CN110015292B - 车辆控制装置及车辆控制方法 - Google Patents
车辆控制装置及车辆控制方法 Download PDFInfo
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- CN110015292B CN110015292B CN201910022812.9A CN201910022812A CN110015292B CN 110015292 B CN110015292 B CN 110015292B CN 201910022812 A CN201910022812 A CN 201910022812A CN 110015292 B CN110015292 B CN 110015292B
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- collision
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- sensitive zone
- vehicle control
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000004913 activation Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 6
- 206010039203 Road traffic accident Diseases 0.000 description 5
- 239000000470 constituent Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 238000012905 input function Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000002096 quantum dot Substances 0.000 description 1
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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
- 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
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
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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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- 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
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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
- B60W40/00—Estimation 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
- B60W40/08—Estimation 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
- B60W40/09—Driving style or behaviour
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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
- B60W50/00—Details 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
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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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/11—Instrument graphical user interfaces or menu aspects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/179—Distances to obstacles or vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/731—Instruments adaptations for specific vehicle types or users by comprising user programmable systems
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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
- B60W40/00—Estimation 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
- B60W40/08—Estimation 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
- B60W2040/0872—Driver physiology
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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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
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- B60W2540/215—Selection or confirmation of options
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/22—Psychological state; Stress level or workload
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/30—Driving style
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (10)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2018-0003144 | 2018-01-10 | ||
KR1020180003144A KR101982263B1 (ko) | 2018-01-10 | 2018-01-10 | 차량 제어 장치 및 차량 제어 방법 |
Publications (2)
Publication Number | Publication Date |
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CN110015292A CN110015292A (zh) | 2019-07-16 |
CN110015292B true CN110015292B (zh) | 2022-04-01 |
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CN201910022812.9A Active CN110015292B (zh) | 2018-01-10 | 2019-01-10 | 车辆控制装置及车辆控制方法 |
Country Status (3)
Country | Link |
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US (1) | US10654474B2 (zh) |
KR (1) | KR101982263B1 (zh) |
CN (1) | CN110015292B (zh) |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2004164315A (ja) * | 2002-11-13 | 2004-06-10 | Toyota Motor Corp | 車両用衝突警報システム |
JP2004352176A (ja) * | 2003-05-30 | 2004-12-16 | Suzuki Motor Corp | 車両用警報システム及び車両用警報発生方法 |
KR20080022748A (ko) * | 2006-09-07 | 2008-03-12 | 주식회사 만도 | 스테레오 카메라를 이용한 충돌회피 방법 |
JP2013075640A (ja) * | 2011-09-30 | 2013-04-25 | Equos Research Co Ltd | 走行制御装置および車両 |
CN103477378A (zh) * | 2011-04-26 | 2013-12-25 | 丰田自动车株式会社 | 驾驶辅助装置 |
CN105235681A (zh) * | 2015-11-11 | 2016-01-13 | 吉林大学 | 一种基于路面条件的车辆追尾防碰撞系统与方法 |
US9487139B1 (en) * | 2015-05-15 | 2016-11-08 | Honda Motor Co., Ltd. | Determining a driver alert level for a vehicle alert system and method of use |
JP2017114256A (ja) * | 2015-12-24 | 2017-06-29 | ダイムラー・アクチェンゲゼルシャフトDaimler AG | 衝突回避支援装置 |
CN106985780A (zh) * | 2016-01-21 | 2017-07-28 | 沃尔沃汽车公司 | 车辆安全辅助系统 |
DE102016104567A1 (de) * | 2016-03-14 | 2017-09-14 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Vermeiden einer Kollision eines Fahrzeugs mit einem Objekt unter Berücksichtigung eines Fahrstufenwechsels des Fahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug |
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JP4823781B2 (ja) * | 2005-08-31 | 2011-11-24 | 本田技研工業株式会社 | 車両の走行安全装置 |
JP2008090683A (ja) | 2006-10-03 | 2008-04-17 | Denso Corp | 車載用ナビゲーション装置 |
EP2407947B8 (en) * | 2006-10-13 | 2014-04-23 | Toyota Jidosha Kabushiki Kaisha | On-board warning apparatus and warning method |
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JP5573418B2 (ja) | 2010-06-29 | 2014-08-20 | トヨタ自動車株式会社 | 警報装置 |
TWI478833B (zh) * | 2011-08-31 | 2015-04-01 | Autoequips Tech Co Ltd | 調校車用影像裝置之方法及其系統 |
EP2896033A4 (en) * | 2012-09-17 | 2016-09-28 | Volvo Lastvagnar Ab | METHOD FOR PROVIDING VEHICLE DRIVER WITH CONTEXT-BASED ADVICE MESSAGE |
DE112015002483T5 (de) * | 2014-05-28 | 2017-02-23 | Kyocera Corporation | Objektdetektionsvorrichtung und Fahrzeug, das mit einer Objektdetektionsvorrichtung versehen ist |
JP6761967B2 (ja) * | 2015-04-21 | 2020-09-30 | パナソニックIpマネジメント株式会社 | 運転支援方法およびそれを利用した運転支援装置、自動運転制御装置、車両、プログラム |
US9896093B2 (en) * | 2015-09-15 | 2018-02-20 | Atieva, Inc. | Vehicle control system |
KR101824982B1 (ko) * | 2015-10-07 | 2018-02-02 | 엘지전자 주식회사 | 차량 및 그 제어방법 |
KR102224805B1 (ko) | 2015-11-25 | 2021-03-09 | 현대자동차주식회사 | 긴급자동제동시스템 및 그 제어 방법 |
JP2016153011A (ja) | 2016-05-30 | 2016-08-25 | 株式会社三洋物産 | 遊技機 |
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2018
- 2018-01-10 KR KR1020180003144A patent/KR101982263B1/ko active IP Right Grant
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2019
- 2019-01-10 CN CN201910022812.9A patent/CN110015292B/zh active Active
- 2019-01-10 US US16/245,002 patent/US10654474B2/en active Active
Patent Citations (10)
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JP2004164315A (ja) * | 2002-11-13 | 2004-06-10 | Toyota Motor Corp | 車両用衝突警報システム |
JP2004352176A (ja) * | 2003-05-30 | 2004-12-16 | Suzuki Motor Corp | 車両用警報システム及び車両用警報発生方法 |
KR20080022748A (ko) * | 2006-09-07 | 2008-03-12 | 주식회사 만도 | 스테레오 카메라를 이용한 충돌회피 방법 |
CN103477378A (zh) * | 2011-04-26 | 2013-12-25 | 丰田自动车株式会社 | 驾驶辅助装置 |
JP2013075640A (ja) * | 2011-09-30 | 2013-04-25 | Equos Research Co Ltd | 走行制御装置および車両 |
US9487139B1 (en) * | 2015-05-15 | 2016-11-08 | Honda Motor Co., Ltd. | Determining a driver alert level for a vehicle alert system and method of use |
CN105235681A (zh) * | 2015-11-11 | 2016-01-13 | 吉林大学 | 一种基于路面条件的车辆追尾防碰撞系统与方法 |
JP2017114256A (ja) * | 2015-12-24 | 2017-06-29 | ダイムラー・アクチェンゲゼルシャフトDaimler AG | 衝突回避支援装置 |
CN106985780A (zh) * | 2016-01-21 | 2017-07-28 | 沃尔沃汽车公司 | 车辆安全辅助系统 |
DE102016104567A1 (de) * | 2016-03-14 | 2017-09-14 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Vermeiden einer Kollision eines Fahrzeugs mit einem Objekt unter Berücksichtigung eines Fahrstufenwechsels des Fahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug |
Also Published As
Publication number | Publication date |
---|---|
KR101982263B1 (ko) | 2019-05-27 |
US20190210596A1 (en) | 2019-07-11 |
CN110015292A (zh) | 2019-07-16 |
US10654474B2 (en) | 2020-05-19 |
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