MX2019010307A - Metodo de asistencia a la conduccion y dispositivo de asistencia a la conduccion. - Google Patents
Metodo de asistencia a la conduccion y dispositivo de asistencia a la conduccion.Info
- Publication number
- MX2019010307A MX2019010307A MX2019010307A MX2019010307A MX2019010307A MX 2019010307 A MX2019010307 A MX 2019010307A MX 2019010307 A MX2019010307 A MX 2019010307A MX 2019010307 A MX2019010307 A MX 2019010307A MX 2019010307 A MX2019010307 A MX 2019010307A
- Authority
- MX
- Mexico
- Prior art keywords
- drive assistance
- moving object
- vehicle
- behavior
- blind area
- Prior art date
Links
Classifications
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- 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
- B60W30/18—Propelling the vehicle
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- 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
- B60W30/10—Path keeping
-
- 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
-
- 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
- B60W40/04—Traffic conditions
-
- 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
- B60W40/10—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 vehicle motion
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00274—Planning or execution of driving tasks using trajectory prediction for other traffic participants considering possible movement changes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
-
- 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
-
- 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
-
- 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
- B60W2552/50—Barriers
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/20—Static objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4046—Behavior, e.g. aggressive or erratic
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
Abstract
Un método de asistencia a la conducción detecta un comportamiento de un objeto (52) en movimiento que causa un área (54) de punto ciego alrededor de un vehículo (51) principal, predice una probabilidad de acción que el objeto (52) en movimiento toma cuando un obstáculo (53) está presente en el área (54) de punto ciego, de acuerdo con una estructura del camino alrededor del vehículo (51) principal, y compara el comportamiento del objeto (52) en movimiento con la probabilidad de acción que el objeto (52) en movimiento toma, a fin de predecir una acción del objeto (52) en movimiento.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/008310 WO2018158911A1 (ja) | 2017-03-02 | 2017-03-02 | 運転支援方法及び運転支援装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
MX2019010307A true MX2019010307A (es) | 2019-10-09 |
Family
ID=63369923
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
MX2019010307A MX2019010307A (es) | 2017-03-02 | 2017-03-02 | Metodo de asistencia a la conduccion y dispositivo de asistencia a la conduccion. |
Country Status (10)
Country | Link |
---|---|
US (1) | US10766492B2 (es) |
EP (1) | EP3591638B1 (es) |
JP (1) | JP6935813B2 (es) |
KR (1) | KR20190113918A (es) |
CN (1) | CN110352450B (es) |
BR (1) | BR112019018179A2 (es) |
CA (1) | CA3055160A1 (es) |
MX (1) | MX2019010307A (es) |
RU (1) | RU2722777C1 (es) |
WO (1) | WO2018158911A1 (es) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110325823B (zh) * | 2017-01-12 | 2023-08-29 | 御眼视觉技术有限公司 | 基于规则的导航 |
WO2018179616A1 (ja) * | 2017-03-27 | 2018-10-04 | 三菱電機株式会社 | 車両位置推定装置 |
EP3514494A1 (en) * | 2018-01-19 | 2019-07-24 | Zenuity AB | Constructing and updating a behavioral layer of a multi layered road network high definition digital map |
JP2020042446A (ja) * | 2018-09-07 | 2020-03-19 | 株式会社デンソー | 情報処理システム、情報処理方法、及び情報処理プログラム |
CN112703541B (zh) * | 2018-09-17 | 2022-09-20 | 日产自动车株式会社 | 车辆行为预测方法以及车辆行为预测装置 |
JP7306887B2 (ja) * | 2019-06-11 | 2023-07-11 | 株式会社Subaru | 車両制御装置 |
CN110320910B (zh) * | 2019-07-01 | 2023-10-10 | 阿波罗智能技术(北京)有限公司 | 车辆的避让控制方法、装置、电子设备与存储介质 |
JP6793787B1 (ja) * | 2019-07-02 | 2020-12-02 | 三菱電機株式会社 | 車両制御装置、駐車支援装置、車両制御方法および駐車支援方法 |
JP7404925B2 (ja) * | 2020-02-21 | 2023-12-26 | 株式会社デンソー | 走行支援装置、走行支援方法、および走行支援プログラム |
US20230112601A1 (en) * | 2020-03-10 | 2023-04-13 | Nissan Motor Co., Ltd. | Traveling Path Setting Method and Traveling Path Setting Device |
JP7383532B2 (ja) * | 2020-03-12 | 2023-11-20 | 本田技研工業株式会社 | 制御装置及び車両 |
KR20210156906A (ko) * | 2020-06-18 | 2021-12-28 | 현대모비스 주식회사 | 차량의 사각지대 회피 시스템 및 방법 |
CN111873989B (zh) * | 2020-07-29 | 2021-07-06 | 北京三快在线科技有限公司 | 车辆控制方法及装置 |
CN114056347A (zh) * | 2020-07-31 | 2022-02-18 | 华为技术有限公司 | 车辆运动状态识别方法及装置 |
US11760379B2 (en) * | 2021-01-11 | 2023-09-19 | Toyota Research Institute, Inc. | Navigating an autonomous vehicle through an intersection |
JP7191143B2 (ja) * | 2021-03-11 | 2022-12-16 | 三菱電機株式会社 | 他車両行動予測装置、他車両行動予測方法、及び自動運転システム |
CN112918471A (zh) * | 2021-03-22 | 2021-06-08 | 昆山宝创新能源科技有限公司 | 车辆的防碰撞控制方法、装置、设备和存储介质 |
CN113071517B (zh) * | 2021-04-12 | 2022-05-13 | 南京航空航天大学 | 一种基于车辆行为预测的自动驾驶避障方法及*** |
CN113119962A (zh) * | 2021-05-17 | 2021-07-16 | 腾讯科技(深圳)有限公司 | 驾驶辅助处理方法、装置、计算机可读介质及电子设备 |
CN115009272B (zh) * | 2022-07-08 | 2023-01-31 | 北京捷升通达信息技术有限公司 | 一种基于激光雷达路障分类识别的车辆全自主越障方法 |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH1079100A (ja) * | 1996-09-04 | 1998-03-24 | Oki Electric Ind Co Ltd | 衝突防止装置 |
JP2002087188A (ja) * | 2000-09-18 | 2002-03-26 | Toshiba Corp | 交通安全支援装置 |
JP5045097B2 (ja) * | 2006-12-26 | 2012-10-10 | トヨタ自動車株式会社 | 走行支援装置 |
JP5098584B2 (ja) * | 2007-11-09 | 2012-12-12 | 日産自動車株式会社 | 車両用運転支援装置 |
JP5021506B2 (ja) * | 2008-01-21 | 2012-09-12 | 株式会社豊田中央研究所 | 交通流シミュレーションシステム及び方法 |
JP5024255B2 (ja) * | 2008-09-25 | 2012-09-12 | トヨタ自動車株式会社 | 運転支援装置 |
US9424468B2 (en) * | 2010-09-08 | 2016-08-23 | Toyota Jidosha Kabushiki Kaisha | Moving object prediction device, hypothetical movable object prediction device, program, moving object prediction method and hypothetical movable object prediction method |
JP2012192878A (ja) | 2011-03-17 | 2012-10-11 | Toyota Motor Corp | 危険度判定装置 |
US9123252B2 (en) * | 2011-08-10 | 2015-09-01 | Toyota Jidosha Kabushiki Kaisha | Drive assist apparatus |
US9495874B1 (en) * | 2012-04-13 | 2016-11-15 | Google Inc. | Automated system and method for modeling the behavior of vehicles and other agents |
US9180882B1 (en) * | 2012-06-20 | 2015-11-10 | Google Inc. | Avoiding blind spots of other vehicles |
US9975483B1 (en) * | 2013-02-08 | 2018-05-22 | Amazon Technologies, Inc. | Driver assist using smart mobile devices |
US8930060B1 (en) * | 2013-07-15 | 2015-01-06 | Ford Global Technologies | Post-impact path assist for vehicles |
EP2923911B1 (en) * | 2014-03-24 | 2019-03-13 | Honda Research Institute Europe GmbH | A method and system for predicting movement behavior of a target traffic object |
EP2950294B1 (en) * | 2014-05-30 | 2019-05-08 | Honda Research Institute Europe GmbH | Method and vehicle with an advanced driver assistance system for risk-based traffic scene analysis |
EP2990290B1 (en) * | 2014-09-01 | 2019-11-06 | Honda Research Institute Europe GmbH | Method and system for post-collision manoeuvre planning and vehicle equipped with such system |
JP2016122308A (ja) | 2014-12-25 | 2016-07-07 | クラリオン株式会社 | 車両制御装置 |
CN105818742B (zh) * | 2015-01-05 | 2018-06-12 | 上海纵目科技有限公司 | 车辆预警方法及*** |
DE102015208530A1 (de) * | 2015-05-07 | 2016-11-10 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Vorrichtung zur Reduzierung des Kollisionsrisikos eines Fahrzeugs |
DE102015209878B3 (de) * | 2015-05-29 | 2016-02-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Erfassung von Objekten im Umfeld eines Fahrzeugs |
JP6214702B2 (ja) * | 2016-03-22 | 2017-10-18 | 三菱電機株式会社 | 移動体認識システム |
US9987984B2 (en) * | 2016-03-23 | 2018-06-05 | Nissan North America, Inc. | Blind spot collision avoidance |
-
2017
- 2017-03-02 US US16/489,924 patent/US10766492B2/en active Active
- 2017-03-02 MX MX2019010307A patent/MX2019010307A/es active IP Right Grant
- 2017-03-02 CN CN201780087663.3A patent/CN110352450B/zh active Active
- 2017-03-02 EP EP17899128.7A patent/EP3591638B1/en active Active
- 2017-03-02 BR BR112019018179A patent/BR112019018179A2/pt active Search and Examination
- 2017-03-02 RU RU2019130868A patent/RU2722777C1/ru active
- 2017-03-02 KR KR1020197025957A patent/KR20190113918A/ko not_active Application Discontinuation
- 2017-03-02 WO PCT/JP2017/008310 patent/WO2018158911A1/ja unknown
- 2017-03-02 CA CA3055160A patent/CA3055160A1/en not_active Abandoned
- 2017-03-02 JP JP2019502386A patent/JP6935813B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
WO2018158911A1 (ja) | 2018-09-07 |
CA3055160A1 (en) | 2018-09-07 |
BR112019018179A2 (pt) | 2020-04-07 |
US10766492B2 (en) | 2020-09-08 |
JPWO2018158911A1 (ja) | 2020-01-16 |
RU2722777C1 (ru) | 2020-06-03 |
EP3591638B1 (en) | 2022-06-22 |
EP3591638A1 (en) | 2020-01-08 |
EP3591638A4 (en) | 2020-03-25 |
JP6935813B2 (ja) | 2021-09-22 |
CN110352450A (zh) | 2019-10-18 |
KR20190113918A (ko) | 2019-10-08 |
CN110352450B (zh) | 2021-11-02 |
US20190389464A1 (en) | 2019-12-26 |
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Date | Code | Title | Description |
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FG | Grant or registration |