The present disclosure relates to a driving assistance apparatus, a driving assistance method, and a storage medium storing an assistance recommendation program.
A device of a comparative example performs switching to automated driving when the degree of wakefulness of a driver is lowered.
By a driving assistance apparatus, a driving assistance method, or a storage medium storing an assistance recommendation program, association is stored data, wherein the association data associates a plurality of traveling situations with a plurality of situation assistance processes, and each situation assistance process is a driving assistance process for a specific traveling situation, a value of a traveling situation variable is acquired, a human interface is operated to propose at least one of the plurality of situation assistance processes, and a setting of an approved situation assistance process is enabled.
The above and other features and advantages of the present disclosure will become more apparent from the following detailed description made with reference to the accompanying drawings.
The device automatically turns on a safety function to cope with a driver abnormality. By the way, multiple safety functions for assisting driving of a vehicle have been put into practical use. Some of them are executed by the driver manually switching to an enabled state. However, it is troublesome for the driver to select an appropriate process for the current situation from among multiple driving assistance processes each time.
According to one example embodiment, a driving assistance apparatus for assisting driving of a vehicle includes: a storage configured to store association data; an execution device. The association data associates a plurality of traveling situations with a plurality of situation assistance processes. Each situation assistance process is a driving assistance process for a specific traveling situation. The execution device is configured to: acquire a value of a traveling situation variable that is a variable indicating a traveling situation of the vehicle among the plurality of traveling situations; operate a human interface to propose, to a driver of the vehicle, at least one of the plurality of situation assistance processes according to the association data based on the value of the traveling situation variable; and when detecting that the driver has approved a proposal of the at least one of the plurality of situation assistance processes via the human interface, enable a setting of an approved situation assistance process.
According to another example embodiment, a driving assistance method includes: storing association data in a storage, wherein the association data associates a plurality of traveling situations with a plurality of situation assistance processes, and each situation assistance process is a driving assistance process for a specific traveling situation; acquiring a value of a traveling situation variable that is a variable indicating a traveling situation of the vehicle among the plurality of traveling situations; operating a human interface to propose, to a driver of the vehicle, at least one of the plurality of situation assistance processes according to the association data based on the value of the traveling situation variable; and when detecting that the driver has approved a proposal of the at least one of the plurality of situation assistance processes via the human interface, enabling a setting of an approved situation assistance process.
Further, according to another example embodiment, a computer-readable non-transitory storage medium stores an assistance recommendation program configured to cause a processor to: store association data in a storage, wherein the association data associates a plurality of traveling situations with a plurality of situation assistance processes, and each situation assistance process is a driving assistance process for a specific traveling situation; acquire a value of a traveling situation variable that is a variable indicating a traveling situation of the vehicle among the plurality of traveling situations; operate a human interface to propose, to a driver of the vehicle, at least one of the plurality of situation assistance processes according to the association data based on the value of the traveling situation variable; and when detecting that the driver has approved a proposal of the at least one of the plurality of situation assistance processes via the human interface, enable a setting of an approved situation assistance process.
In the above configuration, data for associating the plurality of traveling situations with the plurality of situation assistance processes is stored in advance, and it is proposed to enable the situation assistance process associated with the traveling situation. Thereby, it is possible to determine whether to enable or disable the process when the enablement is proposed according to the situation instead of selecting, by the driver, whether to enable each of the plurality of driving assistance processes. Therefore, it is possible to prevent the driver selection of whether to enable or disable the driving assistance process from becoming complicated.
Hereinafter, a first embodiment will be described with reference to the drawings.
As shown in
Vehicle exterior image data Dpo, which is data related to an image captured by a vehicle exterior camera 22, is input to an image ECU 20. The image ECU 20 executes the recognition process for recognizing the object in the periphery of the vehicle VC based on the vehicle exterior image data Dpo.
A sonar 32 outputs sound wave signals to the periphery of the vehicle VC and receives sound wave signals reflected from an object in the periphery of the vehicle VC to output signals related to a distance with the object as reflection sound wave data Ds. A sonar ECU 30 executes processing for recognizing objects around the vehicle VC based on the reflection sound wave data Ds.
An ADAS (Advance driver assistance system) ECU 40 is an electronic control unit that assists the driver in driving of the vehicle VC. The ADAS ECU 40 has a CPU 42, a ROM 44, a RAM 45, a storage device 46, and a peripheral circuit 48 which are connected via a communication line 49. The CPU 42 and the ROM 44 may be also referred to as execution devices.
The ROM 44 stores a function unit program PRf and an assistance recommendation program PRr. In the drawings, the expressions of “function unit” may be also referred to as “FU”, and the expression of “assistance recommendation” may be also referred to as “ASSI RECOM”. The function unit program PRf is a program that defines commands to the CPU 42 for executing each driving assistance process of multiple function units. The driving assistance process (hereinafter referred to as a function unit assistance process) in units of functions is a driving assistance process having one function, such as collision avoidance or cruise control, depending on the situation and purpose. The vehicle according to the present embodiment is capable of executing multiple driving assistance processes because the function unit program PRf defines multiple driving assistance processes for multiple functions. The assistance recommendation program PRr is a program defining commands for the CPU 42 to execute a process of proposing to the driver that some of the assistance processes for multiple functions should be enabled.
The ADAS ECU 40 refers to the result of object recognition by the millimeter wave ECU 10, the result of object recognition by the image ECU 20, and the result of object recognition by the sonar ECU 30 via an in-vehicle network 50 when assisting driving. Further, the ADAS ECU 40 refers to the vehicle interior image data Dpi captured by the in-vehicle camera 60 that captures the image of the driver. Further, the ADAS ECU 40 refers to a wheel-turning angle θs of the steered wheels detected by a steering angle sensor 62 and a steering torque Trqs detected by a torque sensor 64. The steering torque Trqs is a torque input to the steering wheel. Further, the ADAS ECU 40 refers to a longitudinal acceleration Gx and lateral acceleration Gy of the vehicle VC detected by an acceleration sensor 66. Further, the ADAS ECU 40 refers to position data Dgps output by a global positioning system (GPS 68) and map data 70. Then, the ADAS ECU 40 outputs various commands for driving assistance to a brake ECU 80, a wheel-turning ECU 90, a drive ECU 100 and a headlight 110.
The brake ECU 80 is an electronic control unit that controls a braking force of the vehicle VC by operating a brake actuator 82. The wheel-turning ECU 90 is an actuator that controls the wheel-turning angle θs by operating a wheel-turning actuator 92. The drive ECU 100 is an electronic control unit that controls the drive force of the vehicle VC by operating a prime mover 102 that generates the thrust of the vehicle VC.
The storage device 46 of the ADAS ECU 40 is an electrically rewritable memory. The storage device 46 stores setting information data Dis and matrix data Dmx. The matrix data Dmx may be also referred to as association data.
The matrix data Dmx is data used when the CPU 42 executes commands defined in the assistance recommendation program PRr. The matrix data Dmx defines the relationship between the function unit assistance processes defined by the function unit program PRf and some situations.
As shown in
A center trace process is a process of minutely controlling the wheel-turning angle θs independently of the driver operation of the steering wheel so that the vehicle VC travels near the center of the lane. Specifically, it is a process of slightly correcting the wheel-turning angle θs so that the vehicle VC is positioned in the center of the lane while respecting the operation of the steering wheel by the driver. Specifically, it is a process of outputting the correction amount of the wheel-turning angle θs to the wheel-turning ECU 90. The center trace process uses the output of the image ECU 20 as the input.
Further, the functional unit assistance process includes a deviation warning process. The deviation warning process is a process (also referred to a warning assistance process) of operating the human interface 72 to issue the warning so that the vehicle VC does not largely deviate from the lane. The deviation warning process takes the output of the image ECU 20 as the input. A lane deviation prevention assistance process is a process for minutely controlling the wheel-turning angle θs independently of the operation of the steering wheel by the driver so that the vehicle VC does not largely deviate from the lane. Specifically, it is a process of slightly correcting the wheel-turning angle θs so that the vehicle VC does not largely deviate from the lane while respecting the operation of the steering wheel by the driver. Specifically, it is a process of outputting the correction amount of the wheel-turning angle θs to the wheel-turning ECU 90. The output of the image ECU 20 is input to the lane deviation prevention assistance process. Further, the functional unit assistance process includes a wobble warning process. The wobble warning process is a process of operating the human interface 72 to issue the warning when the vehicle VC does not travel straight along the lane and wobbles from side to side. The wobble warning process takes the output of the image ECU 20 and the lateral acceleration Gy as inputs.
A rear vehicle warning process is a process of operating the human interface 72 to issue a warning when there is a risk of contact with a vehicle traveling backward due to a lane change or the like of the vehicle VC. The rear vehicle warning process takes the output of the millimeter wave ECU 10 and the output of the image ECU 20 as inputs. Further, the function unit assistance process includes a rear vehicle assistance process. The rear vehicle assistance process is a process for controlling the wheel-turning angle θs so as to automatically prevent the vehicle VC from coming into contact with the traveling rear vehicle, independently of the operation of the steering wheel by the driver, when there is a risk of the vehicle VC coming into contact with the rear vehicle due to a lane change or the like. Specifically, it is a process of outputting a command value of the wheel-turning angle θs to the wheel-turning ECU 90. At this time, a process of outputting a command to at least one of brake ECU 80 and drive ECU 100 may be added. The rear vehicle assistance process takes the output of the millimeter wave ECU 10 and the output of the image ECU 20 as inputs.
Also, the function unit assistance process includes an auto high-low beam process. The auto high-low beam process is a process of automatically switching the headlight 110 between a high beam state and a low beam state according to the peripheral condition of the vehicle VC. The auto high-low beam process takes the output of the image ECU 20, the position data Dgps, and the map data 70 as inputs. Also, the function unit assistance processes includes a cruise control process. The cruise control process is a process for causing the vehicle VC to automatically travel along the lane on an automobile road or the like in a state where there is no driving operation by the driver. The cruise control process takes the output of the millimeter wave ECU 10, the output of the image ECU 20, the position data Dgps, and the map data 70 as inputs. The cruise control process includes a minimal risk maneuver process (MRM). The MRM is a process of causing the vehicle VC to automatically travel to a safe area and stop it when there is an obstacle to driving, such as a situation where the driver is losing consciousness based on the in-vehicle image data Dpi.
Further, the functional unit assistance process includes a backward traveling warning process. The backward traveling warning process is a process of operating the human interface 72 to issue a warning in a case where there is a risk that it is determined that the vehicle VC may come into contact with the object when going backward in a parking lot or the like based on the output of the sonar ECU 30. Further, the functional unit assistance process includes a backward traveling avoidance process. The backward traveling avoidance process is a process of applying the braking force to the vehicle VC, in a case where it is determined, based on the output of the sonar ECU 30, that there is a risk of contact with the object when the vehicle VC is going backwards in the parking lot or the like. The applied braking force is independent of the driving operation by the driver. Specifically, it is a process of outputting a command to the brake ECU 80.
The matrix data Dmx is data that defines a process that is recommended to be enabled according to the situation, among twelve functional unit assistance processes described above. Here, five situations are illustrated as the situations. That is, a situation where the driver driving ability has deteriorated and a situation where the driver attentiveness has deteriorated are exemplified as the driving situation of the driver. Further, as traveling situations of the vehicle VC, a situation of traveling on an expressway, a situation of traveling on a snowy road, and a situation of parking are exemplified.
Enabling the function unit assistance process means setting the function unit assistance process to a standby state. That is, for example, when the cruise control process is enabled, it means that the cruise control process is started when a predetermined condition is satisfied. In this case, the predetermined condition is, for example, a condition that the vehicle VC is traveling on an automobile road, a condition that the driver is not operating the steering wheel, a condition that the driver is not stepping on the brake pedal, or a condition that the driver does not operate the accelerator pedal. Accordingly, even when the cruise control process is enabled, the cruise control process is not executed when the vehicle VC is traveling on a general road because the conditions are not satisfied. When the cruise control process is enabled, the vehicle VC enters the expressway and the driver releases the operations of the steering wheel, the brake pedal and the accelerator pedal to initiate the cruise control process.
In
As shown in
The ADAS ECU 40 executes a process of changing whether each of the function unit assistance processes is enabled or disabled by setting by the driver.
In the series of processes shown in
When determining that it is time to switch the state from the OFF state to the ON state (S10: YES), the CPU 42 reads the setting information indicating whether the driver has enabled or disabled each of the 12 function unit assistance processes indicated by the setting information data Dis (S12). Next, the CPU 42 sets each state read by the process of S12 to the state of the function unit assistance process at the start of the trip (S14). This process is implemented by the CPU 42 writing to the RAM 45 whether each of the 12 function unit assistance processes is enabled or disabled. That is, in this embodiment, whether the function unit assistance process is enabled or disabled is determined according to whether the state stored in the RAM 45 is enabled or disabled. The setting information data Dis also includes information that determines whether the warning timing is late, normal, or early for the forward approach warning process, the deviation warning process, and the rear vehicle warning process. Then, in the process of S14, the CPU 42 writes in the RAM 45 the timing of issuing the warning for the process in the enabled state among the above three processes indicated by the setting information data Dis.
When the process of S14 is completed, or when a negative determination is made in the process of S10, the CPU 42 determines whether the driver operates the human interface 72 to manually set the state of some function unit assistance process (S16). This process may be implemented by, for example, configuring the human interface 72 with a display and a touch panel arranged over the display. In that case, twelve function unit assistance processes are displayed on the display, and the state of the function unit assistance process instructed by the driver via the touch panel can be switched. When determining that the setting is to be made manually (S16: YES), the CPU 42 updates the setting information data Dis stored in the storage device 46 (S18).
When the process of S18 is completed or when the negative determination is made in the process of S16, the CPU 42 temporarily ends the series of processes shown in
In the series of processes shown in
Then, the CPU 42 determines whether there is an input operation for rejecting the notification process of S24 (S26). In this process, for example, the human interface 72 may be provided with a microphone, and when a negative voice input operation such as “NO” is performed within a predetermined period, it may be determined that the input operation for refusing the voice input operation has been performed. When the CPU 42 determines that there is no input operation for refusal (S26: NO), the CPU 42 turns on the ability deterioration time recommendation assistance (S28). That is, the CPU 42 sets all of the 12 functional unit assistance processes stored in the RAM 45 to the enabled state. At this time, the CPU 42 sets, to a value indicating the early timing, a value of the variable indicating the timing of issuing the warning in each of the three processes of the forward approach warning process, the deviation warning process, and the rear vehicle warning process stored in the RAM 45.
On the other hand, when determining that the driving ability has not deteriorated (S22: NO), the CPU 42 acquires the vehicle interior image data Dpi (S30). Then, the CPU 42 monitors the vehicle interior image data Dpi to determine whether the driver attentiveness is equal to or lower than a predetermined value (S32). Here, the CPU 42 specifies a line-of-sight direction of the driver from the vehicle interior image data Dpi. When the rate of time that the line-of-sight direction deviates from the forward traveling direction of the vehicle VC is equal to or greater than a predetermined rate, the CPU 42 determines that the attentiveness is equal to or less than the predetermined value (S32). When determining that the attentiveness has deteriorated (S32: YES), the CPU 42 provides a notification that an attentiveness deterioration time recommendation assistance of the driving assistance process associated with the state in the second column of the matrix data Dmx shown in
Then, the CPU 42 determines whether there is an input operation for refusing the notification process of S34 in the same manner as the process of S26 (S36). When the CPU 42 determines that there is no input operation for refusal (S36: NO), the CPU 42 turns on the attentiveness deterioration time recommendation assistance (S38). That is, the CPU 42 updates the state of the twelve functional unit assistance processes stored in the RAM 45 according to the state of the second column of the matrix data Dmx. Specifically, in the second column of the matrix data Dmx shown in
When the processes of S28 and S38 is completed or when the negative determination is made in the processes of S26, S32, and S36, the CPU 42 temporarily ends the series of processes shown in
In the series of processes shown in
When the CPU 42 determines that the logical product is true (S44: YES), the CPU 42 makes a proposal to turn on the expressway recommendation assistance (S46). Here, for example, the human interface 72 may be provided with the speaker, and perform voice guidance of “Do you need to set the driving assistance process suitable for expressways to the standby state?”.
Then, the CPU 42 determines whether the driver agrees with the proposal (S48). For example, in the process, the human interface 72 may be provided with the microphone, and it may be determined whether the driver makes a voice input such as “OK” within a predetermined time after the proposal. When determining that the driver has agreed (S48: YES), the CPU 42 enables the expressway recommendation assistance (S50). That is, the CPU 42 rewrites, to the enabled state, the disabled state that is stored in the RAM 45 and a state of a process other than the backward traveling warning process and the backward traveling avoidance process among twelve function assistance processes shown in
On the other hand, when the CPU 42 determines that the expressway recommendation assistance is ON (S42: YES), the CPU 42 determines whether there is a record of inquiring for setting the expressway recommendation assistance to the OFF state after the expressway ends (S52). When there is no record of the inquiry after the end of the expressway (S52: YES), the CPU 42 inquires whether the expressway recommendation assistance may be turned off (S54). Here, for example, the human interface 72 may be provided with the speaker, and perform voice guidance of “Is it OK to disable the driving assistance process suitable for expressways?”.
Then, the CPU 42 determines whether the driver agrees to disable the process (S56). For example, in the process, the human interface 72 may be provided with the microphone, and it may be determined whether the driver makes a voice input such as “OK” within a predetermined time after the inquiry. When determining that the driver has agreed (S56: YES), the CPU 42 disables the expressway recommendation assistance (S58). At this time, the function unit assistance process enabled before the expressway recommendation assistance has been enabled is maintained in the enabled state. Further, when another process for enabling a predetermined function unit assistance process is entered after the expressway recommendation assistance is enabled, the function unit assistance process is also maintained in the enabled state.
When the processes of S50 and S58 is completed or when the negative determination is made in the processes of S44, S48, S52, and S56, the CPU 42 temporarily ends the series of processes shown in
In the series of processes shown in
When determining that the logical product is true (S64: YES), the CPU 42 proposes to turn on the snowy road recommendation assistance (S66). Here, for example, the human interface 72 may be provided with the speaker, and output voice of “Do you need to set the driving assistance process suitable for snowy roads to the standby state?”.
Then, the CPU 42 determines whether the driver agrees with the proposal in the similar manner to the process of S48 (S68). When determining that the driver has agreed (S68: YES), the CPU 42 enables the snowy road recommendation assistance (S70). That is, the CPU 42 rewrites, to the enabled state, the disabled state, which is stored in the RAM 45 and a state of the forward approach warning process, the emergency brake process, the deviation warning process, or the rear vehicle warning process. At this time, the CPU 42 sets, to early timing, the timing of issuing the warning in each of the three processes of the forward approach warning process, the deviation warning process, and the rear vehicle warning process.
On the other hand, when the CPU 42 determines that the snowy road recommendation assistance is ON (S62: YES), the CPU 42 determines whether there is a record of inquiring for setting the snowy road recommendation assistance to be OFF after the snowy road ends (S72). When there is no record of the inquiry after the end of the snowy road (S72: YES), the CPU 42 inquires whether the snowy road recommendation assistance may be turned off in the similar manner to the process in S54 (S74).
Then, the CPU 42 determines whether the driver agrees with the proposal for returning to the disabled state in the similar manner to the process of S56 (S76). When determining that the driver has agreed (S76: YES), the CPU 42 disables the snowy road recommendation assistance (S78). At this time, the CPU 42 maintains the function unit assistance process, that has been enabled before the snowy road recommendation assistance has been enabled, in the enabled state. Further, when another process for enabling a predetermined function unit assistance process is entered after the snowy road recommendation assistance is enabled, the CPU 42 maintains also the function unit assistance process in the enabled state.
When the processes of S70 and S78 is completed or when the negative determination is made in the processes of S64, S68, S72, and S76, the CPU 42 temporarily ends the series of processes shown in
In the series of processes shown in
Then, the CPU 42 determines whether the driver agrees with the proposal in the similar manner to the process of S48 (S88). When determining that the driver has agreed (S88: YES), the CPU 42 enables the parking recommendation assistance (S90). That is, the CPU 42 rewrites, to the enabled state, the disabled state that is stored in the RAM 45 and a state of the backward traveling warning process and the backward traveling avoidance process.
On the other hand, when the CPU 42 determines that the parking recommendation assistance is in the ON state (S82: YES), it determines whether the parking has been completed (S92). When determining that parking has been completed (S92: YES), the CPU 42 inquires whether the parking recommendation assistance may be turned off in the similar manner to the process of S54 (S94).
Then, the CPU 42 determines whether the driver agrees with the proposal for returning to the disabled state in the similar manner to the process of S56 (S96). When determining that the driver has agreed (S96: YES), the CPU 42 disables the parking recommendation assistance (S98). At this time, the CPU 42 maintains the function unit assistance process, that has been enabled before the parking road recommendation assistance has been turned on, in the enabled state. That is, for example, the CPU 42 sets the backward traveling warning process to the enabled state by the process of S14, and maintains the enabled state when the enabled state is maintained immediately before the recommendation parking assistance is turned on.
When the processes of S90 and S98 are completed or when the negative determination is made in the processes of S84, S88, S92, and S96, the CPU 42 temporarily ends the series of processes shown in
Here, the action and effect of the present embodiment will be described. When the trip starts, the CPU 42 writes, to the RAM 45, whether each of the 12 function unit assistance processes is enabled or disabled based on the setting information data Dis. A part (a) of
When the vehicle VC reaches the entrance of the expressway by the traveling of the vehicle VC, the CPU 42 proposes to the driver to turn on the expressway recommendation assistance. When the driver agrees to the proposal, the CPU 42 switches, to the enabled state, a state of a process that is stored in the RAM 45 and should be enabled by the expressway recommendation assistance among twelve function unit assistance processes.
A part (b) of
After that, when the vehicle VC shifts to a snowy road, the CPU 42 proposes to turn on the snowy road recommendation assistance. When the driver agrees to the proposal, the CPU 42 updates the states of twelve function unit assistance processes in the RAM 45 according to the snowy road driving assistance.
A part (a) of
After that, when the vehicle VC leaves the snowy road, the CPU 42 inquires of the driver whether the snowy road recommendation assistance may be turned off. When the driver agrees to the proposal of turning off the assistance, the CPU 42 updates the states of twelve function unit assistance processes in the RAM 45 according to the snowy road driving assistance. Here, the CPU 42 disables the function unit support process specified to be enabled by the snowy road recommendation assistance process. However, even when the function unit assistance process is specified to be enabled by the snowy road recommendation assistance, the enabled state is maintained for those that are enabled by a process other than the snowy road recommendation assistance.
A part (a) of
According to the present embodiment described above, the actions and effects described below can be obtained.
(1) The CPU 42 turns on the expressway recommendation assistance, the snowy road recommendation assistance, and the parking recommendation assistance. After that, when the situation for suggesting them is resolved, the CPU 42 proposes to turn them to the OFF state. When the consent is not obtained, the CPU 42 maintains the ON state. Thereby, when the similar traveling situation occurs again, it is possible to execute the assistance process without re-proposing.
(2) When the CPU 42 determines that the driver driving ability has deteriorated, the CPU 42 notifies that the ability deterioration recommendation assistance is turned on, and keeps the ability deterioration recommendation assistance in the ON state unless the assistance is refused. Thereby, it is possible to maintain the vehicle VC in a safe state as much as possible.
(3) All function unit assistance processes are turned on by the ability deterioration recommendation assistance. Thereby, it is possible to maintain the vehicle VC in a safe state as much as possible. In particular, in the case of the present embodiment, the MRM is turned on when the cruise control process is turned on, so it is possible to activate the MRM when the driver driving ability further deteriorates.
(4) When the CPU 42 determines that the driver attentiveness ability has deteriorated, the CPU 42 notifies that the attentiveness ability deterioration recommendation assistance is turned on, and keeps the attentiveness ability deterioration recommendation assistance in the ON state unless the assistance is rejected. Thereby, it is possible to maintain the vehicle VC in a safe state as much as possible.
(5) The CPU 42 updates the status of the function unit assistance process stored in the RAM 45 to the state indicated by the setting information data Dis when the trip starts. Thereby, even the process whose state is automatically switched to the enabled state by the processes of
The above-described embodiment may be modified as follows. The above-described embodiment and the following modifications can be implemented in combination with one another as long as there is no technical contradiction.
Further, for example, the ADAS ECU 40 and at least a part of brake ECU steering ECU 90 and drive ECU 100 may be integrally formed.
Although the present disclosure has been made in accordance with the embodiments, it is understood that the present disclosure is not limited to such embodiments and structures. The present disclosure incorporates various modifications and variations within the scope of equivalents. In addition, various combinations and forms, and further, other combinations and forms including only one element, or more or less than these elements are also within the sprit and the scope of the present disclosure.
The device and the method described in the present disclosure may be implemented by a special purpose computer created by configuring a memory and a processor programmed to execute one or more particular functions embodied in computer programs. Alternatively, the device and the method described in the present disclosure may be implemented by a special purpose computer created by configuring a processor provided by one or more special purpose hardware logic circuits. Alternatively, the device and the method described in the present disclosure may be implemented by one or more special purpose computers created by configuring a combination of a memory and a processor programmed to execute one or more particular functions and a processor provided by one or more hardware logic circuits. The computer programs may be stored, as instructions being executed by a computer, in a tangible non-transitory computer-readable medium.
Here, the process of the flowchart or the flowchart described in this application includes a plurality of sections (or steps), and each section is expressed as, for example, S10. Further, each section may be divided into several subsections, while several sections may be combined into one section. Furthermore, each section thus configured may be referred to as a device, module, or means.
Number | Date | Country | Kind |
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2021-023483 | Feb 2021 | JP | national |
The present application is a continuation application of International Patent Application No. PCT/JP2022/005236 filed on Feb. 10, 2022, which designated the U.S. and claims the benefit of priority from Japanese Patent Application No. 2021-023483 filed on Feb. 17, 2021. The entire disclosures of all of the above applications are incorporated herein by reference.
Number | Date | Country | |
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Parent | PCT/JP2022/005236 | Feb 2022 | US |
Child | 18450311 | US |