Patent Application
20240331260
Priority is claimed on Japanese Patent Application No. 2023-056964, filed Mar. 31, 2023, the content of which is incorporated herein by reference.
The present invention relates to a reproduction system, a reproduction method, and a storage medium.
In recent years, efforts to provide access to sustainable transportation systems that take into account the vulnerable among traffic participants have become active. To achieve this, concentration has been focused on research and development to further improve traffic safety and convenience through research and development related to driving assistance techniques.
The following Patent Literature 1 discloses an image display system that enables efficient on-site verification of a traffic accident by displaying images captured from various points along the traveling route of a car at the scene of a traffic accident in association with a floor plan. This system reproduces changes in field-of-view images that would be seen by a driver as a moving image.
Incidentally, in driving assistance techniques, reproduction of the status of a host vehicle in a specific traffic section using a moving image generated by computer graphics can also be considered. However, in this case, the movement history of the host vehicle may not be able to be accurately reproduced in the moving image generated by computer graphics due to missing data used for generating the moving image, the influence of noise caused by vibration of the host vehicle, or the like.
The present invention was contrived in view of such circumstances, and an object thereof is to provide a reproduction system, a reproduction method, and a storage medium that make it possible to accurately reproduce the movement history of a host vehicle. In the long run, this contributes to the development of a sustainable transportation system.
In order to solve the above problem, the present invention adopts the following aspects.
According to the above aspects of the present invention, it is possible to provide a reproduction system, a reproduction method, and a storage medium that make it possible to accurately reproduce the movement history of a host vehicle.
Hereinafter, a reproduction system, a reproduction method, and a storage medium according to the present embodiment will be described with reference to the accompanying drawings.
The reproduction system 1 includes, for example, an acquisition unit 2, a display device 30, and a display control device 100. The acquisition unit 2, the display device 30, and the display control device 100 may be mounted in a host vehicle M. These devices or instruments may be connected to each other through a multiplex communication line such as a controller area network (CAN) communication line, a serial communication line, a wireless communication network, or the like. The configuration shown in
The host vehicle M is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle or the like, and the driving source thereof is an internal-combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using power generated by a generator connected to an internal-combustion engine or discharging power of a secondary battery or a fuel cell.
The acquisition unit 2 includes an external detection unit 10 and a vehicle sensor 20. The acquisition unit 2 acquires parameters related to the relative behavior of the host vehicle M with respect to the surrounding environment.
The external detection unit 10 is a variety of devices for acquiring external information of the host vehicle M. Examples of “external information” include information relating to the shapes and positions (relative positions viewed from the host vehicle M) of other traffic participants, road surface marks such as road partition lines painted on or attached to the road surface (hereinafter referred to as partition lines), pedestrian crossings, bicycle crossings, stop lines, road marks, traffic signals, railroad crossings, curbstones, median strips, guardrails, fences, and the like. Examples of “other traffic participants” include vehicles (such as two-wheeled vehicles or four-wheeled vehicles), pedestrians, and the like. In the example of the moving image shown in
The external detection unit 10 includes, for example, a camera, a light detection and ranging (LIDAR), a radar device, a sensor fusion device, and the like. Examples of the camera capable of being used include a digital camera using a solid-state imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), a stereo camera, and the like. The camera serving as the external detection unit 10 captures a forward image of the host vehicle M and outputs it as image data.
The vehicle sensor 20 includes a vehicle speed sensor that detects the speed of the host vehicle M, a gyro sensor that detects an angular velocity, an accelerator pedal sensor that detects the amount of operation of an accelerator pedal or the presence or absence of its operation, a brake pedal sensor that detects the amount of operation of a brake pedal or the presence or absence of its operation, an acceleration sensor that detects an acceleration, an orientation sensor that detects the orientation of the host vehicle M, and the like. The gyro sensor includes, for example, a yaw rate sensor that detects an angular velocity around a vertical axis.
The display control device 100 includes, for example, a display control unit 110, a recognition unit 120, a reproduced moving image generation unit 130, and a storage unit 140. The storage unit 140 includes an abstract data storage unit 141, a time-series parameter storage unit 142, and a moving image data storage unit 143. The functions of the display control unit 110, the recognition unit 120, and the reproduced moving image generation unit 130 are realized, for example, by a hardware processor such as a central processing unit (CPU) executing a program (software). Some or all of these components may be realized by hardware (a circuit unit; including circuitry) such as a large scale integration (LSI), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a graphics processing unit (GPU), and may be realized by software and hardware in cooperation. The program may be stored in a storage device (not shown) in advance, may be stored in a detachable storage medium (non-transitory storage medium) such as a DVD or a CD-ROM, or may be installed in the storage device by the storage medium being mounted in a drive device. Some or all of the functions of the display control unit 110, the recognition unit 120, and the reproduced moving image generation unit 130 may be realized by the same hardware.
The recognition unit 120 recognizes the situation such as the type and position of an object in the vicinity of the host vehicle M on the basis of external information which is output by the external detection unit 10. Examples of the “object” include some or all of a moving object such as a vehicle, a bicycle, or a pedestrian, a driving boundary such as a road partition line, a step difference, a guardrail, a shoulder, or a median strip, a structure installed on a road such as a road mark or a signboard, and a fallen object present (dropped) on a runway.
For example, when image data captured by the camera of the external detection unit 10 is input to the recognition unit 120, the recognition unit 120 may acquire the external situation by inputting the image data to a trained model that has been trained to output the result of image recognition. The type of object can also be estimated on the basis of the size of the object in the image data, the intensity of reflected waves received by the radar device of the external detection unit 10, and the like. The recognition unit 120 may acquire the movement speed of other traffic participants, for example, detected by the radar device using Doppler shift or the like.
The position of the object is recognized as, for example, a position in relative coordinates with a representative point (such as the center of gravity of the host vehicle M or the center of the drive shaft) as the origin (that is, a relative position with respect to the host vehicle M). Examples of the position of the object include the relative positions of another traffic participant, a left road partition line, a right road partition line, a left curbstone, a right curbstone, a stop line, a traffic signal, and the like as viewed from the host vehicle M.
The display control unit 110 generates time-series parameter data indicating the parameters acquired by the acquisition unit 2 in a time series. Specifically, the display control unit 110 generates external time-series data indicating the external status of the host vehicle M in a time series on the basis of the recognition result which is output by the recognition unit 120. The display control unit 110 generates vehicle time-series data indicating the driving status of the host vehicle M in a time series on the basis of the vehicle information which is output by the vehicle sensor 20. The time-series parameter data includes external time-series data and vehicle time-series data. The display control unit 110 causes the time-series parameter storage unit 142 to store the time-series parameter data.
The external time-series data includes, for example, as a time series, the distance from the host vehicle M to the left road partition line, the distance from the host vehicle M to the right road partition line, the distance from the host vehicle M to the left curbstone, the distance from the host vehicle M to the right curbstone, the distance from the host vehicle M to the stop line, the distance from the host vehicle M to a traffic signal, the type of another traffic participant, the relative position viewed from the host vehicle M, and the like.
The vehicle time-series data includes, for example, as a time series, a yaw rate, a vehicle speed, accelerator operation information, brake operation information, light operation information, blinker operation information, wiper operation information, hazard operation information, and the like.
The display control unit 110 determines whether to cause the reproduced moving image generation unit 130 to generate a reproduced moving image, whether to cause the display device 30 to display the reproduced moving image, and the like. The display control unit 110 executes control based on the determination result. For example, in a case where the display control unit 110 determines that the display device 30 is caused to display the reproduced moving image, the display control unit performs processing for causing the display device 30 to display the reproduced moving image.
The display device 30 displays the reproduced moving image generated by the reproduced moving image generation unit 130. In a case where the display device 30 is mounted in the host vehicle M, the display device 30 may display information images indicating various types of information to be presented to the driver of the host vehicle M in addition to the reproduced moving image. The display device 30 is, for example, a liquid crystal display (LCD) or the like built into the dashboard or instrument panel of the host vehicle M. The display device 30 may not be mounted in the host vehicle M.
The abstract data storage unit 141 stores abstracted image data (hereinafter referred to as abstract data) corresponding to the type of object. For example, in a case where the type of object is a vehicle, the abstract data may be prepared for each type of vehicle (such as a two-wheeled vehicle, a four-wheeled vehicle, or a large-size vehicle). The abstract data storage unit 141 may store abstract data corresponding to objects other than traffic participants (such as, for example, a traffic signal, a sign, or a building).
The reproduced moving image generation unit 130 includes a focusing point specification unit 131, an extraction unit 132, a calculation unit 133, a selection unit 134, and a moving image generation unit 135. The reproduced moving image generation unit 130 generates a reproduced moving image in a specific traffic section.
First, the generation of a moving image for reproducing the movement history of the host vehicle M performed by the reproduced moving image generation unit 130 will be described. In the moving image data storage unit 143, the possible movements of the host vehicle M in a specific traffic section are stored in advance as a plurality of pieces of moving image data. For example, in a case where the host vehicle M turns right in a specific traffic section, a plurality of pieces of moving image data includes a plurality of supposed trajectories 11 to 13 of the host vehicle M shown in
The reproduced moving image generation unit 130 dynamically displays the movement history of the host vehicle M in a specific traffic section in a reproduced moving image on the basis of the time-series parameter data and a plurality of pieces of moving image data. The reproduced moving image generation unit 130 displays the trajectory L of the host vehicle M in the reproduced moving image.
The focusing point specification unit 131 specifies one or more focusing points (in the example of
The focusing point specification unit 131 may specify a position at which the attributes of a road have changed in a specific traffic section as a focusing point. The position at which the attributes of a road have changed is, for example, the position of a road surface mark, a road mark, a lane change, or the like. At these positions, the movement of the host vehicle M is restricted and the behavior of the host vehicle M changes. The position at which the attributes of the road have changed may be a position at which the behavior of the host vehicle M changes due to the involvement of other traffic participants. For example, in a case where the host vehicle M turns right in a specific traffic section, the host vehicle M temporarily stops due to the presence of the oncoming vehicle X going straight or a pedestrian crossing the road, and the behavior of the host vehicle M changes.
The extraction unit 132 extracts a group of focusing point parameters related to the focusing points P1 to P4 from the time-series parameter data stored in the time-series parameter storage unit 142 for each of the focusing points P1 to P4. Specifically, the extraction unit 132 extracts, as a group of focusing point parameters, time-series parameter data in focusing sections K1 to K4 including a predetermined time width before and after the times corresponding to the focusing points P1 to P4 from the time-series parameter data stored in the time-series parameter storage unit 142. The focusing sections K1 to K4 are, for example, sections of a few seconds before and after the focusing points P1 to P4.
The calculation unit 133 calculates feature points at the focusing points P1 to P4 by statistically processing the group of focusing point parameters extracted by the extraction unit 132 for each of the focusing points P1 to P4. The feature points include information such as, for example, the relative position of the host vehicle M with respect to the surrounding environment, the yaw rate of the host vehicle M, and the vehicle speed of the host vehicle M. Examples of the relative position of the host vehicle M with respect to the surrounding environment include the distance from the host vehicle M to the left road partition line, the distance from the host vehicle M to the right road partition line, the distance from the host vehicle M to the left curbstone, the distance from the host vehicle M to the right curbstone, the distance from the host vehicle M to the stop line, the distance from the host vehicle M to the traffic signal, and the like.
For example, the calculation unit 133 calculates feature points at the focusing points P1 to P4 by performing an averaging process on the group of focusing point parameters extracted by the extraction unit 132. That is, the calculation unit 133 calculates the average value of the parameters included in the group of focusing point parameters as the feature points at the focusing points P1 to P4. The calculation unit 133 may calculate the feature points at the focusing points P1 to P4 by performing a filtering process on the group of focusing point parameters extracted by the extraction unit 132 and removing noise included in the group of focusing point parameters.
The selection unit 134 selects generated moving image data to be used for generating a moving image from a plurality of pieces of moving image data stored in the moving image data storage unit 143 on the basis of the time-series parameter data. For example, the selection unit 134 estimates a trajectory close to the actual trajectory of the host vehicle M among the supposed trajectories 11 to 13 of the host vehicle M on the basis of the relative position, yaw rate, vehicle speed, and the like of the host vehicle M included in the time-series parameter data, and selects moving image data corresponding to the trajectory as generated moving image data. For example, in a case where the speed of the host vehicle M at the focusing point P2 is higher than the ideal speed of the host vehicle M at the focusing point P2 (the speed of the host vehicle M in a case where the host vehicle M takes the ideal trajectory 11), the actual trajectory of the host vehicle M is estimated to be close to the supposed trajectory 12, and the moving image data corresponding to the supposed trajectory 12 is selected. For example, in a case where the yaw rate of the host vehicle M at the focusing point P2 is greater than the ideal yaw rate of the host vehicle M (the yaw rate of the host vehicle M in a case where the host vehicle M takes the ideal trajectory 11), the actual trajectory of the host vehicle M is estimated to be close to the supposed trajectory 13, and the moving image data corresponding to the supposed trajectory 13 is selected.
The moving image generation unit 135 generates a moving image for reproducing the movement history of the host vehicle M in a specific traffic section on the basis of the feature points calculated by the calculation unit 133 and the generated moving image data selected by the selection unit 134. Specifically, the moving image generation unit 135 sets the position of the host vehicle M at the focusing points P1 to P4 on the basis of the feature points calculated by the calculation unit 133. For the section between the focusing point P1 and the focusing point P2, the moving image generation unit 135 interpolates the trajectory of the host vehicle M by linearly connecting the position of the host vehicle M at the focusing point P1 and the position of the host vehicle M at the focusing point P2. For the section between the focusing point P2 and the focusing point P3, the moving image generation unit 135 interpolates the trajectory of the host vehicle M on the basis of the position of the host vehicle M at the focusing points P2 and P3 and the reproduced moving image data selected by the selection unit 134. For the section between the focusing point P3 and the focusing point P4, the moving image generation unit 135 interpolates the trajectory of the host vehicle M by linearly connecting the position of the host vehicle M at the focusing point P3 and the position of the host vehicle M at the focusing point P4. The moving image generation unit 135 sets the speed of the host vehicle M at the focusing points P1 to P4 on the basis of the feature points calculated by the calculation unit 133. For the section between the focusing point P1 and the focusing point P2, the moving image generation unit 135 derives the acceleration of the host vehicle M from the difference between the speed of the host vehicle M at the focusing point P1 and the speed of the host vehicle M at the focusing point P2, and interpolates the speed of the host vehicle M so that the host vehicle M decelerates with the derived acceleration. For the section between the focusing point P2 and the focusing point P3, the moving image generation unit 135 interpolates the speed of the host vehicle M on the basis of the speed of the host vehicle M at the focusing points P2 and P3 and the reproduced moving image data selected by the selection unit 134. For the section between the focusing point P3 and the focusing point P4, the moving image generation unit 135 derives the acceleration of the host vehicle M from the difference between the speed of the host vehicle M at the focusing point P3 and the speed of the host vehicle M at the focusing point P4, and interpolates the speed of the host vehicle M so that the host vehicle M accelerates with the derived acceleration.
The reproduced moving image generation unit 130 generates a background image in a specific traffic section in which the host vehicle M has traveled on the basis of the external time-series data. The background image may include, for example, a road and surrounding structures (such as buildings, guardrails, or three-dimensional signs). The background image may be generated on the basis of abstract data stored in the abstract data storage unit 141. Specifically, the reproduced moving image generation unit 130 reads out the abstract data corresponding to the type of object recognized by the recognition unit 120 from the abstract data storage unit 141. For example, in a case where the recognition unit 120 recognizes the presence of an oncoming vehicle in front of the host vehicle M, the abstract data corresponding to the type of oncoming vehicle (such as a two-wheeled vehicle or a four-wheeled vehicle) is read out. The reproduced moving image generation unit 130 adjusts the shape of abstract data to be displayed in the reproduced moving image on the basis of the size of the object recognized by the recognition unit 120. For example, in a case where the recognition unit 120 recognizes the width dimension of an oncoming vehicle, the width of the abstract data indicating the oncoming vehicle is adjusted using the width dimension. Lines marked on the road such as the road partition line may be rendered (drawn) in the moving image on the basis of the geometric data recognized by the recognition unit 120 rather than on the basis of the abstract data stored in the abstract data storage unit 141.
The reproduced moving image generation unit 130 dynamically displays the movement history of other traffic participants in a specific traffic section in the reproduced moving image on the basis of the external time-series data. In a case where other traffic participants are stationary when the host vehicle M passes through a specific traffic section, the positions of the other traffic participants may be displayed statically in the reproduced moving image.
The reproduced moving image generated by the reproduced moving image generation unit 130 and displayed on the display device 30 may be a moving image from the other party's view as shown in
The background image may be displayed statically or may be displayed dynamically. For example, in the moving image of bird's-eye view shown in
As shown in
The display control unit 110 executes control corresponding to each of the icons IC1 to IC4 when a user operates these icons. For example, as shown in
The reproduced moving image generation unit 130 may execute moving image generation every time it receives a moving image output command, and cause the display device 30 to display the generated moving image. Alternatively, the reproduced moving image generation unit 130 may have a storage area for storing the generated moving image, and upon receiving a moving image output command, may call up the moving image stored in the storage area and output it to the display device 30.
Information relating to the traffic of the host vehicle M and another traffic participant (for example, the oncoming vehicle X) in a specific traffic section (for example, a point of intersection) is displayed in the traffic information display region A2. In the examples of
In the example of
As described above, the reproduction system 1 of the present embodiment includes the acquisition unit 2 that acquires parameters related to the relative behavior of the host vehicle M with respect to the surrounding environment in a specific traffic section, the time-series parameter storage unit 142 that stores the parameters in the specific traffic section in a time series as time-series parameter data, the reproduced moving image generation unit 130 that generates a moving image for reproducing the movement history of the host vehicle M in the specific traffic section on the basis of the time-series parameter data, and the display control unit 110 that causes the display device 30 to display the moving image. The reproduced moving image generation unit 130 includes the focusing point specification unit 131 that specifies one or more focusing points P1 to P4 of the host vehicle M in the specific traffic section, the extraction unit 132 that extracts a group of focusing point parameters related to the focusing points P1 to P4 from the time-series parameter data stored in the time-series parameter storage unit 142, the calculation unit 133 that calculates feature points at the focusing points P1 to P4 by statistically processing the group of focusing point parameters, and the moving image generation unit 135 that generates a moving image for reproducing the movement history of the host vehicle M in the specific traffic section on the basis of the feature points.
According to such a reproduction system 1, the movement history of the host vehicle M in the specific traffic section can be reproduced as a moving image generated by computer graphics, and the movement history of the host vehicle M can be objectively shown to a driver. The feature points at the focusing points P1 to P4 are calculated by extracting a group of focusing point parameters related to the focusing points P1 to P4 from the time-series parameter data stored in the time-series parameter storage unit 142 and statistically processing the extracted group of focusing point parameters. A moving image for reproducing the movement history of the host vehicle M in the specific traffic section is generated on the basis of the feature points calculated in this way. Thereby, even in a case where there are omissions or noise in the time-series parameter data, the movement history of the host vehicle M in the specific traffic section can be accurately reproduced using data from which the omissions or noise has been removed.
The reproduction system 1 may further include the moving image data storage unit 143 that stores the possible movements of the host vehicle M in the specific traffic section as at least one or a plurality of pieces of moving image data, the reproduced moving image generation unit 130 may include the selection unit 134 that selects generated moving image data from at least one or a plurality of pieces of moving image data stored in the moving image data storage unit 143 on the basis of the time-series parameter data stored in the time-series parameter storage unit 142, and the moving image generation unit 135 may generate a moving image for reproducing the movement history of the host vehicle M in the specific traffic section on the basis of the generated moving image data selected by the selection unit 134 and the feature points. According to such a configuration, generated moving image data to be used for generating a moving image is selected from at least one or a plurality of pieces of moving image data indicating the possible movements of the host vehicle M, and a moving image for reproducing the movement history of the host vehicle M in the specific traffic section is generated on the basis of the selected generated moving image data and the feature points. Therefore, the movement history of the host vehicle M in the specific traffic section can be reproduced with a higher degree of accuracy.
The calculation unit 133 may statistically process the group of focusing point parameters by performing an averaging process or a filtering process on the group of focusing point parameters. According to such a configuration, it is possible to minimize variations in the data included in the group of focusing point parameters, and to generate a seamless moving image. Therefore, a user's conviction, reliability, and acceptability of the system are increased.
The focusing point specification unit 131 may specify one or more focusing points P1 to P4 on the basis of a change in the behavior of the host vehicle M. According to such a configuration, since a moving image for reproducing the movement history of the host vehicle M can be generated on the basis of the parameters related to the relative behavior of the host vehicle M at a position where the behavior of the host vehicle M has changed, it is possible to generate a moving image corresponding to the actual movement of the host vehicle M. Therefore, a user's conviction, reliability, and acceptability of the system are increased.
The focusing point specification unit 131 may specify one or more focusing points P1 to P4 on the basis of the attributes of the road in the specific traffic section. According to such a configuration, since a moving image for reproducing the movement history of the host vehicle M can be generated on the basis of the parameters related to the relative behavior of the host vehicle M at a position where the attributes of the road have changed in the specific traffic section, it is possible to generate a moving image corresponding to the actual movement of the host vehicle M. Therefore, a user's conviction, reliability, and acceptability of the system are increased.
The acquisition unit 2 may include the external detection unit 10 that acquires external information of the host vehicle M and the vehicle sensor 20 that acquires vehicle information of the host vehicle M, and the time-series parameter data may include external time-series data which is generated on the basis of the external information and indicates the external status of the host vehicle M in a time series and vehicle time-series data which is generated on the basis of the vehicle information and indicates the driving status of the host vehicle M in a time series. According to such a configuration, the movement history of the host vehicle M in the specific traffic section can be reproduced with a higher degree of accuracy.
The external detection unit 10 may include an image sensor that captures a forward image of the host vehicle M, the external time-series data may include time-series positions of a stop line and a vehicle traffic division line on a road on which the host vehicle M has traveled, and the vehicle time-series data may be input to the reproduced moving image generation unit 130 through an in-vehicle communication network (CAN) of the host vehicle M. According to such a configuration, a reproduced moving image can be generated using existing hardware resources mounted in the vehicle.
The reproduced moving image generation unit 130 may generate a moving image for reproducing a movement history of another traffic participant whose path intersects with the host vehicle M in the specific traffic section, together with the movement history of the host vehicle M in the specific traffic section, on the basis of the time-series parameter data. This makes it possible to reproduce the situation in the specific traffic section where the host vehicle M and the other traffic participant interfere with each other in an easy-to-understand manner.
The reproduced moving image generation unit 130 may use information relating to the other traffic participant included in the time-series parameter data to generate abstracted image data corresponding to the other traffic participant and display the image data as the other traffic participant in the moving image. In this manner, the use of the abstracted image data makes it possible to reduce the processing load more than, for example, in a case where live-action data of the other traffic participant is displayed in the reproduced moving image.
The above-described embodiment can be represented as follows.
A reproduction system including:
The technical scope of the present invention is not limited to the above-described embodiments, and various changes can be made without departing from the spirit of the invention.
For example, a portion of the reproduction system 1 (such as, for example, the display device 30 or the display control device 100) may be mounted in an instrument (such as a server, a personal computer, a smartphone, or a tablet terminal) that wirelessly communicates with the host vehicle M without being mounted in the host vehicle M. That is, the generation and reproduction of a moving image may be performed by an instrument which is remote from the host vehicle M.
As a specific example, the moving image generated by the reproduced moving image generation unit 130 may be stored in a storage unit included in a server or the like. Based on an operation on an instrument connected to the server, the reproduced moving image may be displayed on a display device included in the instrument. In this case, a driver can watch the moving image at home or the like and look back on his or her own driving operations. Alternatively, it is also possible to perform training using a reproduced moving image at a driving school or the like.
In the embodiment, a point of intersection has been used as an example of a specific traffic section. However, the specific traffic section does not have to be a point of intersection, and may be, for example, a point within a parking lot. Alternatively, the specific traffic section may be a connection point between a parking lot or the like and a road. In these cases, safer driving can also be encouraged by objectively showing the movement history of the host vehicle M to the driver.
While preferred embodiments of the invention have been described and illustrated above, it should be understood that these are exemplary of the invention and are not to be considered as limiting. Additions, omissions, substitutions, and other modifications can be made without departing from the spirit or scope of the present invention. Accordingly, the invention is not to be considered as being limited by the foregoing description, and is only limited by the scope of the appended claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2023-056964 | Mar 2023 | JP | national |
