JP6165251B2 - 車両周辺監視装置 - Google Patents
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- JP6165251B2 JP6165251B2 JP2015529443A JP2015529443A JP6165251B2 JP 6165251 B2 JP6165251 B2 JP 6165251B2 JP 2015529443 A JP2015529443 A JP 2015529443A JP 2015529443 A JP2015529443 A JP 2015529443A JP 6165251 B2 JP6165251 B2 JP 6165251B2
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- 238000012806 monitoring device Methods 0.000 title claims description 77
- 238000000034 method Methods 0.000 claims description 63
- 238000001514 detection method Methods 0.000 claims description 58
- 238000012544 monitoring process Methods 0.000 description 29
- 238000010586 diagram Methods 0.000 description 8
- 239000000284 extract Substances 0.000 description 7
- 241000282994 Cervidae Species 0.000 description 5
- 241000282412 Homo Species 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 241000282693 Cercopithecidae Species 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
- 210000005252 bulbus oculi Anatomy 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000003128 head Anatomy 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/30—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing vision in the non-visible spectrum, e.g. night or infrared vision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/60—Instruments characterised by their location or relative disposition in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
-
- 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
- B60R21/0134—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 imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B29/00—Checking or monitoring of signalling or alarm systems; Prevention or correction of operating errors, e.g. preventing unauthorised operation
- G08B29/18—Prevention or correction of operating errors
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Emergency Alarm Devices (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Image Processing (AREA)
Description
前回の制御周期において前記領域内対象物検知部によって前記領域内対象物が検知されず、今回の制御周期において前記領域内対象物検知部によって前記領域内対象物が検知されたときは、当該検知された領域内対象物についての警報を行い、前回の制御周期において前記領域内対象物検知部によって前記領域内対象物が検知され、今回の制御周期において、前回の制御周期で検知された前記領域内対象物とは別の新たな領域内対象物が、前記領域内対象物検知部によって検知されたときには、当該新たな領域内対象物についての警報を抑制する警報制御処理を実行する警報制御部とを備えた車両周辺監視装置であって、
複数の前記接触判定領域が設定され、
前記領域内対象物検知部は、各回の制御周期において、一の接触判定領域において前記領域内対象物の検知を試みた後に他の接触判定領域において前記領域内対象物の検知を試みるように前記複数の接触判定領域について前記領域内対象物を逐次的かつ個別に検知することを試み、
前記警報制御部は、各回の制御周期において、一の接触判定領域において前記警報制御処理を実行した後に他の接触判定領域において前記警報制御処理を実行するように前記複数の接触判定領域において、前記警報制御処理を逐次的かつ個別に実行することを特徴とする。
のうち第1領域Ar1を、警報制御処理の対象に設定している。
設定されているときの図4の警報制御処理について説明する。
域、Ar2…第2領域、Ar3…第3領域(第2領域)、11…領域内対象物検知部、12…警報制御部、13…注視判定部、14…種別検知部。
Claims (5)
- 所定の制御周期毎に、車両に搭載された、物体を検知する物体検知装置により得られた検知データに基づいて、該車両の周辺に設定された接触判定領域内に存在する対象物である領域内対象物を検知する領域内対象物検知部と、
前回の制御周期において前記領域内対象物検知部によって前記領域内対象物が検知されず、今回の制御周期において前記領域内対象物検知部によって前記領域内対象物が検知されたときは、当該検知された領域内対象物についての警報を行い、前回の制御周期において前記領域内対象物検知部によって前記領域内対象物が検知され、今回の制御周期において、前回の制御周期で検知された前記領域内対象物とは別の新たな領域内対象物が、前記領域内対象物検知部によって検知されたときには、当該新たな領域内対象物についての警報を抑制する警報制御処理を実行する警報制御部とを備えた車両周辺監視装置であって、
複数の前記接触判定領域が設定され、
前記領域内対象物検知部は、各回の制御周期において、一の接触判定領域において前記領域内対象物の検知を試みた後に他の接触判定領域において前記領域内対象物の検知を試みるように前記複数の接触判定領域について前記領域内対象物を逐次的かつ個別に検知することを試み、
前記警報制御部は、各回の制御周期において、一の接触判定領域において前記警報制御処理を実行した後に他の接触判定領域において前記警報制御処理を実行するように前記複数の接触判定領域において、前記警報制御処理を逐次的かつ個別に実行することを特徴とする車両周辺監視装置。 - 請求項1に記載の車両周辺監視装置において、
前記複数の接触判定領域は、前記車両の進行方向に位置する第1領域と、前記第1領域に対して当該車両の左右方向に位置する2つの第2領域とからなることを特徴とする車両周辺監視装置。 - 請求項1に記載の車両周辺監視装置において、前記車両の運転者が前記接触判定領域を注視しているか否かを判定する注視判定部を備え、前記警報制御部は、前記注視判定部によって、前記車両の運転者が前記接触判定領域を注視していないと判定された場合には、前記新たな領域内対象物についての警報を抑制せずに、当該新たな領域内対象物についての警報を行うことを特徴とする車両周辺監視装置。
- 請求項1に記載の車両周辺監視装置において、前記領域内対象物の種別を検知する種別検知部を備え、前記警報制御部は、今回の制御周期において、前記種別検知部によって検知された前記新たな領域内対象物の種別が、前回の制御周期において、前記種別検知部によって検知された領域内対象物の種別と異なる場合には、前記新たな領域内対象物についての警報を抑制せずに、当該新たな領域内対象物についての警報を行うことを特徴とする車両周辺監視装置。
- 請求項1に記載の車両周辺監視装置において、前記警報制御部は、前記警報として、前記車両に搭載された表示装置に、前記領域内対象物の実空間位置に対応する位置を表示する画像表示処理と、前記車両に搭載された音発生装置から注意喚起を行う音を発生させる音発生処理とを実行し、前記画像表示処理と前記音発生処理とのうち前記画像表示処理のみを行うことによって、前記警報を抑制することを特徴とする車両周辺監視装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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JP2013160646 | 2013-08-01 | ||
JP2013160646 | 2013-08-01 | ||
PCT/JP2014/065625 WO2015015919A1 (ja) | 2013-08-01 | 2014-06-12 | 車両周辺監視装置 |
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JPWO2015015919A1 JPWO2015015919A1 (ja) | 2017-03-02 |
JP6165251B2 true JP6165251B2 (ja) | 2017-07-19 |
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US (1) | US9758098B2 (ja) |
JP (1) | JP6165251B2 (ja) |
CN (1) | CN105453157A (ja) |
WO (1) | WO2015015919A1 (ja) |
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JP6874299B2 (ja) * | 2016-08-24 | 2021-05-19 | トヨタ自動車株式会社 | 交通支援システム |
JP2018088119A (ja) * | 2016-11-29 | 2018-06-07 | パイオニア株式会社 | 制御装置、制御方法及びプログラム |
US10406972B2 (en) * | 2017-02-24 | 2019-09-10 | Tesla, Inc. | Vehicle technologies for automated turn signaling |
JP6806250B2 (ja) * | 2017-06-20 | 2021-01-06 | 日本電気株式会社 | 位置測定装置、位置測定方法およびプログラム |
US11017249B2 (en) | 2018-01-29 | 2021-05-25 | Futurewei Technologies, Inc. | Primary preview region and gaze based driver distraction detection |
CN108845321A (zh) * | 2018-04-19 | 2018-11-20 | 北京三快在线科技有限公司 | 目标对象的识别方法、装置及无人驾驶智能设备 |
CN109131359B (zh) * | 2018-10-22 | 2020-09-18 | 广州微牌智能科技有限公司 | 行车告警方法、装置、***、计算机设备和存储介质 |
CN109841061A (zh) * | 2019-01-24 | 2019-06-04 | 浙江大华技术股份有限公司 | 一种交通事故处理方法、装置、***及存储介质 |
US10882398B2 (en) * | 2019-02-13 | 2021-01-05 | Xevo Inc. | System and method for correlating user attention direction and outside view |
US10752253B1 (en) * | 2019-08-28 | 2020-08-25 | Ford Global Technologies, Llc | Driver awareness detection system |
CN113112781A (zh) * | 2020-01-12 | 2021-07-13 | 北京群菱能源科技有限公司 | 一种多源采集与数据建模的动力环境监控*** |
JP7290119B2 (ja) * | 2020-01-24 | 2023-06-13 | トヨタ自動車株式会社 | 車両報知装置 |
CN115311871B (zh) * | 2022-08-12 | 2023-09-05 | 深圳市能信安科技股份有限公司 | 车辆行驶方向判定方法、装置、***、设备及存储介质 |
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JP3515926B2 (ja) | 1999-06-23 | 2004-04-05 | 本田技研工業株式会社 | 車両の周辺監視装置 |
JP4385392B2 (ja) * | 2000-06-15 | 2009-12-16 | マツダ株式会社 | 車両用情報提供装置 |
US6502035B2 (en) * | 2000-08-02 | 2002-12-31 | Alfred B. Levine | Automotive safety enhansing system |
DE102005018697A1 (de) * | 2004-06-02 | 2005-12-29 | Daimlerchrysler Ag | Verfahren und Vorrichtung zur Warnung eines Fahrers im Falle eines Verlassens der Fahrspur |
JP2006076456A (ja) * | 2004-09-09 | 2006-03-23 | Calsonic Kansei Corp | 多段表示による車両用警告表示システム |
DE102007036079A1 (de) * | 2007-08-01 | 2009-02-05 | GM Global Technology Operations, Inc., Detroit | Verfahren zum Betrieb eines Kraftfahrzeuges und Steuereinrichtung |
DE102008005999A1 (de) * | 2008-01-25 | 2009-07-30 | Daimler Ag | Fahrerassistenzsystem und Verfahren zur Unterstützung des Fahrers eines Fahrzeugs beim Halten einer durch Fahrspurmarkierungen begrenzten Fahrspur |
JP5004865B2 (ja) * | 2008-05-08 | 2012-08-22 | 日立オートモティブシステムズ株式会社 | 自動車用障害物検知装置 |
JP2012216142A (ja) | 2011-04-01 | 2012-11-08 | Denso Corp | 車載警報装置 |
KR101512659B1 (ko) * | 2011-09-26 | 2015-04-16 | 도요타 지도샤(주) | 후측방 접근 경보 장치 |
JP5465223B2 (ja) * | 2011-10-14 | 2014-04-09 | 本田技研工業株式会社 | 車両の運転支援装置 |
JP6254083B2 (ja) * | 2012-07-27 | 2017-12-27 | クラリオン株式会社 | 車載用周囲環境認識装置 |
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2014
- 2014-06-12 JP JP2015529443A patent/JP6165251B2/ja not_active Expired - Fee Related
- 2014-06-12 WO PCT/JP2014/065625 patent/WO2015015919A1/ja active Application Filing
- 2014-06-12 US US14/908,268 patent/US9758098B2/en active Active
- 2014-06-12 CN CN201480042741.4A patent/CN105453157A/zh active Pending
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JPWO2015015919A1 (ja) | 2017-03-02 |
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CN105453157A (zh) | 2016-03-30 |
US9758098B2 (en) | 2017-09-12 |
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