CN104118431A - 用于车辆的防撞装置和方法 - Google Patents
用于车辆的防撞装置和方法 Download PDFInfo
- Publication number
- CN104118431A CN104118431A CN201410165885.0A CN201410165885A CN104118431A CN 104118431 A CN104118431 A CN 104118431A CN 201410165885 A CN201410165885 A CN 201410165885A CN 104118431 A CN104118431 A CN 104118431A
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- China
- Prior art keywords
- collision
- vehicle
- prediction
- time
- speed
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 5
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
Abstract
Description
Claims (8)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020130045352A KR20140126975A (ko) | 2013-04-24 | 2013-04-24 | 차량의 충돌 회피 장치 및 방법 |
KR10-2013-0045352 | 2013-04-24 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104118431A true CN104118431A (zh) | 2014-10-29 |
CN104118431B CN104118431B (zh) | 2019-09-06 |
Family
ID=51764136
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410165885.0A Active CN104118431B (zh) | 2013-04-24 | 2014-04-23 | 用于车辆的防撞装置和方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9545911B2 (zh) |
KR (1) | KR20140126975A (zh) |
CN (1) | CN104118431B (zh) |
DE (1) | DE102014005924A1 (zh) |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106828388A (zh) * | 2016-12-30 | 2017-06-13 | 浙江吉利控股集团有限公司 | 针对行人的车辆主动报警系统及方法和车辆 |
CN107010056A (zh) * | 2015-10-16 | 2017-08-04 | 福特全球技术公司 | 用于机动车辆的安全操作的方法和装置 |
CN107415944A (zh) * | 2016-05-23 | 2017-12-01 | 德尔福技术有限公司 | 用于在风力情况下的自主车辆的车道保持系统 |
CN107430822A (zh) * | 2015-03-31 | 2017-12-01 | 株式会社电装 | 物体检测装置以及物体检测方法 |
CN107458374A (zh) * | 2016-06-02 | 2017-12-12 | 福特全球技术公司 | 车辆避撞 |
CN108357492A (zh) * | 2017-01-26 | 2018-08-03 | 沃尔沃汽车公司 | 用于减轻道路车辆之间前向碰撞的设备和方法 |
CN108510796A (zh) * | 2017-02-28 | 2018-09-07 | 株式会社万都 | 交叉路口防撞系统及方法 |
CN109591813A (zh) * | 2017-09-29 | 2019-04-09 | 丰田自动车株式会社 | 碰撞避免辅助装置 |
CN109803863A (zh) * | 2016-10-11 | 2019-05-24 | 大众汽车有限公司 | 用于车辆的避让辅助 |
CN110300694A (zh) * | 2017-02-17 | 2019-10-01 | 蒂森克虏伯普利斯坦股份公司 | 车辆横向运动控制 |
CN110422166A (zh) * | 2019-08-02 | 2019-11-08 | 上海振华重工(集团)股份有限公司 | 一种跨运车防倾覆稳定性控制系统及方法 |
CN111052201A (zh) * | 2017-09-01 | 2020-04-21 | 株式会社村上开明堂 | 碰撞预测装置、碰撞预测方法以及程序 |
CN111098854A (zh) * | 2018-10-25 | 2020-05-05 | 株式会社万都 | 驾驶员辅助系统和方法 |
CN113022699A (zh) * | 2021-04-15 | 2021-06-25 | 一汽奔腾轿车有限公司 | 一种自适应调节转向助力的方法及装置 |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6287244B2 (ja) * | 2014-01-20 | 2018-03-07 | トヨタ自動車株式会社 | 車両の制動制御装置 |
FR3024699B1 (fr) * | 2014-08-06 | 2016-07-22 | Renault Sa | Systeme d’aide a la conduite et procede mis en oeuvre dans un tel systeme |
KR102301099B1 (ko) * | 2014-11-07 | 2021-09-10 | 현대모비스 주식회사 | 단계적 충돌 방지 시스템 |
EP3095659A1 (en) * | 2015-05-19 | 2016-11-23 | Volvo Car Corporation | Method and system for providing a driver behaviour adapted evasive manoeuvre |
US20170106857A1 (en) * | 2015-10-20 | 2017-04-20 | GM Global Technology Operations LLC | Vehicle collision system and method of using the same |
US10152882B2 (en) * | 2015-11-30 | 2018-12-11 | Nissan North America, Inc. | Host vehicle operation using remote vehicle intention prediction |
KR101868088B1 (ko) * | 2015-12-28 | 2018-07-17 | 자동차부품연구원 | 초음파 센서를 이용한 충돌 회피 장치 및 방법 |
US9988046B2 (en) | 2016-07-26 | 2018-06-05 | Ford Global Technologies, Llc | Enhanced collision avoidance |
KR102452682B1 (ko) | 2016-12-14 | 2022-10-11 | 현대자동차주식회사 | 전방충돌회피성능 향상을 위한 통합제어방법 및 차량 |
US10351129B2 (en) * | 2017-01-13 | 2019-07-16 | Ford Global Technologies, Llc | Collision mitigation and avoidance |
US11267462B2 (en) * | 2017-04-01 | 2022-03-08 | Intel Corporation | Automotive analytics technology to provide synergistic collision safety |
US11074463B2 (en) * | 2017-05-02 | 2021-07-27 | Qualcomm Incorporated | Dynamic sensor operation and data processing based on motion information |
JP6564424B2 (ja) * | 2017-06-09 | 2019-08-21 | 株式会社Subaru | 車両制御装置 |
US10683002B2 (en) | 2017-06-27 | 2020-06-16 | Toyota Motor Engineering & Manufacturing North America, Inc. | Efficient acceleration from surrounding vehicles |
US11897498B2 (en) * | 2018-02-15 | 2024-02-13 | Toyota Motor Europe | Control method for a vehicle, computer program, non-transitory computer readable medium, and automated driving system |
KR102553730B1 (ko) * | 2018-03-08 | 2023-07-11 | 주식회사 에이치엘클레무브 | 차량의 충돌 회피 제어 장치 및 방법 |
JP6952014B2 (ja) * | 2018-06-13 | 2021-10-20 | 日立Astemo株式会社 | 車両制御装置、車両制御方法、及び車両制御システム |
KR20200095976A (ko) * | 2019-02-01 | 2020-08-11 | 주식회사 만도 | 운전자 보조 장치 |
CN109878513A (zh) * | 2019-03-13 | 2019-06-14 | 百度在线网络技术(北京)有限公司 | 防御性驾驶策略生成方法、装置、设备及存储介质 |
CN110550029B (zh) * | 2019-08-12 | 2021-02-09 | 华为技术有限公司 | 障碍物避让方法及装置 |
CN111583715B (zh) * | 2020-04-29 | 2022-06-03 | 宁波吉利汽车研究开发有限公司 | 一种车辆轨迹预测方法、车辆碰撞预警方法、装置及存储介质 |
CN112606837A (zh) * | 2020-12-25 | 2021-04-06 | 东风汽车集团有限公司 | 一种转向和制动协同的车辆避障系统及方法 |
KR20230078145A (ko) | 2021-11-26 | 2023-06-02 | 한국전자기술연구원 | 능동적으로 후방 충돌을 회피하는 회피보조장치 및 방법 |
CN115482662B (zh) * | 2022-09-09 | 2024-05-28 | 湖南大学 | 一种危险工况下驾驶员避撞行为预测方法及系统 |
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US20050203705A1 (en) * | 2004-03-09 | 2005-09-15 | Hitachi, Ltd. | Vehicle driving control device and vehicle control unit |
US20080281521A1 (en) * | 2007-05-11 | 2008-11-13 | Nissan Motor Co. Ltd. | Vehicle running control method for avoiding that a vehicle collides with an obstacle |
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CN102653272A (zh) * | 2011-03-03 | 2012-09-05 | 富士重工业株式会社 | 车辆的驾驶辅助装置 |
CN102815298A (zh) * | 2011-06-10 | 2012-12-12 | 现代摩比斯株式会社 | 车辆的碰撞避免控制方法 |
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CN102897169A (zh) * | 2011-07-25 | 2013-01-30 | 通用汽车环球科技运作有限责任公司 | 通过差速制动的避免碰撞策略 |
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2013
- 2013-04-24 KR KR1020130045352A patent/KR20140126975A/ko not_active Application Discontinuation
-
2014
- 2014-04-23 DE DE102014005924.3A patent/DE102014005924A1/de active Pending
- 2014-04-23 US US14/260,156 patent/US9545911B2/en active Active
- 2014-04-23 CN CN201410165885.0A patent/CN104118431B/zh active Active
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CN101500865A (zh) * | 2006-08-15 | 2009-08-05 | 丰田自动车株式会社 | 制动控制系统与制动控制方法 |
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CN102897169A (zh) * | 2011-07-25 | 2013-01-30 | 通用汽车环球科技运作有限责任公司 | 通过差速制动的避免碰撞策略 |
Cited By (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107430822A (zh) * | 2015-03-31 | 2017-12-01 | 株式会社电装 | 物体检测装置以及物体检测方法 |
CN107010056A (zh) * | 2015-10-16 | 2017-08-04 | 福特全球技术公司 | 用于机动车辆的安全操作的方法和装置 |
US10479357B2 (en) | 2016-05-23 | 2019-11-19 | Aptiv Technologies Limited | Lane keeping system for autonomous vehicle in wind conditions |
CN107415944A (zh) * | 2016-05-23 | 2017-12-01 | 德尔福技术有限公司 | 用于在风力情况下的自主车辆的车道保持系统 |
CN107458374A (zh) * | 2016-06-02 | 2017-12-12 | 福特全球技术公司 | 车辆避撞 |
US11351990B2 (en) | 2016-10-11 | 2022-06-07 | Volkswagen Aktiengesellschaft | Swerve assist in a transportation vehicle |
CN109803863B (zh) * | 2016-10-11 | 2022-05-03 | 大众汽车有限公司 | 用于车辆的避让辅助 |
CN109803863A (zh) * | 2016-10-11 | 2019-05-24 | 大众汽车有限公司 | 用于车辆的避让辅助 |
CN106828388A (zh) * | 2016-12-30 | 2017-06-13 | 浙江吉利控股集团有限公司 | 针对行人的车辆主动报警系统及方法和车辆 |
US10843687B2 (en) | 2017-01-26 | 2020-11-24 | Volvo Car Corporation | Arrangement and method for mitigating a forward collision between road vehicles |
CN108357492B (zh) * | 2017-01-26 | 2021-12-10 | 沃尔沃汽车公司 | 用于减轻道路车辆之间前向碰撞的设备和方法 |
CN108357492A (zh) * | 2017-01-26 | 2018-08-03 | 沃尔沃汽车公司 | 用于减轻道路车辆之间前向碰撞的设备和方法 |
CN110300694A (zh) * | 2017-02-17 | 2019-10-01 | 蒂森克虏伯普利斯坦股份公司 | 车辆横向运动控制 |
CN108510796A (zh) * | 2017-02-28 | 2018-09-07 | 株式会社万都 | 交叉路口防撞系统及方法 |
US10832578B2 (en) | 2017-02-28 | 2020-11-10 | Mando Corporation | System and method for collision prevention |
US10916143B2 (en) | 2017-02-28 | 2021-02-09 | Mando Corporation | System and method for intersection collision prevention |
CN111052201A (zh) * | 2017-09-01 | 2020-04-21 | 株式会社村上开明堂 | 碰撞预测装置、碰撞预测方法以及程序 |
CN109591813A (zh) * | 2017-09-29 | 2019-04-09 | 丰田自动车株式会社 | 碰撞避免辅助装置 |
CN109591813B (zh) * | 2017-09-29 | 2022-05-17 | 丰田自动车株式会社 | 碰撞避免辅助装置 |
CN111098854A (zh) * | 2018-10-25 | 2020-05-05 | 株式会社万都 | 驾驶员辅助系统和方法 |
CN111098854B (zh) * | 2018-10-25 | 2023-04-11 | 汉拿科锐动电子股份公司 | 驾驶员辅助系统和方法 |
CN110422166A (zh) * | 2019-08-02 | 2019-11-08 | 上海振华重工(集团)股份有限公司 | 一种跨运车防倾覆稳定性控制系统及方法 |
CN113022699A (zh) * | 2021-04-15 | 2021-06-25 | 一汽奔腾轿车有限公司 | 一种自适应调节转向助力的方法及装置 |
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CN104118431B (zh) | 2019-09-06 |
DE102014005924A1 (de) | 2014-11-13 |
US20140324297A1 (en) | 2014-10-30 |
US9545911B2 (en) | 2017-01-17 |
KR20140126975A (ko) | 2014-11-03 |
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