CN103802830A - SCC system for car and control method thereof - Google Patents
SCC system for car and control method thereof Download PDFInfo
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- CN103802830A CN103802830A CN201310499132.9A CN201310499132A CN103802830A CN 103802830 A CN103802830 A CN 103802830A CN 201310499132 A CN201310499132 A CN 201310499132A CN 103802830 A CN103802830 A CN 103802830A
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
The invention discloses an SCC system for a car and a control method thereof. The SCC for the car includes an information receiving part for receiving traffic information transmitted from a traffic controller at crossroads, a navigator part for transmitting the specified speed of the driving road, calculating and transmitting the distance from the car to the crossroads, a passing determination part for determining whether the car can pass through the crossroads in the car moving direction based on the information received from the information receiving part and the navigator part, and an SCC control part for determining the speed of the car based on the information received from the passing determination part. According to the invention, the car can autonomously determine residual passing time that cannot be obtained by a driver in a visual manner, the driver is hard to determine whether the car can pass through and whether the car needs to speed up and control, thereby improving the convenience for the driver who controls the car by means of SCC.
Description
Technical field
The present invention relates to intelligent cruise control system and the control method thereof of vehicle, relate in particular to and a kind ofly can judge that can the vehicle in intelligent cruise controlling run pass through four corners, and intelligent cruise control system and the control method thereof controlled.
Background technology
Advanced along with vehicle functions, intelligent cruise control (the Smart Cruise Control of vehicle safety is sought in lift-launch, being called for short SCC) system or electronic stability control (Electronic stability Control is called for short ESC) system become a kind of trend.Intelligent cruise control system is the component part that is known as the middle following distance control apparatus that travels, its utilization is installed on the radar sensor sensing front before vehicle, cruise function is provided, make it possible in keeping predefined certain intervals with front vehicles, the speed automatic running of setting with chaufeur, or speed restriction function is provided, and control car speed, make to be no more than the speed that chaufeur is set.
This intelligent cruise control system has chaufeur without the convenience for regulating Vehicle Speed ongoing operation Das Gaspedal (accelerator), can prevent that vehicle from exceeding setting speed and travelling, seek safe driving, because of but a kind of function that liked by chaufeur.
No. 10-2012-0065781st, existing Republic of Korea publication etc., intersection passing with regard to intelligent cruise control vehicle is relevant, while having proposed to keep straight on to the method for informing excess time etc. by vehicle, and then proposition is such as medical truck at the vehicle of being scheduled to by four corners, when vehicle that fire extinguishing tanker etc. need to preferentially pass through, append the method for passing through excess time of direct of travel etc. that provides.
But the method proposing is not at present considered four corners limited speed, congestion etc., only improve speed according to the signal that passes through of direct of travel excess time, the problem such as therefore likely processed by police because violating speed limit regulation and accidents caused.
Summary of the invention
Technical matters
Therefore, the technical problem to be solved in the present invention is to provide a kind of intelligent cruise control system, its have consider whether block up, the specified speed that passes through situation and travel of the four corners such as signal information etc., thereby consider to change the function of intelligent cruise control rate and releasing.
Technical scheme
Be intended to reach described object, the invention provides a kind of intelligent cruise control system of vehicle, it comprises: information acceptance division, and it receives the traffic information of sending from the traffic controller of four corners; Navigating instrument portion, it sends the specified speed of travel, and calculating and sending is sent the distance of vehicle to four corners; Can pass through judging part, it utilizes the information receiving from described information acceptance division and described navigating instrument portion, and can judgement pass through the four corners of vehicle direct of travel; And the control part of intelligent cruise control, can it,, according to from the described information that receive by judging part, determine the speed of vehicle.
Described traffic information can comprise the excess time of the entering signal of the direct of travel of described vehicle.
Described can being judged as by judging part: in the time can passing through four corners with setting speed, pass through four corners with setting speed; In the time can passing through four corners by speedup in limited speed, speedup is passed through four corners.
Described traffic information can also comprise the vehicle congestion situation of the direct of travel of described vehicle.
Describedly can pass through judging part, can calculate from the vehicle congestion condition information of the vehicle direct of travel of reception the maximum travelling speed of vehicle, at the maximum travelling speed of described vehicle than the limited speed hour of road, the maximum travelling speed that can speedup speed be defined as described vehicle of vehicle.
Described traffic controller can be arranged at four corners, collects the traffic informations such as traffic signal, four corners congestion, and sends to the vehicle closing on by wireless data sending set.
Described navigating instrument portion, can be position and the four corners location information utilized when vehicle in front, according to entering before four corners Distance Remaining and entering the distance of passing through after four corners, calculate from current vehicle location to the distance in the place by four corners completely (four corners by apart from) information and travel the maximum permission speed information of road, described in sending to, can pass through judging part.
On the other hand, be intended to reach described order, the intelligent cruise control system control method that the invention provides a kind of vehicle, it comprises: receive the excess time of entering signal of four corners direct of travel and the step of the relevant traffic information of congestion of four corners sent from the traffic controller of four corners; Receive the specified speed of travel and the vehicle step to the distance of four corners from navigating instrument; Utilize the traffic information receiving from described traffic controller and the information receiving from described navigating instrument, can judgement by the step of the four corners of vehicle direct of travel; And can be when the four corners when being judged as, the information receiving according to the information receiving from described traffic controller with from described navigating instrument, determines the step of the car speed required by four corners.
In can described judgement by the step of the four corners of vehicle direct of travel, can be judged as: when can be with setting speed during by four corners, pass through four corners with setting speed; In the time can passing through four corners by speedup in limited speed, speedup is passed through; In the time cannot cannot passing through four corners with limited speed, stop.
Can pass through in the step of four corners of vehicle direct of travel in described judgement, can calculate from the vehicle congestion condition information of the vehicle direct of travel of reception the maximum travelling speed of vehicle, at the maximum travelling speed of described vehicle than the limited speed hour of road, the maximum travelling speed that can speedup speed be defined as described vehicle of vehicle.
Technique effect
According to embodiments of the invention, can judge that can vehicle by four corners and control, thereby improve the value of the product of intelligent cruise control system.
In addition, vehicle independently judges that the residue that chaufeur visually cannot be learnt can pass through the time, chaufeur be difficult to judge at short notice whether can by and whether need vehicle speedup, and control, thereby improve the chaufeur convenience of the vehicle that is suitable for intelligent cruise control.
Accompanying drawing explanation
Fig. 1 shows that the operating vehicle of intelligent cruise control setup is by the schematic diagram of the situation of four corners;
Fig. 2 is the block diagram that shows the formation of the intersection traffic controller of four corners setting;
Fig. 3 is the block diagram that shows the formation of the intelligent cruise control system of one embodiment of the invention;
Can Fig. 4 judge pass through the working-flow figure of four corners according to one embodiment of present invention.
Description of reference numerals
11: information acceptance division 12: navigating instrument portion
13: can pass through judging part 14: the control part of intelligent cruise control (SCC)
The specific embodiment
With reference to the accompanying drawings, describe embodiments of the invention in detail.In this process, for the reason in definition and facility on illustrating, size or the shape etc. of the inscape showing in accompanying drawing may be exaggerated demonstration.In addition, consider formation of the present invention and effect and the term of special definition, may be because of user, fortune user's intention or convention and different.Ying Yiben specification sheets in the whole text content is made definitions to this term for basic.And thought of the present invention is not defined in the embodiment of prompting, the those skilled in the art who understands inventive concept can change places and implement other embodiment at same thought range content, and this is also within the scope of the present invention certainly.
Fig. 1 shows that the operating vehicle of intelligent cruise control setup is by the schematic diagram of the situation of four corners, Fig. 2 is the block diagram that shows the formation of the intersection traffic controller of four corners setting, and Fig. 3 is the block diagram that shows the formation of the intelligent cruise control system of one embodiment of the invention.
Intelligent cruise control (Smart Cruise Control, be called for short SCC) install operating vehicle, utilize as previously mentioned the radar sensor (not shown) sensing front being installed on before vehicle 10, (Cruise) function of cruising is provided, make it possible in keeping predefined certain intervals with front vehicles the speed automatic running of setting with chaufeur.
As shown in Figure 1 to Figure 3, the intelligent cruise control system of the vehicle of one embodiment of the invention comprises: information acceptance division 11, and it receives the traffic information of sending from the traffic controller 20 of four corners; Navigating instrument portion 12, it sends the specified speed of travel, and calculating and sending is sent the distance of vehicle to four corners; Can pass through judging part 13, it utilizes the information receiving from information acceptance division 11 and navigating instrument portion 12, and can judgement pass through four corners; The control part 14 of intelligent cruise control, can it determine the speed of vehicle according to the information from receiving by judging part 13.
By the vehicle by four corners 10 arrive can from traffic controller 20 receiving traffic informations can receiving area, from traffic controller 20 wireless receiving traffic informations.
The function of traffic information server is also played in congestion identification part 21, collects various regional road informations or traffic relevant information, and the information such as traffic, traffic control and traffic accident present situation are provided by traffic related information plate or Traffic Announcement etc.
This congestion identification part 21 can utilize the induction coil detector (Inductive Loop Detector) being arranged on pavement of road or four corners, magnetic field detector (Magnetive Detector), ultrasonic detector (Ultra Sonic Detector), ultrashort waves detector (Microwave Detector), image is processed detector (Image Processing Detector), the various detectors such as infrared detector (Infrared Detector), be arranged at closed-circuit TV (the Closed Circuit Television of different kinds of roads, hereinafter to be referred as CCTV) the CCTV image information of camera (as, CCTV, WEB camera and IP Camera image), road electronic mark (as, VMS image information) and the information that provides of scout vehicle or citizen, collect and store various traffic related informations.
Traffic signal control part 22 provides order change and signal transformation period and the excess time of the signal lamp of four corners, four corners location information.
The information sending by traffic controller 20 is received by the information acceptance division 11 of intelligent cruise control system.
Can information acceptance division 11 extracts required signal information and the congestion information of travel direction of vehicle in the traffic information receiving, send to and pass through judging part 13.
The required signal information of travel direction of vehicle, refers to state and the excess time of current traffic signal lamp.
The congestion of four corners, is the congestion that not only comprises four corners upstream end, also comprises the information of the congestion after four corners passes through.Can calculate four corners by the average gait of march of vehicle from congestion information.Even in the case of the vehicle by four corners speedup, can not be exceeded to the four corners calculating from congestion information by the average velociity of vehicle in order to pass through four corners.
On the other hand, navigating instrument portion 12 utilizes when the position of vehicle in front and the four corners location information receiving by traffic controller 20, after four corners, passing through distance (X2) according to entering Distance Remaining (X1) before four corners and entering, calculate from current vehicle location to the distance (X1+X2 that passes through the place of four corners completely, hereinafter to be referred as " four corners is by distance "), can the maximum permission speed information of the road in travelling be sent to and pass through judging part 13.Can by judging part 13 utilize the congestion of the four corners signal information that transmits from information acceptance division 11 and each direct of travel and the four corners that receives from navigating instrument portion 12 by distance (X1+X2) and specified speed information, judge whether the vehicle by four corners 10 can be passed through to four corners.
In addition, if can pass through four corners, judge whether to pass through with present speed, whether need speedup, and send the control part 14 of intelligent cruise control to.
The control part 14 of intelligent cruise control increases the speed of the vehicle required by four corners or makes vehicle stop.That is, can have speedup request by judging part 13 time, carry out corresponding actions, when not from can be by judging part 13 any information time, proceed intelligent cruise control action based on existing radar.
This communication that utilizes intersection traffic controller 20, because the investigative range of existing trailer-mounted radar is defined as 100m～200m, and plays the effect that this is supplemented while there is the region that cannot survey.
Can Fig. 4 judge pass through the working-flow figure of four corners according to one embodiment of present invention.With reference to Fig. 4, illustrate that the four corners of the intelligent cruise controlling run vehicle that utilizes intelligent cruise control system passes through method.
Suppose that by the direct of travel of the vehicle by four corners be craspedodrome, traffic signal are the greens that can pass through to respective direction.And the symbol definition using is in the following description as follows:
X1: enter the front Distance Remaining of four corners,
X2: from entering four corners to the distance of passing through completely,
V_ setting speed: the intelligent cruise control action speed that chaufeur is set,
V_ limited speed: the highest permissible velocity of travel,
T_ excess time: the excess time of passing through signal of each direct of travel
As shown in Figure 4, in step S11, the vehicle in intelligent cruise controlling run judges whether front exists four corners under steam.Whether the existence of four corners, is to judge by whether sensing the traffic control signal sending from the traffic controller 20 of four corners.
On inspection, in the time not sensing traffic control signal, feed back, grasp when whether sensing traffic control signal, continue to travel by the control of operation intelligent cruise.
Can the inspection in step S11, in the time sensing four corners control signal, in step S12, carry out the step that gather by the required information of four corners judgement.
That is can, information acceptance division 11 receives the congestion of the signal information of current four corners and the excess time of current four corners entering signal and each four corners direct of travel from traffic controller 20, send to and pass through judging part 13.
In addition, can navigating instrument portion 12 calculates the maximum permission speed of the four corners passing through and vehicle to four corners by the distance in place, send to and pass through judging part 13.
In step S13, if be judged as because of the direct of travel situation that cannot pass through of blocking up, in step S17, carry out entering the step that makes vehicle stop before four corners.
In step S14, can utilize the information receiving from traffic controller 20 and navigating instrument portion 12 by judging part 13, judge whether to pass through with maximum permission speed.
Now, the limited speed that is corresponding four corners by the maximum permission speed by four corners vehicle, can keep, under user's state that set and interval front truck, may be calculated four corners by the average velociity of vehicle while having traffic congestion.
Relatively the excess time of traffic signal and four corners by apart from time, if can, with current setting speed by four corners,, by moving intelligent cruise control, pass through four corners with user's setting speed.
The situation that, formula " t_ excess time >=(X1+X2)/V_ setting speed " is set up.
If cannot pass through with setting speed, but can pass through four corners with maximum permission speed time, in step S15, judge whether to raise setting speed (S15), thereby in step S16, in maximum permission speed, setting speed is carried out to speedup, until completely by four corners, to pass through four corners temporarily.
The situation that, formula (X1+X2)/V_ permissible velocity≤t_ < excess time (X1+X2)/V_ setting speed is set up.
Now, can be being adjusted to maximum permission speed on setting speed, but also can calculate the minimum velocity that can pass through, setting speed is only changed to corresponding speed.
In the time that the highest permissible velocity with travel also cannot be passed through four corners,
,, in step S17, when " t_ < excess time (X1+X2)/V_ limited speed ", need to before four corners, stop, thereby transmit stop signal in step S17.
As above description, the residue that the intelligent cruise control system of one embodiment of the invention makes vehicle independently judge that chaufeur visually cannot be learnt can be passed through the time, chaufeur be difficult to judge at short notice whether can by and whether need vehicle speedup, and control, thereby can improve the chaufeur convenience of the vehicle that is suitable for intelligent cruise control.
The preferred embodiments of the present invention have below mainly been described.Each embodiment, only in order to technical scheme of the present invention to be described, is not intended to limit above; Although the present invention is had been described in detail with reference to aforementioned each embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or some or all of technical characterictic is wherein equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (10)
1. an intelligent cruise control system for vehicle, is characterized in that, comprising:
Information acceptance division, it receives the traffic information of sending from the traffic controller of four corners;
Navigating instrument portion, it sends the specified speed of travel, and calculating and sending is sent the distance of vehicle to four corners;
Can pass through judging part, it utilizes the information receiving from described information acceptance division and described navigating instrument portion, and can judgement pass through the four corners of vehicle direct of travel; And
The control part of intelligent cruise control, can it,, according to from the described information that receive by judging part, determine the speed of vehicle.
2. the intelligent cruise control system of vehicle according to claim 1, is characterized in that:
Described traffic information comprises the excess time of the entering signal of the direct of travel of described vehicle.
3. can the intelligent cruise control system of vehicle according to claim 2, is characterized in that, described being judged as by judging part:
In the time can passing through four corners with setting speed, pass through four corners with setting speed;
In the time can passing through four corners by speedup in limited speed, speedup is passed through four corners.
4. the intelligent cruise control system of vehicle according to claim 3, is characterized in that:
Described traffic information also comprises the vehicle congestion situation of the direct of travel of described vehicle.
5. the intelligent cruise control system of vehicle according to claim 4, is characterized in that:
Describedly can pass through judging part, calculate the maximum travelling speed of vehicle from the vehicle congestion condition information of vehicle direct of travel receiving, at the maximum travelling speed of described vehicle than the limited speed hour of road, the maximum travelling speed that can speedup speed be defined as described vehicle of vehicle.
6. the intelligent cruise control system of vehicle according to claim 1, is characterized in that:
Described traffic controller is arranged at four corners, collects the traffic informations such as traffic signal, four corners congestion, sends to the vehicle closing on by wireless data sending set.
7. the intelligent cruise control system of vehicle according to claim 1, is characterized in that:
Described navigating instrument portion,
The maximum permission speed information of the road in travelling and utilize when position and the four corners location information of vehicle in front, according to entering before four corners Distance Remaining and entering the distance of passing through after four corners, can calculating, from current vehicle location to distance (four corners is by the distance) information of passing through the place of four corners completely, pass through judging part described in sending to.
8. an intelligent cruise control system control method for vehicle, is characterized in that, comprising:
Receive the excess time of entering signal of four corners direct of travel and the step of the relevant traffic information of congestion of four corners sent from the traffic controller of four corners;
Receive the specified speed of travel and the vehicle step to the distance of four corners from navigating instrument;
Utilize the traffic information receiving from described traffic controller and the information receiving from described navigating instrument, can judgement by the step of the four corners of vehicle direct of travel; And
Can be when the four corners when being judged as, the information receiving according to the information receiving from described traffic controller with from described navigating instrument, determines the step of the car speed required by four corners.
9. the intelligent cruise control system control method of vehicle according to claim 8, is characterized in that, in can described judgement by the step of the four corners of vehicle direct of travel, is judged as:
In the time can passing through four corners with setting speed, pass through four corners with setting speed;
In the time can passing through four corners by speedup in limited speed, speedup is passed through;
In the time cannot passing through four corners with limited speed, stop.
10. the intelligent cruise control system control method of vehicle according to claim 8, is characterized in that:
Can pass through in the step of four corners of vehicle direct of travel in described judgement,
Calculate the maximum travelling speed of vehicle from the vehicle congestion condition information of vehicle direct of travel receiving, at the maximum travelling speed of described vehicle than the limited speed hour of road, the maximum travelling speed that can speedup speed be defined as described vehicle of vehicle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2012-0126065 | 2012-11-08 | ||
| KR1020120126065A KR101997430B1 (en) | 2012-11-08 | 2012-11-08 | SCC system for car and method of control the same |
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| Publication Number | Publication Date |
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| CN103802830A true CN103802830A (en) | 2014-05-21 |
| CN103802830B CN103802830B (en) | 2017-06-13 |
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| CN201310499132.9A Active CN103802830B (en) | 2012-11-08 | 2013-10-22 | The smart cruise control system and its control method of vehicle |
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| KR (1) | KR101997430B1 (en) |
| CN (1) | CN103802830B (en) |
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| CN105711568A (en) * | 2016-01-22 | 2016-06-29 | 奇瑞汽车股份有限公司 | Vehicle control method and device |
| CN106314432A (en) * | 2015-07-02 | 2017-01-11 | 现代自动车株式会社 | Method for adjusting speed of vehicle |
| CN106355918A (en) * | 2016-09-06 | 2017-01-25 | 北京汽车集团有限公司 | Control method, device and system of unmanned vehicle |
| CN108773375A (en) * | 2018-04-23 | 2018-11-09 | 北京长城华冠汽车科技股份有限公司 | Constant speed cruising method, constant speed cruising system and the vehicle with constant speed cruising system |
| CN109398357A (en) * | 2017-08-14 | 2019-03-01 | 本田技研工业株式会社 | Controller of vehicle, vehicle, control method for vehicle and storage medium |
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| CN104200656B (en) * | 2014-09-16 | 2016-09-28 | 北京交通大学 | A kind of major trunk roads speed planing method based on traffic signal information |
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| KR102506863B1 (en) * | 2017-12-08 | 2023-03-08 | 현대자동차주식회사 | Driving assistance apparatus and method for vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR101997430B1 (en) | 2019-10-01 |
| CN103802830B (en) | 2017-06-13 |
| KR20140059520A (en) | 2014-05-16 |
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