CN117382533A - Method and intelligent system for sending prompt information and vehicle with intelligent system - Google Patents

Method and intelligent system for sending prompt information and vehicle with intelligent system Download PDF

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Publication number
CN117382533A
CN117382533A CN202311553446.2A CN202311553446A CN117382533A CN 117382533 A CN117382533 A CN 117382533A CN 202311553446 A CN202311553446 A CN 202311553446A CN 117382533 A CN117382533 A CN 117382533A
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CN
China
Prior art keywords
vehicle
information
prompt
image
intelligent system
Prior art date
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.)
Pending
Application number
CN202311553446.2A
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Chinese (zh)
Inventor
禹尧
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Mercedes Benz Group AG
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Mercedes Benz Group AG
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Filing date
Publication date
Application filed by Mercedes Benz Group AG filed Critical Mercedes Benz Group AG
Priority to CN202311553446.2A priority Critical patent/CN117382533A/en
Publication of CN117382533A publication Critical patent/CN117382533A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • 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
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
    • B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
    • 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
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/543—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating other states or conditions of the vehicle
    • 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
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50—Projected symbol or information, e.g. onto the road or car body

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

The present application relates to a method for generating a message by means of an intelligent system, in particular an intelligent lighting system, of a vehicle, comprising the following steps: step S1: acquiring required information, wherein the required information comprises: surrounding environment information of the surrounding environment in which the host vehicle is located, the steering behavior and/or the physical state of the driver of the host vehicle; step S2: judging whether a preset triggering condition is met or not according to the acquired required information; step S3: and if one or more of the preset trigger conditions are met, sending out prompt information corresponding to the trigger conditions. The application also relates to an intelligent system, in particular an intelligent lighting system, for carrying out the method, a computer program product and a vehicle. The following technical advantages can be achieved by certain embodiments of the present application: the prompt information is sent out in a clearer and easily perceived mode in the vehicle traffic, and prompts containing corresponding semantics can be sent out according to different scenes.

Description

Method and intelligent system for sending prompt information and vehicle with intelligent system
Technical Field
The present application relates to a method for issuing a reminder message by means of an intelligent system of a vehicle, an intelligent system, in particular an intelligent lighting system, for performing the method, a computer program product for performing the method according to the present application, and a vehicle comprising the intelligent system according to the present application.
Background
In the prior art, various prompt measures exist in road traffic of vehicles for reminding traffic participants so as to avoid traffic accidents, improve traffic jams or cope with special situations. However, the existing measures for sending prompt information for vehicle road traffic still have the problems of being single, not obvious enough and limited in application scene. Accordingly, there is a need for further improving prompt measures for road traffic of vehicles at present so as to more effectively avoid traffic accidents, improve traffic jams, or cope with special cases.
Disclosure of Invention
It is an object of the present application to provide an improved method for issuing a reminder message by an intelligent system of a vehicle, an intelligent system, in particular an intelligent lighting system, for performing the method, a computer program product for performing the method according to the present application, and a vehicle comprising the intelligent system, to solve at least part of the problems of the prior art.
According to a first aspect of the present application, a method for issuing a reminder message through an intelligent system, in particular an intelligent lighting system, of a vehicle is provided, wherein the method comprises the steps of:
step S1: acquiring required information, wherein the required information comprises: surrounding environment information of a surrounding environment in which the host vehicle is located, a manipulation behavior and/or a physical state of a driver of the host vehicle;
step S2: judging whether a preset triggering condition is met or not according to the acquired required information;
step S3: and if one or more of the preset trigger conditions are met, sending out prompt information corresponding to the one or more trigger conditions.
According to an advantageous embodiment, the preset triggering conditions comprise: a vehicle needing attention exists in the surrounding environment where the vehicle is located; and/or to determine a specific driving intention, in particular a steering intention and/or an overtaking intention, of the driver of the vehicle on the basis of the required information.
According to an advantageous embodiment, the attention vehicle comprises: a vehicle for which the host vehicle intends to overtake; special vehicles needing to be avoided, such as ambulances, fire engines, police cars and the like; and abnormal vehicles that run abnormally, especially against traffic regulations.
According to an advantageous embodiment, the method further comprises the steps of:
step S4: judging whether an ending condition for ending sending the prompt information is met or not;
step S5: and if the ending condition for ending sending the prompt information is met, ending the sending of the prompt information.
According to an advantageous embodiment, the warning message is a warning image projected by a lamp of the host vehicle, in particular a warning image projected onto a road surface surrounding the host vehicle.
According to an advantageous embodiment, the presentation image is an icon which is predefined, in particular by the manufacturer and/or the user, in response to the predefined triggering condition and which can express semantics.
According to an advantageous embodiment, the semantically expressible icons comprise, for example:
a cut-in prompt image indicating a cut-in intention of the host vehicle;
a steering hint image that indicates a steering intent of the host vehicle;
the avoidance prompt image indicates that a special vehicle needing to be avoided exists in the surrounding environment of the vehicle, and particularly indicates a passage of the special vehicle needing to be avoided; and
and prohibiting a prompt image indicating that an abnormal vehicle which runs abnormally, particularly, runs in violation of traffic regulations exists in the surrounding environment of the own vehicle.
According to a second aspect of the present application, there is provided an intelligent system, in particular an intelligent lighting system, for emitting a reminder message, for performing the method according to the first aspect of the present application, wherein the intelligent system comprises one or more of the following components:
a surrounding environment detection module configured to acquire surrounding environment information of the host vehicle;
a driving behavior acquisition module configured to acquire a manipulation behavior and/or a physical state of a driver of the host vehicle;
the information prompt module is configured to send prompt information; and
the analysis processing module is configured to calculate the driving intention of the driver of the vehicle according to the acquired information, judge whether the preset triggering condition is met or not, and send corresponding control information to the information prompt module for sending corresponding prompt information.
According to an advantageous embodiment, the information-prompting module comprises a lamp of the vehicle, in particular a high-resolution digital headlight, for emitting a prompting image, in particular for projecting the prompting image onto a road surface surrounding the vehicle.
According to a third aspect of the present application, there is provided a computer program product, e.g. a computer readable program carrier, comprising computer program instructions which, when executed by a processor, implement the steps of the method according to the first aspect of the present application.
According to a fourth aspect of the present application there is provided a vehicle comprising a system according to the second aspect of the present application.
The following technical advantages can be achieved by certain embodiments of the present application: the prompt information is sent out in a clearer and easily perceived mode in the vehicle traffic, and prompts containing corresponding semantics can be sent out according to different scenes.
Drawings
The principles, features and advantages of the present application may be better understood by describing the present application in more detail with reference to the drawings. The drawings include:
a flow chart of a method for issuing a reminder message by an intelligent system of a vehicle, in particular an intelligent lighting system, according to one embodiment of the present application is shown in a schematic diagram in fig. 1;
a system block diagram of an intelligent system, in particular an intelligent lighting system, according to one embodiment of the present application is shown in schematic diagram form in fig. 2;
a first exemplary application scenario according to the method of the present application is shown in a schematic diagram in fig. 3;
a second exemplary application scenario of the method according to the present application is shown in a schematic diagram in fig. 4;
a third exemplary application scenario according to the method of the present application is shown in schematic diagram in fig. 5;
a fourth exemplary application scenario of the method according to the present application is shown in a schematic diagram in fig. 6.
List of reference numerals
The vehicle comprises a vehicle 1, a vehicle 101 which is intended to overtake, a special vehicle 102, an abnormal vehicle 103, a 10 intelligent system, an 11 surrounding environment detection module, a 12 driving behavior acquisition module, a 13 information prompt module, a 14 analysis processing module, 2 other vehicles, a 201 overtaking prompt image, a 202 steering prompt image, a 203 avoidance prompt image and a 204 forbidden prompt image.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some of the embodiments of the present application, but not all of the embodiments. Accordingly, the following detailed description of the embodiments of the present application, provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without undue burden are within the scope of the present application.
Firstly, to facilitate understanding, returning to the description of the background section, the measures for sending prompt information for vehicle road traffic in the prior art still have the problems of being single, not obvious enough and limited in application scene.
In view of at least one of the above technical problems, or other possible technical problems, an exemplary embodiment of the present application provides a method for issuing a reminder message through an intelligent system, in particular an intelligent lighting system, of a vehicle, wherein the method comprises the steps of:
step S1: acquiring required information, wherein the required information comprises: surrounding environment information of a surrounding environment in which the host vehicle is located, a manipulation behavior and/or a physical state of a driver of the host vehicle;
step S2: judging whether a preset triggering condition is met or not according to the acquired required information;
step S3: and if one or more of the preset trigger conditions are met, sending out prompt information corresponding to the one or more trigger conditions.
For a better understanding of the present application, exemplary embodiments of the present application will be described in detail below with reference to the accompanying drawings.
A flow chart of a method for issuing a reminder message by an intelligent system of a vehicle, in particular an intelligent lighting system, according to one embodiment of the present application is shown in a schematic diagram in fig. 1. As shown in fig. 1, the method for issuing a notification message by an intelligent system of a vehicle, in particular an intelligent lighting system, according to the present application comprises the following steps:
step S1: acquiring required information, wherein the required information comprises: surrounding environment information of a surrounding environment in which the host vehicle is located, a manipulation behavior and/or a physical state of a driver of the host vehicle;
step S2: judging whether a preset triggering condition is met or not according to the acquired required information;
step S3: if one or more of the preset trigger conditions are met, sending out prompt information corresponding to the one or more trigger conditions;
step S4: judging whether an ending condition for ending sending the prompt information is met or not;
step S5: and if the ending condition for ending sending the prompt information is met, ending the sending of the prompt information.
A system block diagram of an intelligent system 10, in particular an intelligent lighting system, according to one embodiment of the present application is shown in schematic diagram form in fig. 2. The intelligent system 10, in particular the intelligent lighting system, is provided here for carrying out the method shown in fig. 1. The intelligent system 10 for passing vehicles, in particular the intelligent lighting system, as shown in fig. 2, comprises the following components:
a surrounding environment detection module 11 configured to acquire surrounding environment information of the own vehicle 1, wherein the surrounding environment detection module 11 includes, for example, an in-vehicle camera, radar, lidar, and/or the like;
a driving behavior acquisition module 12 configured to acquire a manipulation behavior and/or a physical state of a driver of the host vehicle 1, wherein the driving behavior acquisition module 12 may include, for example: an ECU for acquiring the steering behavior of a vehicle steering device such as a turn signal, an accelerator/brake pedal, a shift lever, or a steering wheel; vehicle-mounted sensors, such as cameras inside the vehicle, for monitoring the posture, gestures, vision, health status, etc. of the driver;
an information-prompting module 13 configured for transmitting a prompting message, the information-prompting module 13 comprising a lamp of the host-vehicle 1, in particular a high-resolution digital headlight, for transmitting a prompting image 201, 202, 203, 204, in particular for projecting the prompting image 201, 202, 203, 204 onto a road surface surrounding the host-vehicle 1; and
and an analysis processing module 14 configured to calculate the driving intention of the driver of the vehicle 1 according to the acquired information and determine whether a preset trigger condition is satisfied, and send corresponding control information to the information prompt module 13 for sending corresponding prompt information.
A first exemplary application scenario of the method according to the present application is shown in a schematic diagram in fig. 3. As shown in fig. 3, the host vehicle 1 travels on the left side of the road. The vehicle 1 has an intelligent system 10, in particular an intelligent lighting system, according to the present application. First, the own vehicle 1 detects the presence of a further vehicle 101 in front of it by its surroundings detection module 11, for example an in-vehicle camera, radar or lidar. The further vehicle 101 is here by way of example a relatively slow-running large vehicle, for example a truck. Subsequently, the driving behavior acquisition module 12 acquires the manipulation behavior of the driver of the own vehicle 1, for example, turning on a turn lamp, i.e., a super lamp. Thus, the analysis processing module 14 determines the driver's intention to cut in the vehicle based on the turning on of the turn signal and the detection of the vehicle 101 ahead. Accordingly, the analysis processing module 14 sends control instructions to the information presentation module 13 in accordance with the cut-in intention such that the digital headlight of the host vehicle 1 projects a cut-in prompt image 201 onto the road surface, which cut-in prompt image 201 is here shown by way of example as a graphic indicating the cut-in route of the host vehicle 1. Finally, after the surrounding environment detection module 11 detects that the own vehicle 1 has safely exceeded the other vehicle 101 and has maintained a due safety distance therefrom, the projection of the overtaking cue image 201 is ended. This presents the vehicle 101 for which the own vehicle 1 intends to cut in, thereby ensuring a safe and reliable cut-in process.
A second exemplary application scenario of the method according to the present application is shown in a schematic diagram in fig. 4. As shown in fig. 4, the host vehicle 1 travels to the intersection. Here, the own vehicle 1 detects that it is at an intersection by its surrounding environment detection module 11. Subsequently, the driving behavior acquisition module 12 detects that the driver turns on the left turn lamp. Thus, the analysis processing module 14 determines the driver's steering intent, here steering to the left, based on the turning on of the left turn light and at the intersection. Accordingly, the analysis processing module 14 transmits a control instruction to the information presentation module 13 in accordance with the steering intention such that the digital headlight of the host vehicle 1 projects a steering presentation image 202 to the road surface, the steering presentation image 202 being shown here by way of example as a steering arrow pattern indicating the steering direction of the host vehicle 1. Finally, after it is determined that the own vehicle 1 has completely turned, for example, after it is detected by the driving behavior acquisition module 12 that the steering wheel has completely straightened, the projection of the steering hint image 202 is ended. This gives a prompt to other traffic participants at the road, for example, other vehicles 2 or pedestrians, etc., thereby improving the safety of the steering process.
A third exemplary application scenario of the method according to the present application is shown in a schematic diagram in fig. 5. As shown in fig. 5, the host vehicle 1 is, for example, in a congested road section. The vehicle 1 detects the presence of a special vehicle 102, in this case an ambulance 102, in its surroundings by means of its surroundings detection module 11. Subsequently, the evaluation module 14 sends a control command to the information presentation module 13, so that the digital headlight of the vehicle 1 projects a collision avoidance presentation image 203 onto the road surface, the steering presentation image 203 being shown here by way of example as an arrow pattern indicating the path of the particular vehicle 102 to be collision avoidance. Finally, after determining that the special vehicle 102 has completely left the surrounding of the own vehicle 1, the projection of the avoidance prompt image 203 is ended. Alternatively, the special vehicle 102 to be avoided has itself an intelligent system 10, in particular an intelligent lighting system, according to the present application, whereby an avoidance prompt message, in particular an avoidance prompt image 203, can be emitted by its own message prompt module 13. This can present the other vehicles 2 around the special vehicle 102 to be avoided, and can efficiently prompt the other vehicles 2 to avoid the passage for the special vehicle 102.
A fourth exemplary application scenario of the method according to the present application is shown in a schematic diagram in fig. 6. As shown in fig. 6, the host vehicle 1 normally travels on a road. In this case, the host vehicle 1 detects an abnormal vehicle 103, in particular, a vehicle 103 traveling against traffic regulations, in its surroundings, for example, a vehicle 103 traveling in reverse, by its surroundings detection module 11. Subsequently, the analysis processing module 14 transmits a control instruction to the information presentation module 13 so that the digital headlight of the own vehicle 1 projects a prohibition presentation image 204 to the road surface, the prohibition presentation image 204 being shown here by way of example as a prohibition symbol pattern. This can warn and/or warn the abnormal vehicle 103 and the other vehicles 2, thereby avoiding adverse conditions such as traffic accidents and/or traffic jams due to abnormal traveling.
In describing representative embodiments, the specification may have presented the method and/or process as a particular sequence of steps. However, to the extent that the method or process does not rely on the particular order of steps set forth herein, the method or process should not be limited to the particular sequence of steps described. Other sequences of steps are possible as will be appreciated by those of ordinary skill in the art. Accordingly, the particular order of the steps set forth in the specification should not be construed as limitations on the claims. Furthermore, the claims directed to the method and/or process should not be limited to the performance of their steps in the order written, and one skilled in the art can readily appreciate that the sequences may be varied and still remain within the spirit and scope of the embodiments of the present application.
Although specific embodiments of the present application have been described in detail herein, they are presented for purposes of illustration only and are not to be construed as limiting the scope of the present application. Various substitutions, alterations, and modifications can be made without departing from the spirit and scope of the application.

Claims (10)

1. A method for issuing a reminder message through an intelligent system (10), in particular an intelligent lighting system, of a vehicle, wherein the method comprises the steps of:
step S1: acquiring required information, wherein the required information comprises: surrounding information of a surrounding environment in which the host vehicle (1) is located, a steering behavior and/or a physical state of a driver of the host vehicle (1);
step S2: judging whether a preset triggering condition is met or not according to the acquired required information;
step S3: and if one or more of the preset trigger conditions are met, sending out prompt information corresponding to the one or more trigger conditions.
2. The method of claim 1, wherein,
the preset triggering conditions comprise: -there is a vehicle (101, 102, 103) to be noted in the surrounding environment in which the own vehicle (1) is located; and/or
A specific driving intention, in particular a steering intention and/or a passing intention, of a driver of the vehicle (1) is determined from the required information.
3. The method of claim 2, wherein the attention vehicle (101, 102, 103) comprises:
-a vehicle (101) for which the own vehicle (1) intends to overtake;
a special vehicle (102) to be avoided; and
an abnormal vehicle (103) which runs abnormally, especially against traffic regulations.
4. The method according to any of the preceding claims, wherein the method further comprises the steps of:
step S4: judging whether an ending condition for ending sending the prompt information is met or not;
step S5: and if the ending condition for ending sending the prompt information is met, ending the sending of the prompt information.
5. The method according to any of the preceding claims, wherein the cue information is a cue image (201, 202, 203, 204) projected by a vehicle lamp of the host vehicle (1), in particular a cue image (201, 202, 203, 204) projected onto a road surface surrounding the host vehicle (1).
6. The method according to claim 5, wherein the hint image (201, 202, 203, 204) is a semantically expressible icon predefined, in particular by a manufacturer and/or a user, in correspondence with the preset trigger condition, wherein the semantically expressible icon comprises, for example:
a cut-in prompt image (201) indicating a cut-in intention of the own vehicle (1);
a steering hint image (202) that indicates a steering intention of the own vehicle (1);
an avoidance prompt image (203) which indicates that a special vehicle (102) to be avoided exists in the surrounding environment of the vehicle (1), in particular to indicate the passage of the special vehicle (102) to be avoided; and
-a prohibition presentation image (204) indicating that there is an abnormal vehicle (103) traveling abnormally, in particular traveling in violation of traffic regulations, in the surrounding environment of the own vehicle (1).
7. An intelligent system (10), in particular an intelligent lighting system, for issuing a reminder, the intelligent system (10) being for performing the method according to any one of the preceding claims, wherein the intelligent system (10) comprises one or more of the following components:
-a surrounding detection module (11) configured for acquiring surrounding information of the own vehicle (1);
a driving behavior acquisition module (12) configured to acquire a manipulation behavior and/or a physical state of a driver of the own vehicle (1);
an information prompt module (13) configured to send a prompt message; and
the analysis processing module (14) is configured to calculate the driving intention of the driver of the vehicle (1) according to the acquired information, judge whether the preset triggering condition is met or not, and send corresponding control information to the information prompt module (13) for sending corresponding prompt information.
8. The intelligent system (10) of claim 7, wherein the information-prompting module (13) comprises a vehicle lamp, in particular a high-resolution digital headlight, of the own vehicle (1) for emitting a prompting image (201, 202, 203, 204), in particular for projecting the prompting image (201, 202, 203, 204) onto a road surface surrounding the own vehicle (1).
9. A computer program product, such as a computer-readable program carrier, comprising computer program instructions which, when executed by a processor, implement the steps of the method according to any one of claims 1 to 6.
10. A vehicle comprising an intelligent system (10) according to claim 7 or 8.
CN202311553446.2A 2023-11-21 2023-11-21 Method and intelligent system for sending prompt information and vehicle with intelligent system Pending CN117382533A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311553446.2A CN117382533A (en) 2023-11-21 2023-11-21 Method and intelligent system for sending prompt information and vehicle with intelligent system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311553446.2A CN117382533A (en) 2023-11-21 2023-11-21 Method and intelligent system for sending prompt information and vehicle with intelligent system

Publications (1)

Publication Number Publication Date
CN117382533A true CN117382533A (en) 2024-01-12

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