JP6907896B2 - 自動運転システム - Google Patents
自動運転システム Download PDFInfo
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- JP6907896B2 JP6907896B2 JP2017221879A JP2017221879A JP6907896B2 JP 6907896 B2 JP6907896 B2 JP 6907896B2 JP 2017221879 A JP2017221879 A JP 2017221879A JP 2017221879 A JP2017221879 A JP 2017221879A JP 6907896 B2 JP6907896 B2 JP 6907896B2
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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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
- B60W40/10—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 vehicle motion
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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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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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
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/12—Brake pedal position
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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
- B60W2540/18—Steering angle
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/103—Speed profile
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
Description
本発明の実施の形態の自動運転システムは、自動運転車両に搭載される自動運転のための制御システムであって、例えばSAE(Society of Automotive Engineers)のレベル定義においてレベル3以上の自動運転レベルを実現することができる制御システムである。本実施の形態の自動運転システムが搭載される自動運転車両は、例えば図1にブロック図で示される構成の制御系を有する。
図1には、ECU1が自動運転システム10として動作する場合の機能がブロックで詳細に表現されている。以下、自動運転システム10が有する機能について説明する。
本実施の形態の自動運転システム10による走行計画の立て直し方法の具体例について、比較例の自動運転システムとの車両の挙動の比較を交えて説明する。まず、比較例の自動運転システムによる車両の挙動の一例について図5を用いて説明する。図5は、比較例の自動運転システムにおける車両の挙動に関係するパラメータの時間による変化を示すタイムチャートである。パラメータとして、上段から順に、ドライバのブレーキ操作或いは安全システムの作動による制動力、計画速度及び実速度、自動運転システムの速度制御(ADS速度制御)による駆動力、車両の前後加速度、そして、参照曲率及び参照曲率真値が示されている。
最後に、ABSが作動した場合の走行計画の立て直し方法の一例について説明する。ABSが作動した場合の走行計画の立て直し方法には、その他の安全システム40が作動した場合の走行計画の立て直し方法との間で違いが有る。ここでは、その他の安全システム40の例としてTRCを挙げ、TRCが作動した場合の走行計画の立て直し方法と比較する。
7,8,9 アクチュエータ
10 自動運転システム
20 走行計画部
30 走行制御部
40 安全システム
50 運転操作具
Claims (4)
- 目標ルートに沿った経路であり、且つ、現在から所定時間先までの車両のとるべき経路である目標経路を所定の座標系における制御点の集合として生成することと、同目標経路上の制御点の通過時刻を規定する速度計画を生成することと、を周期的に繰り返し実行する走行計画部と、
前記速度計画に従い前記目標経路に沿うように前記車両を走行させる自動運転制御を実行する走行制御部と、を備え、
前記走行計画部は、自動運転中に前記車両に作用する制動力を変化させる操作介入が行われた場合、前記車両の実速度に基づいて前記速度計画を立て直す
ことを特徴とする自動運転システム。 - 前記走行計画部は、前記操作介入が行われた場合、前記車両の実速度と実加速度とに基づいて前記速度計画を立て直す
ことを特徴とする請求項1に記載の自動運転システム。 - 前記走行計画部は、前記操作介入が行われている間は、前記速度計画により定まる計画速度を実速度に一致させ、前記操作介入が終了した場合、その時点での実速度から前記計画速度を徐々に増大させるように前記速度計画を立て直す
ことを特徴とする請求項1に記載の自動運転システム。 - 前記走行計画部は、前記操作介入がABSの作動である場合、前記自動運転制御による目標加速度と前記車両の実速度とに基づいて前記速度計画を立て直す
ことを特徴とする請求項1に記載の自動運転システム。
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017221879A JP6907896B2 (ja) | 2017-11-17 | 2017-11-17 | 自動運転システム |
RU2018133851A RU2707855C1 (ru) | 2017-11-17 | 2018-09-26 | Система автономного вождения (варианты) |
CN201811123098.4A CN109808692B (zh) | 2017-11-17 | 2018-09-26 | 自主驾驶系统 |
CN202210534481.9A CN114932919A (zh) | 2017-11-17 | 2018-09-26 | 自主驾驶系统 |
US16/148,243 US11768500B2 (en) | 2017-11-17 | 2018-10-01 | Autonomous driving system |
EP18197944.4A EP3486135B1 (en) | 2017-11-17 | 2018-10-01 | Autonomous driving system |
KR1020180121986A KR20190056964A (ko) | 2017-11-17 | 2018-10-12 | 자동 운전 시스템 |
BR102018073408-3A BR102018073408B1 (pt) | 2017-11-17 | 2018-11-13 | Sistema de direção autônomo |
Applications Claiming Priority (1)
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JP2017221879A JP6907896B2 (ja) | 2017-11-17 | 2017-11-17 | 自動運転システム |
Publications (2)
Publication Number | Publication Date |
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JP2019093740A JP2019093740A (ja) | 2019-06-20 |
JP6907896B2 true JP6907896B2 (ja) | 2021-07-21 |
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JP2017221879A Active JP6907896B2 (ja) | 2017-11-17 | 2017-11-17 | 自動運転システム |
Country Status (6)
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---|---|
US (1) | US11768500B2 (ja) |
EP (1) | EP3486135B1 (ja) |
JP (1) | JP6907896B2 (ja) |
KR (1) | KR20190056964A (ja) |
CN (2) | CN114932919A (ja) |
RU (1) | RU2707855C1 (ja) |
Families Citing this family (11)
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FR3088040B1 (fr) * | 2018-11-05 | 2021-07-30 | Renault Sas | Procede de determination d'une trajectoire d'un vehicule autonome |
JP7263827B2 (ja) * | 2019-02-21 | 2023-04-25 | 日産自動車株式会社 | 車両の走行支援方法及び走行支援装置 |
JP7226238B2 (ja) * | 2019-10-15 | 2023-02-21 | トヨタ自動車株式会社 | 車両制御システム |
CN111231950B (zh) * | 2020-03-05 | 2021-08-10 | 北京百度网讯科技有限公司 | 规划车辆变道路径的方法、装置、设备及可读存储介质 |
CN111634292B (zh) * | 2020-05-18 | 2021-10-19 | 北京踏歌智行科技有限公司 | 一种用于矿区的碰撞预测方法 |
US11608066B1 (en) * | 2020-05-19 | 2023-03-21 | Waymo Llc | Responding to input on a brake pedal of a brake by wire system for an autonomous vehicle |
CN113689021A (zh) * | 2020-05-19 | 2021-11-23 | 百度在线网络技术(北京)有限公司 | 用于输出信息的方法和装置 |
DE102020121733A1 (de) * | 2020-08-19 | 2022-02-24 | Zf Cv Systems Global Gmbh | Verfahren zum automatisierten Führen eines Fahrzeuges, Fahrt- Steuereinheit und Fahrzeug |
JP7327371B2 (ja) * | 2020-12-09 | 2023-08-16 | トヨタ自動車株式会社 | 車両制御システム及び自動運転車両並びに車両制御方法 |
JPWO2023002579A1 (ja) * | 2021-07-20 | 2023-01-26 | ||
CN116674594B (zh) * | 2023-07-28 | 2023-10-27 | 广汽埃安新能源汽车股份有限公司 | 一种基于路径规划的纵向控制方法及装置 |
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JP2016215745A (ja) * | 2015-05-18 | 2016-12-22 | トヨタ自動車株式会社 | 車両の制御装置 |
JP6394497B2 (ja) * | 2015-05-25 | 2018-09-26 | トヨタ自動車株式会社 | 車両の自動運転システム |
JP6406141B2 (ja) * | 2015-06-30 | 2018-10-17 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP6532786B2 (ja) * | 2015-08-07 | 2019-06-19 | 株式会社日立製作所 | 車両走行制御装置及び速度制御方法 |
JP6259797B2 (ja) * | 2015-10-22 | 2018-01-10 | 本田技研工業株式会社 | 車両走行制御装置 |
JP6303217B2 (ja) * | 2015-10-28 | 2018-04-04 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、および車両制御プログラム |
JP6558239B2 (ja) * | 2015-12-22 | 2019-08-14 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援システム、自動運転支援方法及びコンピュータプログラム |
JP6380766B2 (ja) | 2016-03-14 | 2018-08-29 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、および車両制御プログラム |
EP3254918B1 (en) * | 2016-06-07 | 2023-05-24 | Volvo Car Corporation | Adaptive cruise control system and vehicle comprising an adaptive cruise control system |
US10308248B2 (en) * | 2016-07-01 | 2019-06-04 | Hyundai Motor Company | Control apparatus and method for improving fuel efficiency in CACC system |
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JP2019093740A (ja) | 2019-06-20 |
CN109808692A (zh) | 2019-05-28 |
US20190155294A1 (en) | 2019-05-23 |
RU2707855C1 (ru) | 2019-11-29 |
BR102018073408A2 (pt) | 2019-10-22 |
US11768500B2 (en) | 2023-09-26 |
EP3486135A1 (en) | 2019-05-22 |
KR20190056964A (ko) | 2019-05-27 |
CN109808692B (zh) | 2022-06-07 |
EP3486135B1 (en) | 2023-01-18 |
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