JPWO2010146631A1 - 車両走行制御装置 - Google Patents
車両走行制御装置 Download PDFInfo
- Publication number
- JPWO2010146631A1 JPWO2010146631A1 JP2010541646A JP2010541646A JPWO2010146631A1 JP WO2010146631 A1 JPWO2010146631 A1 JP WO2010146631A1 JP 2010541646 A JP2010541646 A JP 2010541646A JP 2010541646 A JP2010541646 A JP 2010541646A JP WO2010146631 A1 JPWO2010146631 A1 JP WO2010146631A1
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- travel control
- automatic travel
- wheel
- brake
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000012530 fluid Substances 0.000 claims abstract description 92
- 230000000875 corresponding effect Effects 0.000 description 28
- 230000001133 acceleration Effects 0.000 description 15
- 230000007423 decrease Effects 0.000 description 13
- 238000004364 calculation method Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 10
- 230000003247 decreasing effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000000994 depressogenic effect Effects 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- 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
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/04—Hill descent control
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/14—Rough roads, bad roads, gravel roads
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/08—Coordination of integrated systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
- B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
Description
2 自動走行制御スイッチ
3 車速センサ
4 Gセンサ
5 ブレーキスイッチ
6 ブレーキセンサ
8 自動走行制御ECU
81 自動走行制御判定部
82 自動走行目標車速設定部
83 目標駆動量設定部
84 目標制動量設定部
85 実車両駆動量演算部
86 実車両制動量演算部
87 自動走行終了制御部
88 路面状態判定部
9 エンジンECU
10 ブレーキECU
100 エンジン
200 ブレーキ装置
201 マスタシリンダ圧センサ
θ 勾配
Claims (2)
- 車両駆動量と車両制動量の協調制御によって車両を所定の走行状態に制御する自動走行制御手段を備えた車両走行制御装置において、
協調制御中のブレーキ液圧を当該協調制御中の車両駆動量と走行中の路面の勾配とに応じて求め、該協調制御中のブレーキ液圧を運転者のブレーキ操作に応じたブレーキ液圧が超えたときに、前記協調制御を終了させて前記ブレーキ操作に応じたブレーキ液圧による制動動作へと切り替える自動走行終了制御手段を設けたことを特徴とする車両走行制御装置。 - 前記自動走行終了制御手段は、走行中の路面が整地路であれば、求められた前記協調制御中のブレーキ液圧を前記ブレーキ操作に応じたブレーキ液圧との比較用の閾値として設定し、走行中の路面が不整地路であれば、該閾値を当該閾値よりも大きい値に補正したものが前記ブレーキ操作に応じたブレーキ液圧との比較用の閾値として設定されるよう構成した請求項1記載の車両走行制御装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2009/002806 WO2010146631A1 (ja) | 2009-06-19 | 2009-06-19 | 車両走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP5083414B2 JP5083414B2 (ja) | 2012-11-28 |
JPWO2010146631A1 true JPWO2010146631A1 (ja) | 2012-11-29 |
Family
ID=43355974
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010541646A Active JP5083414B2 (ja) | 2009-06-19 | 2009-06-19 | 車両走行制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8948953B2 (ja) |
JP (1) | JP5083414B2 (ja) |
CN (1) | CN102076538B (ja) |
WO (1) | WO2010146631A1 (ja) |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008025753A1 (de) * | 2008-05-29 | 2009-12-10 | Siemens Aktiengesellschaft | Verfahren zum Erkennen von Anomalitäten in Objektströmen über das Phämomen der Gruppengeschwindigkeit |
US8738248B2 (en) * | 2008-10-21 | 2014-05-27 | Allison Transmission, Inc. | System for controlling vehicle overspeeding via control of one or more exhaust brake devices |
KR101294087B1 (ko) * | 2011-12-09 | 2013-08-08 | 기아자동차주식회사 | 전기 자동차용 친환경 드라이빙 운전자 지원 시스템 및 지원 방법 |
JP5990946B2 (ja) * | 2012-03-13 | 2016-09-14 | 日産自動車株式会社 | エンジン制御装置 |
US8521377B1 (en) * | 2012-05-14 | 2013-08-27 | GM Global Technology Operations LLC | OBD compliant rationality check system for adaptive cruise control |
JP5927054B2 (ja) * | 2012-06-11 | 2016-05-25 | 日立オートモティブシステムズ株式会社 | 車両の走行制御装置 |
WO2014027098A1 (en) * | 2012-08-16 | 2014-02-20 | Jaguar Land Rover Limited | System and method for controlling vehicle speed |
GB2508461B (en) * | 2012-08-16 | 2014-12-17 | Jaguar Land Rover Ltd | Vehicle speed control system and method employing torque balancing |
US10286910B2 (en) * | 2013-09-30 | 2019-05-14 | Hitachi Automotive Systems, Ltd. | Vehicle running control apparatus |
JP6299167B2 (ja) * | 2013-11-12 | 2018-03-28 | 富士通株式会社 | 凹凸分析プログラム、凹凸分析方法、および凹凸分析装置 |
KR20150058889A (ko) * | 2013-11-21 | 2015-05-29 | 현대모비스 주식회사 | 센서 융합 기반 자율 주행 제어 장치 및 방법 |
GB2523203B (en) * | 2014-02-18 | 2017-01-11 | Jaguar Land Rover Ltd | Control System and method |
GB2523177B (en) * | 2014-02-18 | 2017-05-10 | Jaguar Land Rover Ltd | Vehicle movement on an inclined surface |
KR101646113B1 (ko) * | 2014-04-02 | 2016-08-05 | 현대자동차 주식회사 | 도로 구배 연산 방법 및 이를 이용한 차량 변속 제어 장치 |
JP6274036B2 (ja) * | 2014-07-01 | 2018-02-07 | 株式会社デンソー | 制御装置 |
WO2016052507A1 (ja) * | 2014-09-30 | 2016-04-07 | エイディシーテクノロジー株式会社 | 自動運転制御装置 |
CA2940808C (en) | 2014-09-30 | 2018-07-10 | Hitachi Construction Machinery Co., Ltd. | Haulage vehicle |
KR101755458B1 (ko) | 2015-02-25 | 2017-07-07 | 현대자동차 주식회사 | 전기 자동차의 제동 제어 시스템 및 방법 |
EP4086721B1 (en) * | 2015-03-11 | 2023-09-20 | Kubota Corporation | Work vehicle with a running control apparatus causing automatic running of the work vehicle, preferably an agricultural vehicle |
CN104875618A (zh) * | 2015-04-02 | 2015-09-02 | 福建省纳金网信息技术有限公司 | 一种基于车载传感器自动限速的车辆安全驾驶*** |
DE102015012377A1 (de) * | 2015-09-21 | 2017-03-23 | Wabco Gmbh | Verfahren zum Einstellen von Bremsdrücken eines Kraftfahrzeugs, Bremsanlage zur Durchführung des Verfahrens sowie Kraftfahrzeug |
BR112018008067A2 (ja) * | 2015-10-23 | 2018-10-23 | Nsk Ltd. | Electric power steering device |
KR20170119088A (ko) * | 2016-04-18 | 2017-10-26 | 현대자동차주식회사 | 차량의 모터 토크 제어를 통한 제동 성능 향상 방법 |
SE542825C2 (en) * | 2018-04-26 | 2020-07-14 | Scania Cv Ab | A method for controlling a motor vehicle |
JP7251422B2 (ja) * | 2019-09-19 | 2023-04-04 | トヨタ自動車株式会社 | 制御装置、自動走行システム、制御方法、制御プログラム及び車両 |
CN111746537B (zh) * | 2020-06-22 | 2022-05-17 | 重庆长安汽车股份有限公司 | 基于路面平整度的自适应巡航车速控制***、方法及车辆 |
CN112598911A (zh) * | 2021-03-05 | 2021-04-02 | 华砺智行(武汉)科技有限公司 | 一种v2x车联网环境下安全跟车方法、***及装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3772422B2 (ja) | 1996-05-10 | 2006-05-10 | アイシン精機株式会社 | 車両の運動制御装置 |
JP3838048B2 (ja) * | 2001-04-16 | 2006-10-25 | 日産自動車株式会社 | 車両用走行制御装置 |
JP2004531423A (ja) | 2001-05-08 | 2004-10-14 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | 斜面で車両の発進を補助する方法 |
JP4039184B2 (ja) | 2002-08-29 | 2008-01-30 | 株式会社アドヴィックス | クリープ走行制御装置 |
JP3841044B2 (ja) | 2002-11-14 | 2006-11-01 | 日産自動車株式会社 | 制動制御装置 |
JP2004231065A (ja) | 2003-01-30 | 2004-08-19 | Hitachi Unisia Automotive Ltd | ブレーキ圧力推定装置 |
DE502004004747D1 (de) * | 2003-07-09 | 2007-10-04 | Continental Teves Ag & Co Ohg | Elektrohydraulische bremsanlage für kraftfahrzeuge |
DE102004058875A1 (de) * | 2003-12-09 | 2005-08-25 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zur Regelung eines Kraftfahrzeuges mit einer elektrohydraulischen Bremsanlage mit Fahrdynamikregelung |
JP2005271822A (ja) * | 2004-03-25 | 2005-10-06 | Mitsubishi Fuso Truck & Bus Corp | 車両の自動減速制御装置 |
JP2007077871A (ja) | 2005-09-14 | 2007-03-29 | Toyota Motor Corp | 車両の制御装置 |
JP4497231B2 (ja) * | 2007-10-09 | 2010-07-07 | 株式会社デンソー | 車両用速度制御装置 |
-
2009
- 2009-06-19 US US13/001,830 patent/US8948953B2/en active Active
- 2009-06-19 JP JP2010541646A patent/JP5083414B2/ja active Active
- 2009-06-19 WO PCT/JP2009/002806 patent/WO2010146631A1/ja active Application Filing
- 2009-06-19 CN CN200980125199.8A patent/CN102076538B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN102076538B (zh) | 2014-03-12 |
WO2010146631A1 (ja) | 2010-12-23 |
CN102076538A (zh) | 2011-05-25 |
JP5083414B2 (ja) | 2012-11-28 |
US20120271499A1 (en) | 2012-10-25 |
US8948953B2 (en) | 2015-02-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5083414B2 (ja) | 車両走行制御装置 | |
US7600827B2 (en) | Rollback reduction in hybrid or conventional powertrain vehicle via vehicle stability enhancement system (VSES) | |
CN109747632B (zh) | 一种双动力源驱动车辆扭矩分配方法 | |
JP6290191B2 (ja) | 車両制御システムおよび車両制御方法 | |
JP5148393B2 (ja) | 車両用制駆動力制御装置 | |
US7734402B2 (en) | Driving-force distribution control device | |
US20080283325A1 (en) | Apparatus for controlling load for vehicle driving wheel | |
US8190347B2 (en) | Method and apparatus for controlling anteroposterior acceleration of a vehicle | |
WO2011145641A1 (ja) | 制動制御装置 | |
CN111284491B (zh) | 滑行回收转矩的调节方法、调节装置和车辆 | |
RU2007136038A (ru) | Устройство управления силой торможения/движения транспортного средства | |
WO2010061432A1 (ja) | 車両の走行制御装置 | |
JP2017505259A (ja) | 車両速度制御システムおよび車両速度制御方法 | |
JP2013035509A (ja) | 車両用制動力制御装置 | |
JP5143100B2 (ja) | 車両制御装置 | |
US9199650B2 (en) | Vehicle driving force control device | |
JP2012076472A (ja) | 車両の走行制御装置 | |
JP4526792B2 (ja) | トラクション制御装置 | |
JP2015020626A (ja) | トラクションコントロールシステム | |
JP2006200526A (ja) | 車両の出力特性制御装置 | |
JP2008167640A (ja) | 電気自動車の車両制御装置、及び電気自動車の駆動システム | |
JP2002095106A (ja) | 車輌の制動力制御装置 | |
JP6318795B2 (ja) | 車両用旋回走行制御装置、車両用旋回走行制御方法 | |
JP3781101B2 (ja) | 車輌の制動力制御装置 | |
WO2021145391A1 (ja) | 制動制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20120807 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20120820 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 5083414 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20150914 Year of fee payment: 3 |