CN105644557A - Braking and steering assisting system and method considering collision avoidance intention of driver - Google Patents

Braking and steering assisting system and method considering collision avoidance intention of driver Download PDF

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Publication number
CN105644557A
CN105644557A CN201511018847.3A CN201511018847A CN105644557A CN 105644557 A CN105644557 A CN 105644557A CN 201511018847 A CN201511018847 A CN 201511018847A CN 105644557 A CN105644557 A CN 105644557A
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CN
China
Prior art keywords
driver
collision avoidance
intention
collision
vehicle
Prior art date
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Pending
Application number
CN201511018847.3A
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Chinese (zh)
Inventor
郭健
范达
鲁兰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou An Zhi Auto Parts And Components Co Ltd
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Suzhou An Zhi Auto Parts And Components Co Ltd
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Priority to CN201511018847.3A priority Critical patent/CN105644557A/en
Publication of CN105644557A publication Critical patent/CN105644557A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2510/00Input parameters relating to a particular sub-units
    • B60W2510/18Braking system
    • B60W2510/182Brake pressure, e.g. of fluid or between pad and disc
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/10Accelerator pedal position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/18Steering angle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00Input parameters relating to infrastructure
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers

Abstract

The invention relates to the technique for protecting automobiles against collision and provides a self-adaptive emergency braking and steering assisting system considering the collision avoidance intention of a driver. The system is characterized by comprising a driver intention sensing module, a road environment sensing module, a controller and an executing module, wherein the driver intention sensing module is used for obtaining behavior intention information, applied to a driven automobile, of the driver; the road environment sensing module is used for obtaining road environment information; the controller is used for conducting comprehensive analysis on the obtained behavior intention information of the driver and the road environment information, determining an applicable auxiliary collision avoidance scheme and transmitting an executing command; and the executing module is used for responding to the executing command and executing the applicable auxiliary collision avoidance scheme. According to the self-adaptive automatic emergency braking and steering assisting system considering the collision avoidance intention of the driver, switching between an automatic emergency braking function and a steering assisting function under different working conditions and in different modes can be achieved according to the behavior of the driver, the effect that the driver is automatically assisted to brake or steer when collision cannot be avoided only by the driver is achieved, and accordingly collision can be avoided or relieved.

Description

Consider braking and steering assist system and method that driver's collision avoidance is intended to
[technical field]
The present invention relates to the technology of a kind of vehicle collision free, specifically a kind of that consider driver intention and road ahead environment, under dangerous situation, help the advanced driver assistance system of driver's collision free.
[background technology]
Now, automobile industry utilizes the progress of sensor technology can improve the ability of security system on vehicle. The sensor technology improved is used to detect road environment thus the control method reaching collision free is just implemented in commercial car and some light vehicle. These systems are collectively referred to as drive assist system.
Drive assist system uses the sensor being installed on vehicle to detect oncoming collision or similar hazard event. Drive assist system can remind driver even to help driver to carry out avoiding operation, as autonomous or assistance are braked or turns to. Typical drive assist system relies on external sensor and existing vehicle dynamics data to make collision avoidance maneuvers.
[summary of the invention]
The main purpose of the present invention is to solve problem of the prior art, it is provided that automatic emergency brake system that a kind of function is more perfect and method, adds the consideration that driver's collision avoidance is intended to, it is possible to the help driver that is in due course is braked or turns to.
The main purpose of the present invention can realize by following technical solution:
A kind of self adaptation brake hard and steering assist system considering that driver's collision avoidance is intended to, it is characterised in that including:
Driver intention sensing module, for obtaining driver to driving the behavior intent information that vehicle is taked;
Road environment sensing module, is used for obtaining road environment information;
Controller, driving behavior intent information and road environment information to obtaining comprehensively are analyzed, and calculate the risk of collision degree of vehicle current running state, it is determined that applicable auxiliary collision avoidance scheme, send and perform order;
Perform module, respond and described perform order, perform described applicable auxiliary collision avoidance scheme.
The present invention a kind of considers self adaptation brake hard and the steering assist method that driver's collision avoidance is intended to, it is characterised in that comprise the steps:
Step one: obtain road environment information and driver to driving the behavior intent information that vehicle is taked;
Step 2: the information that step one is obtained comprehensively is analyzed, calculates the risk of collision degree of vehicle current running state;
Step 3: the risk of collision degree result of calculation according to step 2, it is determined that applicable auxiliary collision avoidance scheme, implements auxiliary collision avoidance.
The self adaptation automatic emergency brake of this consideration driving behavior and steering assist system, the switching of different mode automatic emergency brake function and steering assistance function under various different operating mode can be realized according to driving behavior, realize when rely solely on driver self cannot collision free time, automatically operator brake or the function turned to are helped, thus avoiding or alleviate the generation of collision.
Compared to the prior art the present invention, has the advantage that
The present invention compares existing automatic emergency brake system, adds the consideration that driver's collision avoidance is intended to, and improves comfortableness, thus driver's acceptance level is higher under the premise of safety;
The present invention compares existing automatic emergency brake system, adds steering assistance function, if driver tends to turn to collision avoidance, under the premise that road ahead ambient condition allows, system can assist driver to turn to, collision free faster and more accurately.
[accompanying drawing explanation]
Fig. 1 is auxiliary collision avoidance Method And Principle figure;
Fig. 2 is system construction drawing;
Fig. 3 is braking and the decision diagram turned to;
Fig. 4 .1 is executor's work process;
Fig. 4 .2 realizes turning to work process for executor.
[detailed description of the invention]
Specific embodiment one
Being the vehicle with automatic emergency brake and steering assist system if Fig. 1 is auxiliary collision avoidance Method And Principle figure, Fig. 2, this aid system considers driver's collision avoidance and is intended to, including road environment sensing module, driver intention sensing module, controller and execution module.
Environment sensing module and driver intention sensing module complete this car kinestate and the detection of front truck kinestate and road environment jointly, then according to radar, this vehicle speed that photographic head and vehicle sensors collect, objects in front speed, this car deceleration, objects in front deceleration, relative distance calculates this car and objects in front collision time, thus obtaining the desirable collision avoidance deceleration that current goal should reach; When calculated desirable collision avoidance deceleration is less than threshold value, carry out automatic emergency brake with described current desirable collision avoidance deceleration.
Environment sensing module includes being arranged on the millimetre-wave radar driving vehicle front and photographic head, utilize millimetre-wave radar and photographic head can obtain road environment information, preceding object thing is identified, judge that its concrete form is automobile, pedestrian or bicycle etc., then the information of acquisition is delivered to controller to be analyzed, obtain barrier speed, deceleration, and this vehicle speed collected in conjunction with vehicle sensors, deceleration, the information such as relative distance, collision time of calculating, it is thus achieved that drive the desirable collision avoidance deceleration that vehicle collision free should reach. When calculated desirable collision avoidance deceleration is less than threshold value, carry out automatic emergency brake driving vehicle front deceleration degree.This automatic emergency brake scheme be mainly to occur at driver in the face of dangerous without any operation time, system can help driver that vehicle is braked automatically.
Adopt millimetre-wave radar to launch radio towards periphery, the distance of barrier, direction and size can be obtained by measuring and analyze echo. Shown in millimetre-wave radar name, the radio of its transmitting make use of wavelength at 1-10mm, and frequency is at the millimeter wave of 30G-300GHz. Employing is grown from millimetre-wave radar not by weather condition and the impact at night, it is possible to detect the object of remote (more than 100 meters). Utilize photographic head can also collect the distance of barrier and the move mode of barrier, detect the concrete form of barrier. And three-dimensional camera can be told the barrier in front and be specially pedestrian, vehicle or bicycle, scope of measuring is at about 200 meters.
Driver intention sensing module, for obtaining driver to driving the behavior intent information that vehicle is taked, mainly it is made up of onboard sensor, including: accelerator pedal position sensor, it is arranged on accelerator pedal position, for obtaining driver's acceleration data to driving vehicle; Master cylinder pressure transducer, is arranged on ESC(electronic stabilizing control system) internal, for obtaining driver's braking-distance figures to driving vehicle; Steering wheel angle sensor, is generally mounted near steering column, for obtain driver to drive vehicle turn to data.
Controller receives road environmental information and driver intention perception data, calculate the risk of collision degree (i.e. the real-time calculating of collision time, desirable collision avoidance deceleration) of vehicle current running state in real time, auxiliary collision avoidance scheme is determined in judgement (mainly including that the risk range judgement of collision time and desirable collision avoidance deceleration and the collision avoidance to driver are intended to (braking still turns to) to judge) for current safety transport condition, being early warning, braking still turns to. Wherein warning function includes again vision early warning (i.e. image early warning), sound early warning and sense of touch early warning (producing a very brief emergency brake to the warning in driver's sense of touch); Braking function and turning function include auxiliary braking, automatic emergency brake and assisted diversion, and system specifically needs to provide any function to be determined according to driver intention and road environment information comprehensive analysis by controller.
Perform module to include warning module, braking execution module, turn to execution module, be respectively used to perform different auxiliary collision avoidance scheme. Wherein brake and adopt body electronics stabilizing control system (ESC) with turning to execution module. The ultimate principle of ESC is that the manipulation according to driver is intended to, control by the automobile being in quasi-stationary state being implemented side longitudinal dynamics, thus avoiding vehicle to enter uncontrollable astable situation, also strive ensureing that vehicle handling characteristic under limiting condition is consistent with under the operating mode of drive routine linear zone simultaneously, make the driving experience of driver its conventional linear zone responsible that vehicle to be operated. The executor of ESC is exactly the brake system of 4 wheels, and its brake system of vehicle being equipped with ESC has pressure accumulation function, it is also possible to the rotating speed of active control electromotor and the driving force of each wheel and brake force as required. The control target of ESC is to ensure that under lateral stability limiting condition, makes the characteristic of vehicle remain to as linear single-track vehicle model controlled, and main realization is following to be controlled:
1) driver's control to vehicle is remained;
2) it is controlled getting involved to vehicle in the suitable moment, and avoids the interference to operator;
3) help driver to make correctly collision avoidance operation when facing emergency, and assist driver to take action to reach the purpose of collision free in time.
Specific embodiment two
Receive the input of road environment information and the input of driving behavior intent information when controller after, judge the risk of collision degree of current running state, if any, first turn on warning function, wherein the opening sequence of warning function is to be vision early warning, audition early warning and sense of touch early warning respectively. After early warning terminates, if driver takes action, now system can judge that rationally and whether action that driver takes whether can collision free in time. If the action that driver takes is unreasonable, system can take braking measure, such as driver now mistake bend the throttle system now still the brake request of preferential answering vehicle the acceleration request of driver is suppressed, if the action that driver takes is not enough to collision free namely brakes deficiency or understeer, so controller can after carrying out correspondingly judging, by calculating brake force or the steering angle etc. of collision free needs, sending command adapted thereto to vehicle respective actuators, reaching can the purpose of collision free completely. After early warning terminates, if driver does not have any reaction, then system will preferentially take automatic emergency brake to help driver to avoid danger. Certainly, if after system starts braking or turns to, driver has braking or turns to operation to be intended to, then after the data of driver intention sensing module input exceed certain threshold value, system can automatically exit from auxiliary collision avoidance function, and driver regains the control of vehicle. When collision time is lower than certain limit (being likely to the danger that collides), system opens warning function; When collision time is below targets threshold with desirable collision avoidance deceleration, and when driver self takes the intensity of braking not up to desirable collision avoidance deceleration, system opens auxiliary brake function; When collision time is below targets threshold with desirable collision avoidance deceleration, and when driver self takes the speed turned to cannot be avoided collision, system opens auxiliary steering function; When collision time is below targets threshold with desirable collision avoidance deceleration, and driver self is without any obvious operation, and system opens automatic emergency brake function.
It is brake and turn to concrete decision making process shown in Fig. 3, when the vehicle brake line when moving closer to dangerous situation and switch-back, wherein in figure, solid line is that each moment vehicle status (including the relative distance of this vehicle speed and Ben Che and barrier) takes braking maneuver the moment point of last moment of collision free can link up the last braking moment line of composition; In corresponding map dotted line be each moment vehicle status take go to action can the moment point of last moment of collision free link up composition finally turn to time line.
Specific embodiment three
It is brake and turn to executor and electronic stabilizing control system (ESC) to implement the process of braking maneuver or go to action as shown in Fig. 4 .1 and Fig. 4 .2. The process that braking performs is, controller sends the control instruction of desirable deceleration to executor ESC, to corresponding braked wheel cylinder pump oil, thus applying brake force to four tires. The process turning to execution is that controller, to specifying braked wheel cylinder pump oil, only applies brake force to a tire, thus helping driver's fast steering, thus avoiding danger.

Claims (13)

1. self adaptation brake hard and the steering assist system considering that driver's collision avoidance is intended to, it is characterised in that including:
Driver intention sensing module, for obtaining driver to driving the behavior intent information that vehicle is taked;
Road environment sensing module, is used for obtaining road environment information;
Controller, driving behavior intent information and road environment information to obtaining comprehensively are analyzed, and calculate the risk of collision degree of vehicle current running state, it is determined that applicable auxiliary collision avoidance scheme, send and perform order;
Perform module, respond and described perform order, perform described applicable auxiliary collision avoidance scheme.
2. the self adaptation brake hard considering driver's collision avoidance intention according to claim 1 and steering assist system, it is characterised in that driver intention sensing module includes:
Accelerator pedal position sensor, for obtaining driver's acceleration data to driving vehicle;
Master cylinder pressure transducer, for obtaining driver's braking-distance figures to driving vehicle;
Steering wheel angle sensor, for obtain driver to drive vehicle turn to data.
3. the self adaptation brake hard considering driver's collision avoidance intention according to claim 1 and steering assist system, it is characterised in that described execution module includes:
Braking performs module, for auxiliary braking or the automatic emergency brake of driving vehicle;
Turn to execution module, for the assisted diversion driving vehicle.
4. the self adaptation brake hard considering driver's collision avoidance intention according to claim 3 and steering assist system, it is characterised in that described execution module adopts body electronics stabilitrak.
5. the self adaptation brake hard considering driver's collision avoidance intention according to claim 3 and steering assist system, it is characterised in that described execution module also includes warning module, for driver is carried out warning against danger.
6. the self adaptation brake hard considering driver's collision avoidance intention according to claim 5 and steering assist system, it is characterized in that alarm mode includes vision early warning, audition early warning and sense of touch early warning, described sense of touch early warning refers to and produces a very brief emergency brake by brake module.
7. the self adaptation brake hard considering driver's collision avoidance intention according to claim 1 and steering assist system, it is characterized in that described road environment sensing module includes millimetre-wave radar and photographic head, for obtaining the distance of barrier, direction, size, concrete shape and movement state information.
8. a vehicle, it is characterised in that comprise the self adaptation brake hard considering driver's collision avoidance intention described in claim 1 and steering assist system.
9. self adaptation brake hard and the steering assist method considering that driver's collision avoidance is intended to, it is characterised in that comprise the steps:
Step one: obtain road environment information and driver to driving the behavior intent information that vehicle is taked;
Step 2: the information that step one is obtained comprehensively is analyzed, calculates the risk of collision degree of vehicle current running state;
Step 3: the risk of collision degree result of calculation according to step 2, it is determined that applicable auxiliary collision avoidance scheme, implements auxiliary collision avoidance.
10. the self adaptation brake hard considering driver's collision avoidance intention as claimed in claim 9 and steering assist method, it is characterised in that step 3 includes:
Step 3-1: when predicting it may happen that risk of collision, first turn on warning function, carries out warning against danger to driver;
Step 3-2: judge whether driver takes appropriate action with timely collision avoidance, if it is not, open auxiliary brake function, automatic emergency brake function or auxiliary steering function, assists collision avoidance.
11. consider self adaptation brake hard and the steering assist method of driver's collision avoidance intention as claimed in claim 10, it is characterized in that driver is carried out warning against danger by the order by vision early warning, audition early warning and sense of touch early warning, described sense of touch early warning refers to one very brief emergency brake of generation.
12. consider self adaptation brake hard and the steering assist method of driver's collision avoidance intention as claimed in claim 10, it is characterised in that after early warning terminates, if driver does not take action, preferential unlatching automatic emergency brake function.
13. the self adaptation brake hard that the consideration driver's collision avoidance as described in claim 9 or 10 is intended to and steering assist method, it is characterized in that implementing in auxiliary collision avoidance process, when driver has braking or turns to operation to be intended to and operate data exceed certain threshold value, terminating auxiliary collision avoidance, driver regains the control of vehicle.
CN201511018847.3A 2015-12-30 2015-12-30 Braking and steering assisting system and method considering collision avoidance intention of driver Pending CN105644557A (en)

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