+

WO2018179277A1 - Système de commande de véhicule, dispositif de serveur, procédé de commande de véhicule et programme de commande de véhicule - Google Patents

Système de commande de véhicule, dispositif de serveur, procédé de commande de véhicule et programme de commande de véhicule Download PDF

Info

Publication number
WO2018179277A1
WO2018179277A1 PCT/JP2017/013383 JP2017013383W WO2018179277A1 WO 2018179277 A1 WO2018179277 A1 WO 2018179277A1 JP 2017013383 W JP2017013383 W JP 2017013383W WO 2018179277 A1 WO2018179277 A1 WO 2018179277A1
Authority
WO
WIPO (PCT)
Prior art keywords
action plan
vehicle
unit
information
host vehicle
Prior art date
Application number
PCT/JP2017/013383
Other languages
English (en)
Japanese (ja)
Inventor
宏史 小黒
勝也 八代
加治　俊之
徹 幸加木
政宣 武田
Original Assignee
本田技研工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Priority to PCT/JP2017/013383 priority Critical patent/WO2018179277A1/fr
Priority to CN201780088972.2A priority patent/CN110462338B/zh
Priority to JP2019508056A priority patent/JP6781335B2/ja
Publication of WO2018179277A1 publication Critical patent/WO2018179277A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions

Definitions

  • the present invention relates to a vehicle control system, a server device, a vehicle control method, and a vehicle control program.
  • the travel route of the vehicle has not been determined in consideration of the travel route of the surrounding vehicle.
  • the present invention has been made in consideration of such circumstances, and a vehicle control system, a server device, a vehicle control method, and a vehicle that can realize smooth running by coordinating action plans between vehicles.
  • One of the purposes is to provide a control program.
  • the invention described in claim 1 includes an action plan generation unit (123) that generates information related to an action plan of the host vehicle, an action plan acquisition unit (160) that acquires information related to an action plan of surrounding vehicles of the host vehicle, and An automatic driving control unit (120, 140) that executes automatic driving of the host vehicle based on information on the action plan generated by the action plan generating unit, the action plan generating unit It is a vehicle control system which changes the action plan of the own vehicle based on the degree of association between the information related to the action plan of the vehicle and the information related to the action plan of the surrounding vehicle acquired by the action plan acquisition unit.
  • generation part or the said action plan acquisition part is a target track
  • a third aspect of the present invention is the vehicle control system according to the second aspect, wherein the degree of association includes a target trajectory included in information on the action plan generated by the action plan generation unit, and the action plan.
  • the degree of interference with the target track included in the information related to the action plan of the surrounding vehicle acquired by the acquisition unit is included.
  • the Invention of Claim 4 is the vehicle control system of Claim 2 or 3, Comprising:
  • generation part is the information regarding the action plan of the said own vehicle, the information regarding the action plan of the said surrounding vehicle, Whether the action plan of the host vehicle is to be changed based on at least one of the number of candidates for the target trajectory, the margin, or the priority.
  • the action plan of the host vehicle is changed based on the determined result.
  • the invention according to claim 5 is the vehicle control system according to any one of claims 2 to 4, wherein the action plan acquisition unit is an action plan of the host vehicle proposed by the surrounding vehicle.
  • the action plan generation unit changes the action plan generated by the action plan generation unit based on the action plan of the host vehicle acquired by the action plan acquisition unit.
  • invention of Claim 6 is a vehicle control system of any one of Claim 1-5, Comprising: The said action plan production
  • the invention according to claim 7 is the vehicle control system according to claim 6, wherein the action plan generation unit gives a predetermined point to the action plan for change, and action plans are given to the surrounding vehicles. Is a change request.
  • the invention according to claim 8 is an action plan acquisition unit (620) that acquires information related to an action plan of a plurality of vehicles, and a degree of association between information related to the action plans of the plurality of vehicles acquired by the action plan acquisition unit. And a degree of association for deriving at least one of the action plans of the plurality of vehicles when the degree of association derived from the degree-of-association deriving unit is equal to or greater than a reference. And an adjustment unit (640) that performs the above.
  • the invention according to claim 9 is the server device according to claim 8, further comprising a point management unit (650) that gives points to a vehicle whose action plan has been changed by a change instruction from the adjustment unit. It is to be prepared.
  • a point management unit 650
  • the in-vehicle computer generates information related to the action plan of the own vehicle, acquires information related to the action plan of the surrounding vehicle of the own vehicle, and generates information related to the action plan of the generated vehicle. Then, based on the degree of association with the acquired information on the action plan of the surrounding vehicle, the action plan of the own vehicle is changed, and the own vehicle is automatically driven based on the changed action plan of the own vehicle.
  • This is a vehicle control method. It is.
  • the invention according to claim 11 causes the in-vehicle computer to generate information related to the action plan of the host vehicle, to acquire information related to the action plan of the surrounding vehicle of the host vehicle, and to generate the information related to the action plan of the host vehicle generated. And the action plan of the host vehicle is changed based on the degree of association between the acquired information on the action plan of the surrounding vehicle and the autonomous driving of the host vehicle based on the changed action plan of the host vehicle.
  • the vehicle control system can realize smooth running by coordinating action plans between vehicles.
  • the vehicle control system can appropriately determine whether or not the action plan of the own vehicle needs to be changed.
  • the vehicle control system can suppress the interference of the travel route of the vehicle that may occur in the future based on the target track.
  • the vehicle control system can improve the willingness to make a passenger
  • the server device can realize smooth running by coordinating action plans between vehicles.
  • the server apparatus can improve the willingness to make a passenger
  • FIG. 1 is a configuration diagram of a vehicle system 1 including an automatic operation control unit 100 of a first embodiment. It is a figure which shows a mode that the relative position and attitude
  • FIG. It is a figure which shows a mode that a target track is produced
  • FIG. 1 is a configuration diagram of a vehicle system 1 including an automatic driving control unit 100 according to the first embodiment.
  • a vehicle on which the vehicle system 1 is mounted (hereinafter referred to as “own vehicle M”) is, for example, a vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and a driving source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, An electric motor or a combination thereof.
  • the electric motor operates using electric power generated by a generator connected to the internal combustion engine or electric discharge power of a secondary battery or a fuel cell.
  • the vehicle system 1 includes, for example, a camera (imaging unit) 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI (Human20Machine Interface) 30, a navigation device 50, and an MPU. (Micro-Processing Unit) 60, a vehicle sensor 70, a driving operator 80, a vehicle interior camera 90, an automatic driving control unit 100, a traveling driving force output device 200, a brake device 210, a steering device 220, Is provided. These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like.
  • CAN Controller Area Network
  • the “vehicle control system” includes, for example, the communication device 20, the HMI 30, and the automatic driving control unit 100.
  • a part or all of the navigation device 50 and the vehicle position recognition unit 122 described later is an example of a “position information acquisition unit”.
  • part or all of the HMI 30 and the interface control unit 150 to be described later are examples of the “interface unit”.
  • the camera 10 is a digital camera using a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor).
  • a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor).
  • One or a plurality of cameras 10 are attached to any part of a vehicle (hereinafter referred to as “own vehicle M”) on which the vehicle system 1 is mounted.
  • the camera 10 When imaging the front, the camera 10 is attached to the upper part of the front windshield, the rear surface of the rearview mirror, or the like.
  • the camera 10 When imaging the rear, the camera 10 is attached to an upper part of the rear windshield, a back door, or the like.
  • the camera 10 is attached to a door mirror or the like.
  • the camera 10 periodically and repeatedly images the periphery of the host vehicle M.
  • the camera 10 may be a stereo camera.
  • the camera 10
  • the radar device 12 radiates a radio wave such as a millimeter wave around the host vehicle M, and detects a radio wave (reflected wave) reflected by the object to detect at least the position (distance and direction) of the object.
  • a radio wave such as a millimeter wave around the host vehicle M
  • the radar apparatus 12 may detect the position and velocity of the object by FM-CW (Frequency Modulated Continuous Wave) method.
  • the finder 14 is a LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) that measures the scattered light with respect to the irradiated light and detects the distance to the target.
  • LIDAR Light Detection and Ranging or Laser Imaging Detection and Ranging
  • One or a plurality of the finders 14 are attached to arbitrary locations of the host vehicle M.
  • the object recognition device 16 performs sensor fusion processing on the detection results of some or all of the camera 10, the radar device 12, and the finder 14 to recognize the position, type, speed, and the like of the object.
  • the object recognition device 16 outputs the recognition result to the automatic driving control unit 100.
  • the communication device 20 uses, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like to communicate with surrounding vehicles existing around the host vehicle M or wirelessly. It communicates with various server apparatuses via a base station.
  • a cellular network for example, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like to communicate with surrounding vehicles existing around the host vehicle M or wirelessly. It communicates with various server apparatuses via a base station.
  • the HMI 30 presents various information to the passenger of the host vehicle M and accepts an input operation by the passenger.
  • the HMI 30 includes, for example, a display device 31, a speaker 32, a microphone 33, and various operation switches 34.
  • the display device 31 is an LCD (Liquid Crystal Display), an organic EL (Electro Luminescence) display device, or the like.
  • the display device 31 is, for example, a touch panel display device having a function of displaying an image and a function of accepting an approach position and operation content of an operator's finger with respect to the display surface.
  • the speaker 32 outputs, for example, sound based on the content displayed on the display device 31 or outputs an alarm or the like.
  • the microphone 33 receives, for example, the voice of an occupant of the host vehicle M.
  • the various operation switches 34 are arranged at arbitrary locations in the host vehicle M.
  • the various operation switches 34 include, for example, an automatic operation changeover switch.
  • the automatic operation changeover switch is a switch for an occupant to instruct start (or future start) and stop of automatic operation.
  • the various operation switches 34 may be either GUI (Graphical User Interface) switches or mechanical switches.
  • the navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53.
  • the first map information 54 is stored in a storage device such as an HDD (Hard Disk Drive) or a flash memory. Holding.
  • the GNSS receiver specifies the position of the host vehicle M based on the signal received from the GNSS satellite. The position of the host vehicle M may be specified or supplemented by INS (Inertial Navigation System) using the output of the vehicle sensor 70.
  • the navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 52 may be partly or wholly shared with the HMI 30 described above.
  • the route determination unit 53 determines the route from the position of the host vehicle M specified by the GNSS receiver 51 (or any input position) to the destination input by the occupant using the navigation HMI 52. This is determined with reference to one map information 54.
  • the first map information 54 is information in which a road shape is expressed by, for example, a link indicating a road and nodes connected by the link.
  • the first map information 54 may include road curvature, POI (Point Of Interest) information, and the like.
  • the route determined by the route determination unit 53 is output to the MPU 60. Further, the navigation device 50 may perform route guidance using the navigation HMI 52 based on the route determined by the route determination unit 53.
  • the navigation apparatus 50 may be implement
  • the MPU 60 functions as the recommended lane determining unit 61, for example, and holds the second map information 62 in a storage device such as an HDD or a flash memory.
  • the recommended lane determining unit 61 divides the route provided from the navigation device 50 into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62 for each block. Determine the recommended lane.
  • the recommended lane determining unit 61 performs determination such as what number of lanes from the left to travel.
  • the recommended lane determining unit 61 determines a recommended lane so that the host vehicle M can travel on a reasonable travel route for proceeding to the branch destination when there is a branching point, a joining point, or the like on the route.
  • the second map information 62 is map information with higher accuracy than the first map information 54.
  • the second map information 62 includes, for example, information on the center of the lane or information on the boundary of the lane.
  • the second map information 62 may include road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like.
  • Road information includes information indicating the type of road such as expressway, toll road, national road, prefectural road, number of road lanes, emergency parking area, width of each lane, road gradient, road position (longitude , Latitude and height (three-dimensional coordinates), lane curve curvature, lane merging and branch point positions, road markings, and other information.
  • the second map information 62 may be updated at any time by accessing another device using the communication device 20.
  • the vehicle sensor 70 includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around the vertical axis, an orientation sensor that detects the direction of the host vehicle M, and the like. Further, the vehicle sensor 70 includes a brake failure detection sensor that detects deterioration of the brake actuator of the brake device 210, a pneumatic sensor that detects whether the tire pressure during traveling is equal to or less than a threshold value, and the like.
  • the driving operator 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, and other operators.
  • a sensor that detects the amount of operation or the presence or absence of an operation is attached to the driving operator 80, and the detection result is the automatic driving control unit 100, or the traveling driving force output device 200, the brake device 210, and the steering device. 220 is output to one or both of 220.
  • the vehicle interior camera 90 images the upper body around the face of the occupant seated in the driver's seat. A captured image of the vehicle interior camera 90 is output to the automatic driving control unit 100.
  • the automatic driving control unit 100 includes, for example, a first control unit 120, a second control unit 140, an interface control unit 150, an action plan transmission / reception unit 160, and a storage unit 170.
  • the first control unit 120, the second control unit 140, the interface control unit 150, and the action plan transmission / reception unit 160 are each realized by a processor (CPU) or the like executing a program (software). Is done.
  • some or all of the functional units of the first control unit 120, the second control unit 140, the interface control unit 150, and the action plan transmission / reception unit 160 described below are LSI (Large Scale Integration) or ASIC (ASIC). It may be realized by hardware such as Application Specific Integrated Circuit (FPGA), Field-Programmable Gate Array (FPGA), or may be realized by cooperation of software and hardware.
  • FPGA Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • the automatic driving control unit automatically controls at least one of acceleration / deceleration or steering of the host vehicle M and performs control to execute the driving of the host vehicle M.
  • the action plan generation unit 123 and the action plan transmission / reception unit 160 is an example of the “action plan acquisition unit”.
  • the 1st control part 120 is provided with the external world recognition part 121, the own vehicle position recognition part 122, and the action plan production
  • the external environment recognition unit 121 recognizes the position, speed, acceleration, and the like of surrounding vehicles based on information input from the camera 10, the radar device 12, and the finder 14 via the object recognition device 16.
  • the position of the surrounding vehicle may be represented by a representative point such as the center of gravity or corner of the surrounding vehicle, or may be represented by an area expressed by the outline of the surrounding vehicle.
  • the “state” of the surrounding vehicle may include acceleration and jerk of the surrounding vehicle, or “behavioral state” (for example, whether or not the lane is changed or is about to be changed).
  • the external environment recognition unit 121 may recognize the positions of guardrails, utility poles, parked vehicles, pedestrians, and other objects in addition to surrounding vehicles. In this case, the external environment recognition unit 121 determines, for example, whether there is an obstacle at the planned stop position of the host vehicle M in automatic driving based on the recognition result by the object recognition device 16. Obstacles are other vehicles, pedestrians and other objects. When it is determined that there is an obstacle at the planned stop position, the external environment recognition unit 121 instructs the action plan generation unit 123 to change the target trajectory.
  • the own vehicle position recognition unit 122 recognizes, for example, the lane (traveling lane) in which the host vehicle M is traveling, and the relative position and posture of the host vehicle M with respect to the traveling lane.
  • the own vehicle position recognition unit 122 for example, includes a road marking line pattern (for example, an arrangement of solid lines and broken lines) obtained from the second map information 62 and an area around the own vehicle M recognized from an image captured by the camera 10.
  • the traveling lane is recognized by comparing the road marking line pattern. In this recognition, the position of the host vehicle M acquired from the navigation device 50 and the processing result by INS may be taken into account.
  • FIG. 2 is a diagram illustrating a state in which the vehicle position recognition unit 122 recognizes the relative position and posture of the vehicle M with respect to the travel lane L1.
  • the own vehicle position recognizing unit 122 makes, for example, a line connecting the deviation OS of the reference point (for example, the center of gravity) of the own vehicle M from the travel lane center CL and the travel lane center CL in the traveling direction of the own vehicle M.
  • the angle ⁇ is recognized as the relative position and posture of the host vehicle M with respect to the traveling lane L1.
  • the host vehicle position recognition unit 122 recognizes the position of the reference point of the host vehicle M with respect to any side end of the travel lane L1 as the relative position of the host vehicle M with respect to the travel lane. Also good.
  • the relative position of the host vehicle M recognized by the host vehicle position recognition unit 122 is provided to the recommended lane determination unit 61 and the action plan generation unit 123.
  • the action plan generation unit 123 generates an action plan for the host vehicle M to perform automatic driving on a destination or the like. For example, the action plan generation unit 123 determines events that are sequentially executed in automatic driving so as to travel in the recommended lane determined by the recommended lane determination unit 61 and to cope with the surrounding situation of the host vehicle M. To do. Events include, for example, a constant speed event that travels in the same lane at a constant speed, a follow-up event that follows the preceding vehicle, a lane change event, a merge event, a branch event, an emergency stop event, and automatic driving There are switching events for switching to manual operation. Further, during execution of these events, actions for avoidance may be planned based on the surrounding situation of the host vehicle M (the presence of surrounding vehicles and pedestrians, lane narrowing due to road construction, etc.).
  • the action plan generation unit 123 generates a target track on which the vehicle M will travel in the future.
  • the target track is expressed as a sequence of points (track points) that the host vehicle M should reach.
  • the trajectory point is a point where the host vehicle M should reach for each predetermined travel distance.
  • the target speed and target acceleration for each predetermined sampling time are the target trajectory. Generated as part of.
  • the track point may be a position to which the host vehicle M should arrive at the sampling time for each predetermined sampling time. In this case, information on the target speed and target acceleration is expressed by the interval between the trajectory points.
  • FIG. 3 is a diagram illustrating a state in which a target track is generated based on the recommended lane.
  • the recommended lane is set so as to be convenient for traveling along the route to the destination.
  • the action plan generation unit 123 activates a lane change event, a branch event, a merge event, or the like when it reaches a predetermined distance before the recommended lane switching point (may be determined according to the type of event). If it becomes necessary to avoid an obstacle during the execution of each event, an avoidance trajectory is generated as shown in the figure.
  • the action plan generation unit 123 generates, for example, a plurality of target trajectory candidates, and selects an optimal target trajectory at that time based on the viewpoints of safety and efficiency.
  • the action plan generation unit 123 for example, based on the degree of association between the generated information related to the action plan of the own vehicle M and the information related to the action plan of surrounding vehicles received by the action plan transmission / reception unit 160. Change the action plan.
  • the information related to the action plan of the host vehicle M and the surrounding vehicles is, for example, at least one of the target trajectory, the number of candidates for the target trajectory, the margin for the processing load accompanying the change of the action plan, or the priority for the target trajectory including.
  • generation part 123 may produce
  • generation part 123 may produce
  • the second control unit 140 includes, for example, a travel control unit 141.
  • the travel control unit 141 controls the travel driving force output device 200, the brake device 210, and the steering device 220 so that the host vehicle M passes the target track generated by the action plan generation unit 123 at a scheduled time. To do.
  • the interface control unit 150 controls information output to the HMI 30. Further, the interface control unit 150 acquires information received by the HMI 30.
  • the action plan transmission / reception unit 160 receives information related to an action plan of surrounding vehicles from an external device.
  • the external device is, for example, a surrounding vehicle that can perform inter-vehicle communication that exists around the host vehicle M.
  • the external device may be a server device connected to the host vehicle M via a network.
  • the action plan transmission / reception part 160 may receive the information regarding the action plan of the own vehicle M which the surrounding vehicle proposed.
  • the action plan transmission / reception unit 160 transmits, for example, the action plan of the host vehicle M generated by the action plan generation unit 123 to the external device. Moreover, the action plan transmission / reception unit 160 may transmit an action plan for changing the surrounding vehicle generated by the action plan generation unit 123 to the external device.
  • the storage unit 170 is a storage device such as an HDD (Hard Disk Drive), flash memory, RAM (Random Access Memory), ROM (Read Only Memory), or the like.
  • the storage unit 170 stores, for example, point information 170A.
  • the point information 170A is, for example, a score given when changing to an action plan proposed by an external device. Further, the point information 170A may be a score given when an action plan is changed in response to an action plan change request from an external device. In addition, the point information 170A is used, for example, when requesting the surrounding vehicle to change the action plan, or when causing the surrounding vehicle to perform an automatic driving by the changing action plan.
  • the storage unit 170 may store address information for communicating with an external device.
  • the driving force output device 200 outputs a driving force (torque) for driving the vehicle to driving wheels.
  • the traveling driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls these.
  • the ECU controls the above-described configuration in accordance with information input from the travel control unit 141 or information input from the driving operator 80.
  • the brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU.
  • the brake ECU controls the electric motor according to the information input from the traveling control unit 141 so that the brake torque corresponding to the braking operation is output to each wheel.
  • the brake device 210 may include, as a backup, a mechanism that transmits the hydraulic pressure generated by operating the brake pedal included in the driving operation element 80 to the cylinder via the master cylinder.
  • the brake device 210 is not limited to the configuration described above, and may be an electronically controlled hydraulic brake device that controls the actuator according to information input from the travel control unit 141 and transmits the hydraulic pressure of the master cylinder to the cylinder. Good. Further, the brake device 210 may include a plurality of brake devices in consideration of safety.
  • the steering device 220 includes, for example, a steering ECU and an electric motor.
  • the electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism.
  • the steering ECU drives the electric motor according to the information input from the travel control unit 141 or the information input from the driving operator 80, and changes the direction of the steered wheels.
  • the host vehicle M is based on the degree of association between the information about the action plan generated by the action plan generation unit 123 and the information about the action plan acquired by inter-vehicle communication with the surrounding vehicles.
  • the action plan of the vehicle M is determined, and the automatic driving of the host vehicle M is executed with the determined action plan.
  • FIG. 4 is a diagram for explaining the degree of relevance of information related to the action plan.
  • the road 300 shown in FIG. 4 there are three lanes 310-1 to 310-3.
  • In the vicinity of the host vehicle M there are surrounding vehicles ma-1 to ma-3.
  • the peripheral vehicles ma-1 to ma-3 have the same configuration as the vehicle system 1 described above.
  • the number of peripheral vehicles ma is not limited to three.
  • the action plan generation unit 123 generates information related to the action plan based on, for example, the position of the surrounding vehicle recognized by the external environment recognition unit 121, the position of the host vehicle M recognized by the host vehicle position recognition unit 122, and the like.
  • the action plan transmission / reception unit 160 uses the communication device 20 to perform inter-vehicle communication with the surrounding vehicles ma-1 to ma-3, and receives information on the action plans generated by the surrounding vehicles ma-1 to ma-3. get.
  • the action plan transmission / reception unit 160 may acquire information related to action plans of surrounding vehicles continuously (for example, every predetermined time).
  • the action plan generation unit 123 derives the degree of association between the information related to the action plan of the host vehicle M and the information related to the action plans of the surrounding vehicles ma-1 to ma-3. Specifically, the action plan generation unit 123 compares the target track 320 of the host vehicle M with each of the target tracks 330-1 to 330-3 of the surrounding vehicles ma-1 to ma-3. For example, when the number of overlapping points of two target trajectories is a predetermined number or more, or when the relative distance between the target trajectories is within a predetermined distance, the action plan generating unit 123 interferes with each other. Is determined.
  • the target track 320 of the host vehicle M interferes with the target track 330-3 of the surrounding vehicle ma-3.
  • the action plan generation unit 123 increases the degree of association with the information related to the action plan of the surrounding vehicle ma-3.
  • generation part 123 raises a relevance stepwise according to the length of an interference area, for example.
  • generation part 123 may make a relevance degree high in steps according to the ratio of the interference area with respect to the whole target track
  • the action plan generating unit 123 The degree of association with the vehicles ma-1 and ma-2 is lowered.
  • the action plan generation unit 123 sets the number of target track candidates included in the information related to the action plan of the surrounding vehicle ma-3, the margin, At least one of the priority and the number of candidates for the target track of the host vehicle M, the margin, and the priority is compared. For example, when the number of target track candidates for the own vehicle M is larger than the number of target track candidates for the surrounding vehicle ma-3, the action plan generating unit 123 can change the own vehicle M more than the surrounding vehicle ma-3. Since there are a large number of candidate target trajectories, the action plan of the host vehicle M is changed.
  • the action plan generation unit 123 determines that the margin of the own vehicle M is greater than the margin of the surrounding vehicle ma-3, or the priority of the own vehicle M is equal to or less than the priority of the surrounding vehicle ma-3. In addition, the action plan of the host vehicle M may be changed.
  • FIG. 5 is a diagram for explaining a state in which the action plan of the host vehicle M is changed.
  • the action plan generation unit 123 changes the target track to a new target track so that the degree of interference with the target track of the surrounding vehicle ma-3 is reduced from among a plurality of target track candidates.
  • the target track 322 is changed to follow the surrounding vehicle ma-2.
  • the action plan generator 123 Based on the changed target track 322, the action plan generator 123 derives the degree of association of the surrounding vehicles ma-1 to ma-3 with the target tracks 330-1 to 330-3, and the derived degree of association is less than the standard. In some cases, automatic driving is executed according to the action plan.
  • the action plan generation unit 123 may execute automatic driving based on the action plan proposed from the surrounding vehicle ma.
  • the interface control unit 150 causes the occupant to present that the action plan has been proposed by the HMI 30.
  • FIG. 6 is a diagram showing an example of the action plan change confirmation screen 31A.
  • an action plan change confirmation screen 31 ⁇ / b> A is displayed on the display device 31 of the HMI 30.
  • the action plan change confirmation screen 31A includes a button selection area 31B.
  • the action plan transmission / reception unit 160 receives a change action plan from the surrounding vehicle ma. After the reception, as shown in FIG. 6, the interface control unit 150 displays that the action plan has been proposed and inquires whether to change to the proposed action plan.
  • the interface controller 150 may display the proposed action plan on the action plan change confirmation screen 31A.
  • the interface control unit 150 may display information on the point information to be given on the action plan change confirmation screen 31A.
  • the given points are set by, for example, a passenger who has proposed an action plan.
  • a fixed value may be set for each action plan for the given points.
  • the action plan generation unit 123 When the action plan generation unit 123 receives selection of a “YES” GUI switch displayed in the button selection area 31 ⁇ / b> B by the occupant, the action plan generation unit 123 executes automatic driving based on the proposed action plan. Moreover, the action plan production
  • the action plan generation unit 123 may generate an action plan for changing the surrounding vehicle ma and transmit the generated action plan for change to the surrounding vehicle ma.
  • the interface control unit 150 causes the occupant to present a screen for proposing an action plan to the surrounding vehicle ma and causing the occupant of the host vehicle M to set points.
  • FIG. 7 is a diagram showing an example of the action plan proposal confirmation screen 31C.
  • the action plan proposal confirmation screen 31C includes a button selection area 31D.
  • the interface control unit 150 displays on the action plan proposal confirmation screen 31 ⁇ / b> C that the action plan is proposed to the surrounding vehicles, and displays an area for allowing the occupant to set points for the proposed action plan.
  • the number of points that can be set is, for example, a value with the number of points stored in the storage unit 170 as an upper limit.
  • the occupant selects the “execute” switch displayed in the button selection area 31D.
  • the action plan transmission / reception part 160 transmits the action plan for a change to a surrounding vehicle with the information regarding a point.
  • the interface control unit 150 cancels the action plan proposal when the selection of the “cancel” switch is received.
  • FIG. 8 is a diagram for explaining a state in which the action plan is changed in the surrounding vehicle ma-3.
  • the own vehicle M transmits an action plan for change to the surrounding vehicle ma-3.
  • the surrounding vehicle ma-3 performs a change based on the change action plan transmitted from the host vehicle M, the surrounding vehicle ma-3 performs an automatic operation on the target track 332 included in the change action plan.
  • the action plan transmission / reception unit 160 receives information indicating that the surrounding vehicle to be proposed has been changed to the proposed action plan, the number of points set from the points of the point information 170A stored in the storage unit 170 is obtained. Subtract.
  • the action plan generation unit 123 may increase the priority by adding points when transmitting its own action plan to surrounding vehicles. In this case, when the action plan generation unit 123 compares the information related to the action plan of the host vehicle M with the information related to the action plan of the surrounding vehicle, the action plan having a high assigned point is selected as an action plan having a high priority. Judge that there is.
  • the point information 170A may be used as a vehicle insurance fee, may be used as a toll road usage fee, or may be used for acquiring traffic jam information. It may be used when purchasing other products.
  • generation part 123 subtracts a point from 170A of point information with use of a point.
  • the interface control unit 150 may analyze the sight line direction of the occupant from the image captured by the vehicle interior camera 90 after displaying the above-described screen shown in FIG. 6 or 7 on the display device 31. Then, when it is determined that the occupant is not viewing the display device 31, the interface control unit 150 may cause the speaker 32 to output a sound prompting the occupant to view the display device 31. Further, the interface control unit 150 displays a screen as shown in FIG. 6 or 7 on the display device 31 and does not accept an operation input from the occupant until a predetermined time elapses. Delete the screen display. In this case, the action plan generation unit 123 does not perform processing related to the proposed change to the action plan or the action plan.
  • FIG. 9 is a flowchart illustrating an example of an action plan change process according to the first embodiment.
  • the process of FIG. 9 is performed at the timing which performs an automatic driving
  • the action plan generator 123 generates information related to the action plan of the host vehicle M (step S100).
  • the action plan transmission / reception unit 160 acquires information related to the action plan of the surrounding vehicle ma (step S102).
  • the action plan generation unit 123 calculates the degree of association based on the information related to the action plan of the host vehicle M and the information related to the action plan of the surrounding vehicle ma (step S104).
  • the action plan generation unit 123 determines whether or not the degree of association is greater than or equal to a reference (step S106). If the degree of association is greater than or equal to the reference, the action plan generation unit 123 changes the action plan of the host vehicle M (step S108). In addition, when the degree of association is less than the reference, or after the end of step S108, the action plan generation unit 123 executes automatic driving based on the action plan (step S110).
  • step S112 determines whether or not to end the automatic driving (step S112). If the automatic operation is not terminated, the process returns to step S100. When the automatic operation is terminated, the process of this flowchart is terminated.
  • the vehicle control system can realize smooth running by coordinating action plans between vehicles using inter-vehicle communication.
  • the vehicle control system, server device, vehicle control method, and vehicle control program of the second embodiment will be described.
  • the degree of relevance is derived and the action plan is changed based on the information related to the action plan of surrounding vehicles acquired by the vehicle through inter-vehicle communication.
  • the degree of relevance is determined.
  • the server device performs derivation and action plan adjustment.
  • operation control unit 100 performs communication with the server apparatus 600 instead of communication with a surrounding vehicle.
  • FIG. 10 is a diagram illustrating an example of the configuration of the traffic information sharing system 400.
  • the traffic information sharing system 400 includes a plurality of vehicles m ⁇ 1 to m ⁇ k (k is an arbitrary natural number) on which the automatic driving control unit 100 is mounted, a base station device 500, and a server device 600.
  • the vehicles m-1 to mk are equipped with the same configuration as that of the host vehicle M described above.
  • the vehicles m ⁇ 1 to m ⁇ k are simply referred to as the vehicle m when not distinguished from others.
  • the vehicle m includes the host vehicle M.
  • wireless communication is performed between the vehicle m and the base station device 500 using a mobile phone network, a Wi-Fi network, or the like.
  • Communication between the base station device 500 and the server device 600 is performed via the network NW.
  • the network NW is, for example, a WAN (Wide Area Network), a LAN (Local Area Network), the Internet, or the like.
  • the vehicle m communicates with the server device 600 via the base station device 500.
  • the server device 600 includes, for example, a server-side communication unit 610, an action plan acquisition unit 620, an association degree derivation unit 630, an adjustment unit 640, and a storage unit 660.
  • the action plan acquisition unit 620, the relevance degree derivation unit 630, and the adjustment unit 640 are each realized by a processor such as a CPU executing a program. Also, some or all of the functional units of the action plan acquisition unit 620, the relevance degree derivation unit 630, and the adjustment unit 640 may be realized by hardware such as LSI, ASIC, FPGA, or software and hardware. It may be realized by cooperation of wear.
  • the storage unit 660 is a storage device such as an HDD, flash memory, RAM, or ROM. In the storage unit 660, for example, information of a point DB (Data Base) 660A is stored.
  • the server-side communication unit 610 receives the travel result information transmitted from the vehicle m via the base station device 500. Server side communication unit 610 transmits information held by server device 600 to vehicle m.
  • the action plan acquisition unit 620 acquires information on the action plan received from the vehicle m using, for example, the server side communication unit 610. Moreover, the action plan acquisition unit 620 may acquire the current position information of each vehicle m.
  • the relevance degree deriving unit 630 derives the relevance degree between vehicles included in the predetermined area. For example, the degree-of-relevance deriving unit 630 compares the target trajectories included in the information related to the action plan, and the number of overlapping points of the two target trajectories is greater than or equal to a threshold, or the relative distance of the target trajectories is within a predetermined threshold Then, it is determined that the two target trajectories interfere with each other. The degree-of-association deriving unit 630 derives the degree of association according to the degree of interference based on the interference section.
  • the adjustment unit 640 performs adjustment to change the action plan when the degree of association is equal to or higher than the standard.
  • the adjustment unit 640 performs adjustment for changing at least one of the action plans of the plurality of vehicles from which the degree of association is derived. For example, the adjustment unit 640 performs comparison using at least one of the target track candidate number, margin, or priority corresponding to a vehicle having a relevance degree equal to or higher than a reference, and changes the action plan. To decide.
  • the adjustment unit 640 determines, for example, a vehicle corresponding to an action plan with a smaller number of candidates, a larger margin, or a lower priority as a vehicle for changing the action plan.
  • the adjustment unit 640 causes the server-side communication unit 610 to transmit a change instruction to the determined vehicle m.
  • the adjustment unit 640 may propose an action plan instead of (or in addition to) sending the change instruction.
  • the adjustment unit 640 generates an action plan such that the degree of association with the action plan of the other vehicle m is less than the reference, and transmits the generated action plan to the vehicle m that instructs to change the action plan.
  • the adjustment part 640 may propose the action plan for a change received from the vehicle m to another vehicle.
  • the point management unit 650 manages points for each vehicle m. For example, when the vehicle m that has transmitted the change instruction changes the action plan, the point management unit 650 adds points in association with the identification information of the vehicle m. Further, the point management unit 650 subtracts points from the vehicle m using the points. The point management unit 650 stores the points for each vehicle m in the storage unit 660 as the point DB 660A.
  • FIG. 11 is a diagram illustrating an example of the point DB 660.
  • the point DB 660A is, for example, information in which accumulated points and usage dates are associated with vehicle IDs.
  • the accumulated point is a point accumulated by the vehicle corresponding to the vehicle ID.
  • the expiration date is information related to the expiration date during which the accumulated points can be used.
  • the point management unit 650 sets, for example, a predetermined period (for example, within one year) as the expiration date after adding or subtracting points.
  • the point management unit 650 adds a record corresponding to the vehicle m to the point DB 660 ⁇ / b> A when there is a vehicle m to which a new point is given.
  • the point management part 650 deletes the record in DB regarding the vehicle ID, for example, when a point becomes 0.
  • the point management unit 650 may manage accumulated points for each user ID that identifies an occupant instead of a vehicle ID.
  • FIG. 12 is a flowchart illustrating an example of an action plan change process according to the second embodiment. Note that the processing of FIG. 12 is repeatedly executed at a predetermined timing.
  • the action plan acquisition unit 620 acquires information related to the action plan of the vehicle m by the server side communication unit 610 (step S200).
  • the relevance degree deriving unit 630 derives the relevance degree of the action plan between the vehicles (step S202), and determines whether or not the derived relevance degree is equal to or higher than a reference (step S204).
  • the adjustment unit 640 determines a target vehicle whose action plan is to be changed (step S206).
  • the adjustment unit 640 transmits an action plan change instruction to the determined vehicle (step S208).
  • the action plan acquisition unit 620 receives the changed action plan (step S210). After receiving, the process returns to step S202.
  • step S204 when the degree of relevance is less than the reference, the adjustment unit 640 transmits an instruction to execute automatic driving to the vehicle m based on the action plan received from each vehicle (step S212). . Thereby, each vehicle m executes an automatic driving based on the action plan.
  • the point management unit 650 gives a predetermined point to the vehicle m whose action plan has been changed in accordance with the action plan change instruction, and stores the given point in the point DB 660A (step S214). Thereby, the process of this flowchart is complete
  • the server device 600 can perform adjustments, point management, and the like regarding the degree of association of each vehicle, the change of the action plan, and the like. Therefore, the vehicle m can reduce the processing load. Further, by using the server device 600, it is possible to compare the action plans between vehicles in a wider range than the range in which vehicle-to-vehicle communication is possible, and derive the degree of association.
  • the first embodiment and the second embodiment may be combined with some or all of the other embodiments.
  • smooth travel is realized by coordinating action plans between vehicles.
  • the vehicle control system can suppress the interference of the travel route of the vehicle that may occur in the future based on the target track.
  • safe traveling by automatic driving can be realized by giving a traveling route that may interfere to another vehicle.
  • by adding points it is possible to give added value by changing the action plan. Thereby, the vehicle control system can improve the willingness to make a passenger
  • steering device 400 ... traffic information sharing System: 500 ... Base station device, 600 ... Server device, 610 ... Server side communication unit, 620 ... Action plan acquisition unit, 630 ... Relevance degree Out section, 640 ... adjusting unit, 650 ... point management unit, M ... vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

La présente invention concerne le présent système de commande de véhicule qui est pourvu d'une unité de génération de plan d'action destinée à générer des informations concernant un plan d'action servant à un véhicule hôte, d'une unité d'acquisition de plan d'action destinée à acquérir des informations concernant un plan d'action servant à un véhicule à proximité du véhicule hôte et d'une unité de commande de conduite automatique destinée à conduite automatiquement le véhicule hôte sur la base des informations de plan d'action générées par l'unité de génération de plan d'action. L'unité de génération de plan d'action modifie le plan d'action servant au véhicule hôte sur la base du degré d'association entre les informations concernant le plan d'action servant au véhicule hôte et les informations concernant le plan d'action servant au véhicule à proximité du véhicule hôte acquises par l'unité d'acquisition de plan d'action.
PCT/JP2017/013383 2017-03-30 2017-03-30 Système de commande de véhicule, dispositif de serveur, procédé de commande de véhicule et programme de commande de véhicule WO2018179277A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/JP2017/013383 WO2018179277A1 (fr) 2017-03-30 2017-03-30 Système de commande de véhicule, dispositif de serveur, procédé de commande de véhicule et programme de commande de véhicule
CN201780088972.2A CN110462338B (zh) 2017-03-30 2017-03-30 车辆控制系统、服务器装置、车辆控制方法及存储介质
JP2019508056A JP6781335B2 (ja) 2017-03-30 2017-03-30 車両制御システム、サーバ装置、車両制御方法、および車両制御プログラム

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/013383 WO2018179277A1 (fr) 2017-03-30 2017-03-30 Système de commande de véhicule, dispositif de serveur, procédé de commande de véhicule et programme de commande de véhicule

Publications (1)

Publication Number Publication Date
WO2018179277A1 true WO2018179277A1 (fr) 2018-10-04

Family

ID=63674454

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/013383 WO2018179277A1 (fr) 2017-03-30 2017-03-30 Système de commande de véhicule, dispositif de serveur, procédé de commande de véhicule et programme de commande de véhicule

Country Status (3)

Country Link
JP (1) JP6781335B2 (fr)
CN (1) CN110462338B (fr)
WO (1) WO2018179277A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113115270A (zh) * 2020-01-10 2021-07-13 本田技研工业株式会社 通信装置、基站、通信方法及通信系统
CN114987447A (zh) * 2021-03-01 2022-09-02 丰田自动车株式会社 管理器、控制方法、记录介质、车辆以及控制装置
JP7496944B1 (ja) 2023-06-01 2024-06-07 三菱電機株式会社 移動体制御装置、移動体制御システム、制御移動体、及び、移動体制御方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7448400B2 (ja) * 2020-03-31 2024-03-12 本田技研工業株式会社 移動体制御装置、移動体制御方法、およびプログラム
JP7481290B2 (ja) * 2021-04-06 2024-05-10 トヨタ自動車株式会社 マネージャ、電子制御ユニット、システム、制御方法、制御プログラム、及び車両

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10105885A (ja) * 1996-09-27 1998-04-24 Honda Motor Co Ltd 自動走行車
JP2008129804A (ja) * 2006-11-20 2008-06-05 Toyota Motor Corp 走行制御計画生成システム及びコンピュータプログラム
JP2017059099A (ja) * 2015-09-18 2017-03-23 オムロン株式会社 行動制御システム及び行動制御方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6791616B2 (ja) * 2015-04-27 2020-11-25 トヨタ自動車株式会社 自動運転車両システム
JP6358179B2 (ja) * 2015-07-16 2018-07-18 トヨタ自動車株式会社 車両の自動運転システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10105885A (ja) * 1996-09-27 1998-04-24 Honda Motor Co Ltd 自動走行車
JP2008129804A (ja) * 2006-11-20 2008-06-05 Toyota Motor Corp 走行制御計画生成システム及びコンピュータプログラム
JP2017059099A (ja) * 2015-09-18 2017-03-23 オムロン株式会社 行動制御システム及び行動制御方法

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113115270A (zh) * 2020-01-10 2021-07-13 本田技研工业株式会社 通信装置、基站、通信方法及通信系统
CN114987447A (zh) * 2021-03-01 2022-09-02 丰田自动车株式会社 管理器、控制方法、记录介质、车辆以及控制装置
JP7496944B1 (ja) 2023-06-01 2024-06-07 三菱電機株式会社 移動体制御装置、移動体制御システム、制御移動体、及び、移動体制御方法
WO2024247209A1 (fr) * 2023-06-01 2024-12-05 三菱電機株式会社 Dispositif de commande de corps mobile, système de commande de corps mobile, corps mobile de commande et procédé de commande de corps mobile

Also Published As

Publication number Publication date
CN110462338B (zh) 2023-06-09
JPWO2018179277A1 (ja) 2019-11-07
CN110462338A (zh) 2019-11-15
JP6781335B2 (ja) 2020-11-04

Similar Documents

Publication Publication Date Title
JP6715959B2 (ja) 車両制御システム、車両制御方法、および車両制御プログラム
JP6493923B2 (ja) 情報表示装置、情報表示方法、および情報表示プログラム
JP6650386B2 (ja) 遠隔運転制御装置、車両制御システム、遠隔運転制御方法、および遠隔運転制御プログラム
CN110087960B (zh) 车辆控制系统、车辆控制方法及存储介质
JP6561357B2 (ja) 車両制御システム、車両制御方法、および車両制御プログラム
JP6428746B2 (ja) 車両制御システム、車両制御方法、および車両制御プログラム
JP6676196B2 (ja) 車両制御システム、車両制御方法、および車両制御プログラム
WO2018123014A1 (fr) Système de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule
CN110087959B (zh) 车辆控制系统、车辆控制方法及存储介质
WO2018138769A1 (fr) Appareil, procédé et programme de commande de véhicule
US20200262453A1 (en) Pick-up management device, pick-up control method, and storage medium
WO2018138768A1 (fr) Système de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule
JP2018203006A (ja) 車両制御システムおよび車両制御方法
WO2018083778A1 (fr) Système de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule
JP6465497B2 (ja) 情報表示装置、情報表示方法、および情報表示プログラム
JPWO2018087880A1 (ja) 車両制御装置、車両制御システム、車両制御方法、および車両制御プログラム
WO2018087801A1 (fr) Système, procédé et programme de commande de véhicule
WO2018122973A1 (fr) Système de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule
JP6696006B2 (ja) 車両制御システム、車両制御方法、および車両制御プログラム
WO2018179277A1 (fr) Système de commande de véhicule, dispositif de serveur, procédé de commande de véhicule et programme de commande de véhicule
JP6705022B2 (ja) 車両制御システム、車両制御方法、および車両制御プログラム
JP6460420B2 (ja) 情報表示装置、情報表示方法、および情報表示プログラム
JPWO2018142566A1 (ja) 通過ゲート決定装置、車両制御システム、通過ゲート決定方法、およびプログラム
JP2018081623A (ja) 車両制御システム、車両制御方法、および車両制御プログラム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17902942

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2019508056

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17902942

Country of ref document: EP

Kind code of ref document: A1

点击 这是indexloc提供的php浏览器服务，不要输入任何密码和下载