CN109131329A - A kind of torque control system and its method - Google Patents
A kind of torque control system and its method Download PDFInfo
- Publication number
- CN109131329A CN109131329A CN201810978938.9A CN201810978938A CN109131329A CN 109131329 A CN109131329 A CN 109131329A CN 201810978938 A CN201810978938 A CN 201810978938A CN 109131329 A CN109131329 A CN 109131329A
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- vehicle
- torque
- mode
- crawling
- torque control
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000009193 crawling Effects 0.000 claims abstract description 62
- 230000001133 acceleration Effects 0.000 claims abstract description 43
- 230000004044 response Effects 0.000 claims abstract description 19
- 238000003860 storage Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000006249 magnetic particle Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18063—Creeping
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of torque control methods, moment of torsion control when suitable for vehicle by crawling pattern switching to acceleration mode, the torque control method includes: in response to the vehicle by crawling pattern switching to acceleration mode, the crawling mode is exported within a preset time and accelerates the maximum value of the torque of mode, beyond the torque for exporting the acceleration mode after preset time.
Description
Technical field
The present invention relates in a kind of vehicle operation control system more particularly to a kind of torque control system and its side
Method.
Background technique
The crawling operating condition of vehicle refer to automobile gear level at D grades or R grades, driver not stepping on accelerator pedal and brake pedal,
Vehicle can accelerate to a stable speed, and the speed is maintained to drive at a constant speed later.
Usual crawling operating condition is realized by the torque closed loop to speed.When stationary vehicle due to frictional resistance compared with
Greatly, the torque command of crawling is also larger；With the rising of speed, crawling torque is gradually reduced, and is finally reached driving force and resistance
The state of balance, vehicle have also reached stable speed.
Driver steps on the throttle after pedal, and vehicle can exit crawling mode, into acceleration mode.Torque when acceleration is general
By tabling look-up to obtain, table look-up to obtain acceleration torque command by current motor speed and accelerator pedal aperture.Driver just steps on
When lower gas pedal, accelerate torque command smaller, less than the torque of crawling.It results in driver to step on the throttle after pedal, torque
There is the case where rising after falling before in instruction, as shown in Figure 1, by crawling pattern switching to acceleration mode when, torque command with
Time change, in the early stage, the torque of torque when due to accelerating the torque of mode to be less than crawling mode, output can have one
A stage declined suddenly, i.e., the part enclosed with black circles, torque decline lofty so have not only violated driver's
Driving intention, and the fluctuation of torque can also bring bad experience by bus to passenger.
Summary of the invention
In order to overcome drawbacks described above, the present invention is intended to provide a kind of torque control method, can remove vehicle by crawling mould
The torque decline stage that initial stage when formula switches to acceleration mode generates.
According to an aspect of the present invention, provide a kind of torque control method, be suitable for vehicle by crawling pattern switching extremely
Moment of torsion control when acceleration mode, the torque control method include: by crawling pattern switching in response to the vehicle to accelerating mould
Formula exports the maximum value of the crawling mode with the torque for accelerating mode within a preset time, should add beyond output after preset time
The torque of fast mode.
Further, meet preset condition in response to the vehicle, the vehicle enters crawling mode.
Further, the preset condition includes:
The gear of the vehicle is in drive shift or backward gear；
The gas pedal of the vehicle is not activated；
The brake pedal of the vehicle is not braked；And
The speed of the vehicle is lower than preset threshold.
Further, the preset threshold is 7km/h.
Further, it when which is in crawling mode, is activated in response to gas pedal, judges the vehicle by described compacted
Row pattern switching is to the acceleration mode.
Further, in response in the preset time, the gas pedal is released, the torsion of the acceleration mode is exported
Square.
Further, the preset time is 0.5 second.
According to an aspect of the present invention, a kind of torque control system is provided, be suitable for vehicle by crawling pattern switching extremely
Moment of torsion control when acceleration mode, the torque control system include: comparing unit, for comparing the crawling mode of the vehicle
Torque and the acceleration mode torque size and export torque maximum therein；Entire car controller, in response to the vehicle
By crawling pattern switching to mode is accelerated, the entire car controller controls the vehicle within a preset time and exports the torque maximum
Value, beyond the torque for controlling the vehicle after preset time and exporting the acceleration mode.
Further, meet preset condition in response to the vehicle, the vehicle control unit controls vehicle enters crawling
Mode.
Further, the preset condition includes:
The gear of the vehicle is in drive shift or backward gear；
The gas pedal of the vehicle is not activated；
The brake pedal of the vehicle is not braked；And
The speed of the vehicle is lower than preset threshold.
Further, the preset threshold is 7km/h.
Further, when being in crawling mode in response to the vehicle, gas pedal is activated, the vehicle control unit controls
The vehicle is by crawling pattern switching to accelerating mode.
Further, in response in the preset time, the gas pedal is released, the vehicle control unit controls should
Vehicle exports the torque of the acceleration mode.
Further, the preset time is 0.5 second.
This case is by comparing the torque of acceleration mode and the torsion of crawling mode in the preset time for accelerating mode initial stage
Square exports biggish torque in the two, i.e., exports the torque of crawling mode when the torque for accelerating mode is smaller, when acceleration mode
Torque be greater than crawling mode after export acceleration mode torque, so as to avoid the lofty variation of torque, and become first it is constant
It incrementally increases again, greatly increases experiencing by bus for passenger.
Detailed description of the invention
After the detailed description for reading embodiment of the disclosure in conjunction with the following drawings, the present invention more better understood when
Features described above and advantage.
Fig. 1 is the change in torque schematic diagram that background technique according to the present invention is painted；
Fig. 2 is the flow chart that an embodiment according to an aspect of the present invention is painted；
Fig. 3 is the change in torque schematic diagram that an embodiment according to an aspect of the present invention is painted.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.Note that below in conjunction with attached drawing and specifically real
The aspects for applying example description is merely exemplary, and is understood not to carry out any restrictions to protection scope of the present invention.
According to an aspect of the present invention, a kind of torque control method 200 is provided, as shown in Fig. 2, the moment of torsion control side
Method 200 the following steps are included:
S201: judge vehicle whether by crawling pattern switching to accelerating mode；If then entering step S202, if not then
Enter step S206.Acceleration mode described in this case refers in vehicle operation, runs except vehicle is controlled by brake pedal
Mode outside other operational modes.
S202: judging that vehicle enters whether time of acceleration mode is less than preset time, if being less than preset time enters step
Rapid S203 enters step S206 if being not less than.
S203: judging whether vehicle has unclamped gas pedal within a preset time, if entering step S206, enters if not
Step S204.Release gas pedal described in this case include the aperture of gas pedal from large to small, and not merely refer to the oil in convention
The aperture of door pedal becomes zero from a certain aperture.
S204: the torque for comparing crawling mode and the size when the torque under preacceleration mode, if the torque of crawling mode
Greater than the torque for accelerating mode, then S205 is entered step, if otherwise entering step S206.
S205: the torque of output crawling mode.
It is appreciated that can be prevented at the initial stage for entering acceleration mode, driver may step on by the setting of preset time
The fast speed of accelerator pedal accelerates the torque of mode to have exceeded crawling mode quickly, then when acceleration mould in the preset time
Formula reaches the normal torque value of exportable acceleration mode after the torque value of crawling mode, to meet the need that driver sharply accelerates
It asks.Meanwhile the setting of the preset time can be according to accelerator pedal when normally stepping on, torque rises to the torque value of crawling mode
Time set, t as shown in Figure 11.More preferably, the preset time can be 0.5 second.
It is appreciated that by whether unclamp gas pedal judgement can prevent driver step on the throttle pedal enter
When acceleration mode, occur other emergencies suddenly and need to slow down, after driver unclamps gas pedal at this time, if continuing to output compacted
The torque of row mode is then likely to occur the case where excessive velocities, it is therefore desirable to which output is normally when the torque under preacceleration mode refers to
It enables.It is appreciated that step S203 is to provide for more good driving experience, it is not steps necessary.
S206: the torque of present mode is exported.It is appreciated that when judge that the vehicle is by crawling pattern switching to accelerating mould
When formula, vehicle has been in acceleration mode, then present mode refers to acceleration mode.It is by crawling pattern switching when judging the vehicle not
To when accelerating mode, then there are many may, which is likely to be at other operational modes, or still in crawling mode or it is long when
Between operate in acceleration mode etc., as long as at this time export present mode under normal torque command.
Further, the torque control method is further comprising the steps of:
S207: when vehicle meets preset condition, which enters crawling mode.
It is appreciated that generally vehicle enters the preset condition of crawling mode are as follows:
(1) gear of vehicle is in drive shift or backward gear；
(2) gas pedal of vehicle is not activated；
(3) brake pedal of vehicle is not braked；And
(4) speed of vehicle is lower than preset threshold.More preferably, the preset threshold can be 7km/h.
Further, the step S201 further include: when vehicle is in crawling mode, if the gas pedal quilt of the vehicle
Actuating, judges the vehicle by crawling pattern switching to acceleration mode.The gas pedal is activated the aperture for referring to gas pedal
Become larger by zero.
By above-mentioned torque control method, as shown in figure 3, can be by crawling pattern switching to the initial stage rejecting for accelerating mode
Due to accelerating the torque of mode to start from scratch increases, lead to the torque for being less than crawling mode within a certain period of time, therefore appearance
The process that speed reduces suddenly.
According to an aspect of the present invention, a kind of torque control system is provided, be suitable for vehicle by crawling pattern switching extremely
Moment of torsion control when acceleration mode, in one embodiment, torque control system include comparing unit and entire car controller.
The comparing unit is used to compare the torque under the crawling mode of the vehicle and works as the torque under preacceleration mode
Size relation simultaneously exports the torque maximum to entire car controller.
The entire car controller is in response to the vehicle just by crawling pattern switching to mode is accelerated, and entire car controller is pre-
If controlling the torque maximum that the vehicle exports comparing unit output in the time, exported beyond the vehicle is controlled after preset time
The torque of the acceleration mode.
Further, when the operation conditions of vehicle meets preset condition, vehicle control unit controls vehicle enters crawling mould
Formula.
More preferably, which may include:
(1) gear of vehicle is in drive shift or backward gear；
(2) gas pedal of vehicle is not activated；
(3) brake pedal of vehicle is not braked；And
(4) speed of vehicle is lower than preset threshold.More preferably, the preset threshold can be 7km/h.
Further, it when the vehicle is in crawling mode, is activated in response to gas pedal, the entire car controller control
The vehicle is made by crawling pattern switching to acceleration mode.
In the preset time of the acceleration mode, the torque that vehicle control unit controls vehicle exports comparing unit output is maximum
Value.During this period, if gas pedal is released, vehicle control unit controls vehicle exports the normal torque of acceleration mode at this time
Value.More than this time, entire car controller also controls the normal torque value of vehicle output acceleration mode.
The preset time is related to the actuating time of the gas pedal of the vehicle, generally under normal circumstances, may be configured as
After the gas pedal is activated, the time for the torque that corresponding torque value increases to crawling mode by zero.It is appreciated that can also
To be set greater than after the gas pedal is activated, torque that the corresponding torque of the gas pedal increases to crawling mode by zero
Time.More preferably, which can be 0.5 second.
It will be understood by those skilled in the art that appointing in various different technologies and skill can be used in information, signal and data
What technology and skill indicate.For example, above description quote from the whole text data, instruction, order, information, signal, position (bit),
Symbol and chip can by voltage, electric current, electromagnetic wave, magnetic field or magnetic particle, light field or optical particle, or any combination thereof come table
Show.
Those skilled in the art will further appreciate that, the various illustratives described in conjunction with the embodiments described herein
Logic plate, module, circuit and algorithm steps can be realized as electronic hardware, computer software or combination of the two.It is clear
Explain to Chu this interchangeability of hardware and software, various illustrative components, frame, module, circuit and step be above with
Its functional form makees generalization description.Such functionality be implemented as hardware or software depend on concrete application and
It is applied to the design constraint of total system.Technical staff can realize every kind of specific application described with different modes
Functionality, but such realization decision should not be interpreted to cause departing from the scope of the present invention.
In conjunction with presently disclosed embodiment describe various illustrative logic modules and circuit can with general processor,
Digital signal processor (DSP), specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic
Device, discrete door or transistor logic, discrete hardware component or its be designed to carry out any group of function described herein
It closes to realize or execute.General processor can be microprocessor, but in alternative, which can be any routine
Processor, controller, microcontroller or state machine.Processor is also implemented as calculating the combination of equipment, such as DSP
With the combination of microprocessor, multi-microprocessor, one or more microprocessors to cooperate with DSP core or any other this
Class configuration.
The step of method or algorithm for describing in conjunction with embodiment disclosed herein, can be embodied directly in hardware, in by processor
It is embodied in the software module of execution or in combination of the two.Software module can reside in RAM memory, flash memory, ROM and deposit
Reservoir, eprom memory, eeprom memory, register, hard disk, removable disk, CD-ROM or known in the art appoint
In the storage medium of what other forms.Exemplary storage medium is coupled to processor so that the processor can be from/to the storage
Medium reads and writees information.In alternative, storage medium can be integrated into processor.Pocessor and storage media can
It resides in ASIC.ASIC can reside in user terminal.In alternative, pocessor and storage media can be used as discrete sets
Part is resident in the user terminal.
In one or more exemplary embodiments, described function can be in hardware, software, firmware, or any combination thereof
Middle realization.If being embodied as computer program product in software, each function can be used as one or more item instructions or generation
Code may be stored on the computer-readable medium or be transmitted by it.Computer-readable medium includes computer storage medium and communication
Both media comprising any medium for facilitating computer program to shift from one place to another.Storage medium can be can quilt
Any usable medium of computer access.It is non-limiting as example, such computer-readable medium may include RAM, ROM,
EEPROM, CD-ROM or other optical disc storages, disk storage or other magnetic storage apparatus can be used to carrying or store instruction
Or data structure form desirable program code and any other medium that can be accessed by a computer.Any connection is also by by rights
Referred to as computer-readable medium.For example, if software is using coaxial cable, fiber optic cables, twisted pair, digital subscriber line
(DSL) or the wireless technology of such as infrared, radio and microwave etc is passed from web site, server or other remote sources
It send, then the coaxial cable, fiber optic cables, twisted pair, DSL or such as infrared, radio and microwave etc is wireless
Technology is just included among the definition of medium.Disk (disk) and dish (disc) as used herein include compression dish
(CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc, which disk (disk) are often reproduced in a manner of magnetic
Data, and dish (disc) with laser reproduce data optically.Combinations of the above should also be included in computer-readable medium
In the range of.
Description before offer be can practice to make any technical staff in this field it is described herein
Various aspects.However, it should be understood that protection scope of the present invention should be subject to the appended claims, and should not be limited to
The specific structure and component of above the explained embodiment.Those skilled in the art within the spirit and scope of the present invention, can be right
Each embodiment carries out various changes and modifications, these are changed and modification is also fallen within the scope and spirit of the invention.
Claims (14)
1. a kind of torque control method, moment of torsion control when suitable for vehicle by crawling pattern switching to acceleration mode, the torsion
Square control method includes:
In response to the vehicle by crawling pattern switching to mode is accelerated, the crawling mode and acceleration mode are exported within a preset time
Torque maximum value, beyond the torque for exporting the acceleration mode after preset time.
2. torque control method as described in claim 1, which is characterized in that meet preset condition in response to the vehicle, institute
It states vehicle and enters crawling mode.
3. torque control method as claimed in claim 2, which is characterized in that the preset condition includes:
The gear of the vehicle is in drive shift or backward gear；
The gas pedal of the vehicle is not activated；
The brake pedal of the vehicle is not braked；And
The speed of the vehicle is lower than preset threshold.
4. torque control method as claimed in claim 3, which is characterized in that the preset threshold is 7km/h.
5. torque control method as described in claim 1, which is characterized in that when the vehicle is in crawling mode, in response to oil
Door pedal is activated, and judges the vehicle by the crawling pattern switching to the acceleration mode.
6. torque control method as claimed in claim 5, which is characterized in that in response in the preset time, the throttle
Pedal is released, and exports the torque of the acceleration mode.
7. torque control method as described in claim 1, which is characterized in that the preset time is 0.5 second.
8. a kind of torque control system, moment of torsion control when suitable for vehicle by crawling pattern switching to acceleration mode, the torsion
Square control system includes:
Comparing unit, for comparing the size of the torque of the crawling mode of the vehicle and the torque of the acceleration mode and exporting it
In torque maximum；
Entire car controller, in response to the vehicle by crawling pattern switching to mode is accelerated, the entire car controller is in preset time
Interior control vehicle exports the torque maximum, beyond the torque for controlling the vehicle after preset time and exporting the acceleration mode.
9. torque control system as claimed in claim 8, which is characterized in that meet preset condition in response to the vehicle, institute
It states the vehicle control unit controls vehicles and enters crawling mode.
10. torque control system as claimed in claim 9, which is characterized in that the preset condition includes:
The gear of the vehicle is in drive shift or backward gear；
The gas pedal of the vehicle is not activated；
The brake pedal of the vehicle is not braked；And
The speed of the vehicle is lower than preset threshold.
11. torque control system as claimed in claim 10, which is characterized in that the preset threshold is 7km/h.
12. torque control system as claimed in claim 8, which is characterized in that when being in crawling mode in response to the vehicle, oil
Door pedal is activated, and the vehicle control unit controls vehicle is by crawling pattern switching to accelerating mode.
13. torque control system as claimed in claim 8, which is characterized in that in response in the preset time, the throttle
Pedal is released, and the vehicle control unit controls vehicle exports the torque of the acceleration mode.
14. torque control system as claimed in claim 8, which is characterized in that the preset time is 0.5 second.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810978938.9A CN109131329A (en) | 2018-08-27 | 2018-08-27 | A kind of torque control system and its method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810978938.9A CN109131329A (en) | 2018-08-27 | 2018-08-27 | A kind of torque control system and its method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109131329A true CN109131329A (en) | 2019-01-04 |
Family
ID=64828105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810978938.9A Pending CN109131329A (en) | 2018-08-27 | 2018-08-27 | A kind of torque control system and its method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109131329A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027559A (en) * | 2019-04-28 | 2019-07-19 | 四川阿尔特新能源汽车有限公司 | A kind of torque analytic method, device, entire car controller and vehicle |
| CN110901414A (en) * | 2019-12-16 | 2020-03-24 | 潍柴动力股份有限公司 | Vehicle torque control method, device and equipment |
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| CN107839688A (en) * | 2017-10-19 | 2018-03-27 | 吉林大学 | A kind of electric automobile crawling method for controlling driving speed |
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| CN108437852A (en) * | 2018-05-16 | 2018-08-24 | 江铃汽车股份有限公司 | Electric vehicle is from torque control method when being transitioned into crawling less than crawl speed |
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| WO2013167145A1 (en) * | 2012-05-07 | 2013-11-14 | Volvo Lastvagnar Ab | A heavy road vehicle comprising an additional traction system |
| US20160297418A1 (en) * | 2015-04-09 | 2016-10-13 | Ford Global Technologies, Llc | Methods and system for launching a vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027559A (en) * | 2019-04-28 | 2019-07-19 | 四川阿尔特新能源汽车有限公司 | A kind of torque analytic method, device, entire car controller and vehicle |
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| CN110901414A (en) * | 2019-12-16 | 2020-03-24 | 潍柴动力股份有限公司 | Vehicle torque control method, device and equipment |
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Application publication date: 20190104 |
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