JP6699622B2 - 車両の制動制御装置 - Google Patents
車両の制動制御装置 Download PDFInfo
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- JP6699622B2 JP6699622B2 JP2017105166A JP2017105166A JP6699622B2 JP 6699622 B2 JP6699622 B2 JP 6699622B2 JP 2017105166 A JP2017105166 A JP 2017105166A JP 2017105166 A JP2017105166 A JP 2017105166A JP 6699622 B2 JP6699622 B2 JP 6699622B2
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- hydraulic pressure
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
- B60T13/16—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
- B60T13/18—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs with control of pump output delivery, e.g. by distributor valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
- B60T13/16—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
- B60T13/20—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs with control of pump driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/02—Arrangements of pumps or compressors, or control devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/03—Brake assistants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/12—Pre-actuation of braking systems without significant braking effect; Optimizing brake performance by reduction of play between brake pads and brake disc
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
- Braking Systems And Boosters (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Description
本発明に係る車両の制動制御装置BSの実施形態について図面を参照して説明する。以下の説明において、「ECU」等の如く、同一記号を付された構成部材、演算処理、信号、特性、及び、値は、同一機能のものである。また、電気モータMT、及び、流体ポンプHPの回転方向において、「正転方向Hf」が、ホイールシリンダWCの液圧Pwが上昇し、車輪WHの制動トルクが増加される方向に対応する。更に、制動液BFの移動において、「増圧方向Hw」は、リザーバRVからホイールシリンダWCに向けた方向であり、「正転方向Hf」に対応する。
図1の全体構成図を参照して、本発明に係る制動制御装置BSの実施形態について説明する。以下の説明で、同一の記号が付された部材、演算処理、信号等は、同一の機能を発揮するものであり、重複説明は、省略されることがある。
マスタシリンダMC、ホイールシリンダWC、リザーバRV、及び、流体ポンプHPを、夫々、接続する各種流体路について説明する。流体路は、制動制御装置の作動液体である制動液BFを移動するための経路であり、制動配管、流体ユニットの流路、ホース等が該当する。なお、流体路において、マスタシリンダMC、又は、流体ポンプHPに相対的に近い側が、「上流側」と称呼され、ホイールシリンダWCに相対的に近い側が、「下流側」と称呼される。
次に、制動制御装置BSについて説明する。制動制御装置BSは、操作量センサBA、制動液圧センサPW、コントローラECU、電気モータMT、流体ポンプHP、ストロークシミュレータSM、シミュレータ電磁弁VS、マスタシリンダ電磁弁VM、増圧用リニア電磁弁VB、及び、減圧用リニア電磁弁VDを含んで構成される。
図2の制御フロー図を参照して、コントローラECUでの演算処理例について説明する。該演算処理では、制御制動の各モード(「制御モード」という)が決定され、モードに応じて、電気モータMT、及び、リニア電磁弁VB、VDが制御される。制御モードには、制動液圧Pwを増加する「増圧モード」、制動液圧Pwを一定に維持する「保持モード」、及び、制動液圧Pwを減少する「減圧モード」が含まれている。なお、制御制動においては、シミュレータ弁VSは開位置、マスタシリンダ弁VMは閉位置にされ、マスタシリンダ流体路HMの非連通状態が維持されている。
図3の機能ブロック図を参照して、コントローラECUにおける電気モータMTの駆動処理について詳述する。コントローラECUでは、駆動回路DRのスイッチング素子を駆動するための信号が演算される。そして、これらの駆動信号に基づいて、駆動回路DRのスイッチング素子が制御され、電気モータMTへの通電状態が調整される。
図4の機能ブロック図を参照して、コントローラECUにおける電磁弁VD、VBの駆動処理の詳細について説明する。コントローラECUでは、駆動回路DRのスイッチング素子を駆動するための信号が演算される。そして、これらの駆動信号に基づいて、駆動回路DRのスイッチング素子が制御され、電磁弁VD、VBが駆動される。
制動装置において、制動液圧は、ホイールシリンダWCに流れ込む制動液BFの体積に依存する。ブレーキキャリパ、摩擦部材等、車輪に設けられた構成部材は、剛性を有するため(即ち、力に対して変形するため)、ホイールシリンダWCに制動液BFが流入した際に、該構成部材が変形し、制動液圧が発生する。結果、摩擦部材(ブレーキパッド)が、回転部材(ブレーキディスク)に押圧されることによって、車輪WHに制動トルクが発生される。
以下、他の実施形態(変形例)について説明する。他の実施形態においても、上記同様の効果(制御干渉の低減による液圧制御の精度、安定性、ロバスト性の向上)を奏する。
Claims (1)
- 車両の制動操作部材の操作量に応じて、リザーバから、1つの流体ポンプを介して、各車輪のホイールシリンダに制動液を圧送し、前記ホイールシリンダの液圧を増加する車両の制動制御装置であって、
前記流体ポンプを駆動する電気モータと、
前記電気モータを制御するコントローラと、を備え、
前記コントローラは、
前記各車輪の車輪速度、前記車両の減速状態、及び、前記車両の旋回状態のうちの少なくとも1つに基づいて、前記ホイールシリンダの各目標液圧を演算し、
前記目標液圧に基づいて、前記流体ポンプの目標吐出量を演算し、
前記目標吐出量に基づいて前記電気モータを制御するよう構成され、
前記コントローラは、
前記ホイールシリンダのうちの前輪ホイールシリンダに対応した、前記制動液の流入体積と前記液圧との関係である前輪演算マップと、前記ホイールシリンダのうちの後輪ホイールシリンダに対応した、前記制動液の流入体積と前記液圧との関係である後輪演算マップとを有し、前記前輪演算マップ、及び、前記後輪演算マップに基づいて、前記目標吐出量を演算するよう構成された、車両の制動制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017105166A JP6699622B2 (ja) | 2017-05-29 | 2017-05-29 | 車両の制動制御装置 |
PCT/JP2018/020434 WO2018221476A1 (ja) | 2017-05-29 | 2018-05-29 | 車両の制動制御装置 |
US16/615,506 US11518351B2 (en) | 2017-05-29 | 2018-05-29 | Braking control device for vehicle |
CN201880035050.XA CN110678366B (zh) | 2017-05-29 | 2018-05-29 | 车辆的制动控制装置 |
DE112018002745.7T DE112018002745T5 (de) | 2017-05-29 | 2018-05-29 | Bremssteuergerät für ein Fahrzeug |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017105166A JP6699622B2 (ja) | 2017-05-29 | 2017-05-29 | 車両の制動制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2018199432A JP2018199432A (ja) | 2018-12-20 |
JP6699622B2 true JP6699622B2 (ja) | 2020-05-27 |
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JP2017105166A Active JP6699622B2 (ja) | 2017-05-29 | 2017-05-29 | 車両の制動制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11518351B2 (ja) |
JP (1) | JP6699622B2 (ja) |
CN (1) | CN110678366B (ja) |
DE (1) | DE112018002745T5 (ja) |
WO (1) | WO2018221476A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6939286B2 (ja) * | 2017-09-06 | 2021-09-22 | 株式会社アドヴィックス | 車両用制動装置 |
WO2024012639A1 (de) * | 2022-07-11 | 2024-01-18 | Continental Automotive Technologies GmbH | Verfahren zum betrieb einer kolbenpumpe in bremssystemen ohne saugdrosselung |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6913326B1 (en) | 1998-08-28 | 2005-07-05 | Toyota Jidosha Kabushiki Kaisha | Apparatus for increasing brake cylinder pressure by controlling pump motor and reducing the pressure by controlling electric energy applied to control valve |
JP3409721B2 (ja) | 1998-09-22 | 2003-05-26 | トヨタ自動車株式会社 | 液圧ブレーキ装置 |
JP4835203B2 (ja) * | 2006-03-01 | 2011-12-14 | 株式会社アドヴィックス | 車両用ブレーキ制御装置 |
JP4830588B2 (ja) * | 2006-04-03 | 2011-12-07 | 株式会社アドヴィックス | 車両用制動装置 |
US8235471B2 (en) * | 2006-06-28 | 2012-08-07 | Advics Co., Ltd. | Apparatus for controlling pump driving motor |
JP4974766B2 (ja) * | 2007-05-30 | 2012-07-11 | 本田技研工業株式会社 | 車両用ブレーキ液圧制御装置 |
JP5846017B2 (ja) * | 2012-01-25 | 2016-01-20 | 株式会社アドヴィックス | 車両用ブレーキ装置 |
JP5922557B2 (ja) * | 2012-11-14 | 2016-05-24 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置 |
JP6432483B2 (ja) | 2015-10-20 | 2018-12-05 | 株式会社アドヴィックス | 車両の制動制御装置 |
JP7040316B2 (ja) * | 2018-06-25 | 2022-03-23 | 株式会社アドヴィックス | 車両の制動制御装置 |
JP7070145B2 (ja) * | 2018-06-25 | 2022-05-18 | 株式会社アドヴィックス | 車両の制動制御装置 |
-
2017
- 2017-05-29 JP JP2017105166A patent/JP6699622B2/ja active Active
-
2018
- 2018-05-29 US US16/615,506 patent/US11518351B2/en active Active
- 2018-05-29 WO PCT/JP2018/020434 patent/WO2018221476A1/ja active Application Filing
- 2018-05-29 DE DE112018002745.7T patent/DE112018002745T5/de active Pending
- 2018-05-29 CN CN201880035050.XA patent/CN110678366B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
WO2018221476A1 (ja) | 2018-12-06 |
JP2018199432A (ja) | 2018-12-20 |
DE112018002745T5 (de) | 2020-02-20 |
CN110678366B (zh) | 2022-01-11 |
US11518351B2 (en) | 2022-12-06 |
US20200079331A1 (en) | 2020-03-12 |
CN110678366A (zh) | 2020-01-10 |
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