular velocity and acceleration generated in the saddle riding type vehicle 1 during traveling (that is, six types).
- the angular velocity itself may be input from the traveling state information sensor 20 to the traveling state information acquisition unit 11.
- another physical quantity that can be substantially converted to the angular velocity may be input as the angular velocity.
- the acceleration itself may be input from the traveling state information sensor 20 to the traveling state information acquisition unit 1 1, or another physical quantity that can be substantially converted into acceleration may be input as an acceleration.
- the crash recognition unit 12 obtains the Mahalanobis distance MHD for the reference sample group of the physical quantity set s acquired by the running state information acquisition unit 11 and obtains the mahalanobis distance MHD based on the relationship between the mahalanobis distance MHD and the reference value Th. It is determined whether or not a crash has occurred on the saddle-ride type vehicle 1.
- the reference sample group is reference data composed of a plurality of reference physical quantity sets S (that is, reference physical quantity sets composed of physical quantities of the same type as physical quantity set s), and is previously (eg, It may be input and stored at the time of shipment, or may be generated from a plurality of physical quantity sets previously acquired by the traveling state information acquisition unit 11.
- the crash recognition unit 12 may obtain the Mahalanobis distance MHD itself, or another parameter substantially convertible to the Mahalanobis distance MHD may be obtained as the Mahalanobis distance MHD.
- the output unit 13 outputs a trigger signal to the execution device 30 when the crash recognition unit 12 recognizes that a crash has occurred in the saddle-ride type vehicle 1.
- the execution device 30 executes, for example, an operation for notifying a relief facility that a crash has occurred in the saddle-ride type vehicle 1.
- the execution device 30 executes, for example, an operation for protecting the occupant of the saddle-ride type vehicle 1 (for example, an operation for activating an air bag).
- the straddle-type vehicle information processing apparatus 10 may be one in which each part is integrated in one case, or may be one in which each part is provided in separate cases.
- the information processing apparatus 10 for a saddle-ride type vehicle may be incorporated in the execution device 30 or may not be incorporated in the execution device 3 0.
- part or all of the information processing apparatus 10 for a saddle-ride type vehicle may be configured by, for example, a microcomputer, a microprocessor unit, or the like, or may be configured by an updatable item such as firmware. It may well be a program module or the like that is executed by an instruction from the CPU or the like.
- the traveling state information acquisition step the case where the physical quantity set s consisting of two types of physical quantities xl and x 2 is acquired in the traveling state information acquisition step is described. However, in the traveling state information acquisition step, three types are acquired. A physical quantity set s composed of the above physical quantities may be obtained, and the Mahalanobis distance MHD may be derived for the physical quantity set s. [0 0 2 1]
- FIG. 2 is a view showing an example of an operation flow of the information processing apparatus for a saddle-ride type vehicle according to the embodiment of the present invention.
- the information processing apparatus 10 for saddle-ride type vehicle When the saddle-ride type vehicle 1 is in the traveling state, the information processing apparatus 10 for saddle-ride type vehicle repeatedly executes step S 1 0 1 to step S 1 0 5 shown in FIG.
- step S101 the traveling state information acquisition unit 11 acquires two types of physical quantities x1 and x2 at that time as information related to the traveling state of the saddle-ride type vehicle 1. That is, the running state information acquisition unit 11 acquires the physical quantity set s at that time.
- Each of the two types of physical quantities 1 and 2 may be Raw data (that is, unchecked data) detected by the traveling state information sensor 20, and R detected by the traveling state information sensor 20. Even data that has been subjected to noise removal processing on aw data (that is, raw data).
- physical quantities 1 and 2 are data obtained by performing median filtering on Raw data (that is, raw data) detected by the driving state information sensor 20.
- the median filter is the middle of the raw data (ie raw data) acquired at a certain point in time in the raw data (ie raw data) acquired within a predetermined period before and after that. It is replaced with Raw data (that is, raw data) in the order of.
- step S 102 the crash recognition unit 12 acquires the Mahalanobis distance M H D with respect to the reference sample group of the physical quantity set s acquired in step S 101.
- the crash recognition unit 12 may derive the Mahalanobis distance M H D by calculation, or may derive the Mahalanobis distance M H D by referring to a previously created look-up table or the like.
- the Mahalanobis distance M H D is derived as a value calculated by Equation 1 below.
- 1 and x 2 in Equation 1 are physical quantities 1 and 2 of the physical quantity set s acquired in step S 101.
- / 1 in Equation 1 is the average of physical quantities X 1 (reference values of the same type of physical quantity as physical quantity 1) of a plurality of reference physical quantity sets S constituting the reference sample group.
- / 2 in Equation 1 is an average of physical quantities X 2 (reference values of the same type of physical quantity as physical quantity 2) of a plurality of reference physical quantity sets S constituting the reference sample group.
- ⁇ in Equation 1 is a covariance matrix of physical quantities X 1 and X 2 of the reference physical quantity set S constituting the reference sample group.
- step S103 the crash recognition unit 12 determines whether or not the derived Mahalanobis distance MHD exceeds the reference value Th. If the Mahalanobis distance MHD exceeds the reference value Th, the process proceeds to step S104, and the Mahalanobis distance MHD determines the reference value Th. If not, go to Step SI 05.
- the reference value Th may be a constant value or a variable value.
- the crash recognition unit 12 may determine whether or not the rate of change of the Mahalanobis distance MHD exceeds the reference value Th, and a time during which the Mahalanobis distance MHD continues to exceed the reference value Th is a reference time It may be determined whether or not.
- FIGS. 3 and 4 are diagrams for explaining the operation of the crash recognition step executed by the crash recognition unit of the information processing apparatus for a saddle-ride type vehicle according to the embodiment of the present invention.
- the horizontal axis is the physical quantity xl
- the vertical axis is the physical quantity X2.
- the coordinates of each reference physical quantity set S constituting the reference sample group are plotted with small dots, and the average coordinates of all the reference physical quantity sets S constituting the reference sample group are plotted.
- P s is plotted with large reeds and dots.
- the coordinates ⁇ ⁇ 1 of the physical quantity set s 1 acquired at time point T 1 are plotted with a large ret and dot
- the physical quantity set acquired at time point 2 The coordinates ⁇ ⁇ 2 of s s 2 are plotted with large dots ⁇ .
- the physical quantity set s 1 (that is, the coordinate ⁇ ⁇ 1 ) having a large deviation from the average coordinate P s is acquired, but the deviation from the reference sample group is not large.
- the Haranobis distance MHD is derived to be small and it is judged that no crash has occurred.
- the physical quantity set s 2 (that is, the coordinates ⁇ ⁇ 2 ) having a smaller deviation from the average coordinate s s is obtained compared to the example shown in FIG. Because the deviation from the reference sample group is large, the Mahalanobis distance MHD is largely derived and it is determined that a crash has occurred. That is, the crash recognition unit 12 can determine whether or not a crash has occurred, taking into consideration the dispersion state of the two physical quantities X 1 and X 2 in the non-crash state.
- the crash recognition unit 12 may make the reference sample group different according to the traveling state of the saddle-ride type vehicle 1. For example, the crash recognition unit 12 may change the reference sample group used to derive the Mahalanobis distance MHD according to the velocity, acceleration, tilt angle, vibration, etc. occurring in the saddle-ride type vehicle 1. .
- a running condition information acquisition unit 1 obtains another physical quantity set s consisting of at least two types of physical quantities, in which combinations of physical quantity set s and types of physical quantities are different, and a crash recognition section 1
- the physical quantity set s may be switched to another physical quantity set s to derive the Mahalanobis distance MHD. That is, when acquiring the three angular velocities and three accelerations (that is, six physical quantities) occurring in the saddle-ride type vehicle 1 during traveling from the traveling state information acquisition unit 1 1 i the traveling state information sensor 20
- the crash recognition unit 12 may switch the physical quantity selected to form the physical quantity set s according to the velocity, acceleration, tilt angle, vibration, etc. occurring in the saddle-ride type vehicle 1.
- step S104 the output unit 13 outputs a trigger signal to the execution device 30. Also, in step S 105, the output unit 13 does not output a trigger signal to the execution device 30.
- the driving state information acquisition unit 1 1 consists of at least two types of physical quantities (xl, X 2) as information related to the driving state of the straddle-type vehicle Acquires the physical quantity set s , and the crash recognition unit 12 works on the reference sample group of the physical quantity set s.
- the Mahalanobis distance MHD is acquired, and it is determined whether or not a crash has occurred based on the relationship between the Mahalanobis distance MHD and the reference value Th. In other words, it is judged whether or not a crash has occurred after adding the dispersion state of at least two types of physical quantities (xl, X2) in the non-crash state.
- the physical quantity set s includes the acceleration or angular velocity occurring in the saddle-ride type vehicle 1.
- the crash recognition unit 12 makes the reference sample group different according to the traveling state of the saddle-ride type vehicle 1.
- Such a configuration makes it possible to optimize the determination of whether or not a crash has occurred according to the vehicle behavior.
- the change in the vehicle behavior is severer compared to a vehicle such as a car or a truck. Therefore, such configuration is particularly useful in the saddle-ride type vehicle 1.
- the traveling state information acquisition unit 1 1 further acquires another physical quantity set s configured by at least two types of physical quantities as information related to the traveling state of the saddle-ride type vehicle 1, and sets the physical quantity set.
- the combination of physical types is different between the toss and another set of physical quantities, and the crash recognition unit 12 determines whether or not a crash has occurred according to the traveling state of the saddle-ride type vehicle 1.
- Such a configuration makes it possible to optimize the determination as to whether or not a crash has occurred according to the vehicle behavior.
- the change in the vehicle behavior is more dramatic than in the case of a vehicle such as a car or a truck. Therefore, it is particularly useful in the saddle-ride type vehicle 1 to be configured as such.
- a median filter is applied to at least two types of physical quantities (X 1, X 2) acquired by the traveling state information acquisition unit 11.
- Median filters can reduce the time delay that occurs in the filtered data as compared to other filters (eg, moving average filters, high pass filters, low pass filters, band pass filters, etc.). Therefore, by using the median filter, it is possible to accurately recognize that a crash has occurred on a saddle-ride type vehicle 1 during traveling at an appropriate timing that can contribute to the improvement of the safety of the occupant. Feasibility is improved.
- the saddle-ride type vehicle 1 is a motorcycle.
- the above features are particularly effective in motorcycles, since motorcycles have particularly low running stability and low occupant safety.
- the traveling state information acquisition unit 11 further includes, as information related to the traveling state of the saddle-ride type vehicle 1, a sub-set composed of at least two types of physical amounts in which combinations of physical quantity set s and types of physical quantities are different.
- the physical quantity set ss is acquired, and the crash recognition unit 12 may further acquire a submahalanobis distance MHD s, which is the Mahalanobis distance to the reference sample group of the subphysical quantity set ss.
- the crash recognition unit 1 2 Based on the relationship between the Mahalanobis distance MHD derived for s s and the reference value T h, it is determined whether or not a crash has occurred to the straddle-type vehicle 1 being driven, and the sub physical quantity set. It is necessary to determine whether a crash has occurred to the saddle-ride type vehicle 1 while traveling based on the relationship between the sub-Mahalanobis distance MHD s derived for the vehicle and the reference value T hs, and It may be recognized that a crash has occurred in the saddle riding type vehicle 1 while traveling by going (that is, almost simultaneously). With such a configuration, it is possible to suppress the false recognition of the crash by the determination with low sensitivity, and to improve the reaction speed to the crash by the determination with high sensitivity.
- 1 straddle type vehicle 1 0 straddle type information processing device, 1 1 running state information acquisition unit, 1 2 crash recognition unit, 1 3 output unit, 2 0 running state information sensor, 3 0 execution device, xl, 2 physical quantity, P s average coordinates of the reference sample group, P T 1 time ⁇ coordinates of the obtained physical quantity set si by 1, [rho tau 2 point ⁇ physical quantity set s 2 coordinates obtained in 2.
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Abstract
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/753,942 US20200307482A1 (en) | 2017-10-10 | 2018-09-13 | Straddle-type vehicle information processor and straddle-type vehicle information processing method |
JP2019547801A JP7054314B2 (ja) | 2017-10-10 | 2018-09-13 | 鞍乗り型車両用情報処理装置、及び、鞍乗り型車両用情報処理方法 |
EP18783577.2A EP3696027A1 (en) | 2017-10-10 | 2018-09-13 | Information processing device for saddle-ridden vehicle, and information processing method for saddle-ridden vehicle |
AU2018349050A AU2018349050B2 (en) | 2017-10-10 | 2018-09-13 | Information processing device for saddle-ridden vehicle, and information processing method for saddle-ridden vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2017197186A JP2019069720A (ja) | 2017-10-10 | 2017-10-10 | 鞍乗り型車両用情報処理装置、及び、鞍乗り型車両用情報処理方法 |
JP2017-197186 | 2017-10-10 |
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WO2019073318A1 true WO2019073318A1 (ja) | 2019-04-18 |
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PCT/IB2018/056995 WO2019073318A1 (ja) | 2017-10-10 | 2018-09-13 | 鞍乗り型車両用情報処理装置、及び、鞍乗り型車両用情報処理方法 |
Country Status (5)
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US (1) | US20200307482A1 (ja) |
EP (1) | EP3696027A1 (ja) |
JP (2) | JP2019069720A (ja) |
AU (1) | AU2018349050B2 (ja) |
WO (1) | WO2019073318A1 (ja) |
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2018
- 2018-09-13 WO PCT/IB2018/056995 patent/WO2019073318A1/ja unknown
- 2018-09-13 JP JP2019547801A patent/JP7054314B2/ja active Active
- 2018-09-13 US US16/753,942 patent/US20200307482A1/en not_active Abandoned
- 2018-09-13 AU AU2018349050A patent/AU2018349050B2/en active Active
- 2018-09-13 EP EP18783577.2A patent/EP3696027A1/en active Pending
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JP6125135B1 (ja) * | 2016-07-22 | 2017-05-10 | 三菱電機株式会社 | 運転支援装置、運転支援方法及び運転支援プログラム |
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AU2018349050B2 (en) | 2021-08-19 |
JP2019069720A (ja) | 2019-05-09 |
JP7054314B2 (ja) | 2022-04-13 |
EP3696027A1 (en) | 2020-08-19 |
AU2018349050A1 (en) | 2020-05-21 |
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