CN109572707A - A kind of more wheel distributed electrical drive system longitudinal direction vehicle speed estimation methods - Google Patents
A kind of more wheel distributed electrical drive system longitudinal direction vehicle speed estimation methods Download PDFInfo
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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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Abstract
The present invention proposes that one kind takes turns distributed electrical drive system longitudinal direction vehicle speed estimation method more, it is intended to accurately estimate vehicle speed to realize stability control, comprising the following steps: first, it is determined that whether GPS signal is normal, determines to estimate speed using direct method or indirect method；Secondly, realizing speed data collection using integrated navigation system in direct method estimation speed；In indirect method estimation speed, the early-stage preparations of speed estimation are carried out, suitable speed algorithm for estimating is chosen and completes speed estimation；Finally, the jump to speed carries out the disposal of gentle filter, final estimation speed output is completed.
Description
Technical field
The present invention relates to a kind of automobile speed estimation methods, and it is longitudinal that distributed electrical drive system is taken turns more particularly, to one kind more
The estimation method of speed.
Background technique
It is driven compared to traditional single motor, distributed electrical drive system driving methods of taking turns have simplified chassis structure, improve more
Many-sided technical advantages such as transmission efficiency, enhancing control performance, travel safety, stability and dynamic property are high dependent on stablizing
The whole-control system of effect.Wherein, vehicle reference speed is major parameter necessary to vehicle active safety control, is more wheels point
The basis that cloth power drive system stability control is realized, therefore, the accurate estimation of speed are before realizing that vehicle well controls
It mentions.
Currently, the acquisition of speed mainly includes direct method and indirect method.Direct method is using technologies such as inertial navigation system, GPS, directly
The travel speed of measurement vehicle, but higher cost are connect, and affected by environment larger.Indirect method mainly utilizes vehicle other sensors
Information, foundation and the kinetics relation among speed, and then estimate speed.It is public such as Chinese patent publication No. CN106394561A
Cloth day 2017-02-15；Chinese patent publication No. CN101655504, date of publication 2010-02-24；Chinese patent publication No.
CN102009654A, date of publication 2011-04-13 etc. carry out the estimation of speed by intelligent control algorithm；These methods are required to
Complicated tire model and auto model, needs to be related to more nonlinear operation, there is more limitation in practical applications.
Partial monopoly, such as Chinese patent publication No. CN104742888A, date of publication 2015-07-01, the invention is according to each wheel
Wheel speed calculation wheel acceleration value judges that vehicle is in driving or damped condition；Then, wheel is estimated using dynamic slope updating method
Reference speed determines final reference speed using various speed algorithm for estimating under different operating conditions；But the invention does not account for
Processing mode under wheel speed failure conditions, therefore when also having inaccuracy to the estimation of speed.Chinese patent publication No.
CN103523022A, date of publication 2014-01-22, the invention solve existing speed algorithm for estimating due to using acceleration sensing
When device causes to act on using upper limitation and ABS, ESP, TCS, vehicle, which trackslips, causes the problem of estimation inaccuracy, however, should
The research that invention is carried out just for four-wheel car not can be used directly the distributed drive system of more wheels；In addition, the invention is simultaneously
Speed jump problem caused by when maximum wheel speed method switches with minimum wheel speed method (or average wheel speed method) is not accounted for.
Summary of the invention
In order to solve the above technical problems, proposing that a kind of fusion is direct the present invention is based on the distributed driving experimental model of more wheels
More wheel distributed electrical drive system longitudinal directions vehicle speed estimation method of method and indirect method, wherein direct method by the long-term high-precision of GPS with
The short-term high-precision feature of inertial navigation system combines, and using multisensor Data Fusion technology, obtains high-precision speed
Signal；After indirect method is mainly used in GPS signal failure, existing vehicle data is made full use of to estimate reference speed；Tool
Body includes the following steps:
Step 1: judge whether GPS signal is normal: when GPS is worked normally, inertial navigation system feedback GPS is normally transported
Line code, the high-precision speed signal that reference speed is GPS and inertial navigation system direct method calculates；Build in large scale when vehicle encounters height
It builds object to block, when electromagnetic interference, GPS signal failure, inertial navigation system feeds back GPS abnormal running code；At this point,
Reference speed is estimated to obtain by indirect method.
Step 2: in direct method estimation speed, what this patent was combined using both GPS and inertial navigation system signal
Mode carries out corresponding data fusion, acquisition when realizing the high-precision real of speed signal in host computer.
The GPS signal is for providing the low-frequency velocity signal of benchmark, rectification building-out error；GPS receiver capture, with
Track satellite receives, amplification, demodulation GPS signal, obtains the data such as speed；The inertial navigation system is for providing short-term height
The signal of intensive reading；By installing inertia device on carrier, gyroscope measurement is utilized on virtual computer digit platform
Angular speed calculates attitude matrix in real time, and the acceleration information of accelerometer output is by the coordinate transform of attitude matrix to navigating
Coordinate system is exported by the information that the resolving of acceleration and angular speed obtains navigation information.
The host computer data anastomosing algorithm is kalman filter method, and GPS signal and inertial navigation system are inputted
To Kalman filter, it is combined processing, obtains optimal estimation speed.
Step 3: in indirect method estimation speed, more wheel distributed electrical drive system drive systems are analyzed first, so
It reads the tach signal and malfunction of each motor respectively afterwards, and is converted into corresponding speed；
More wheel distributed electrical drive system drive systems that this patent is related to share eight motors, and each driving wheel is all made of
The drive form of " wheel motor+retarder ".Vehicle shares former and later two axis, each there are four motor on an axis, and every
Axis upper left side includes two motors, and right side includes two motors.
Vehicle does not install wheel speed sensors and ABS system under the conditions of current real vehicle, and this patent is total from CAN by HCU
The tach signal that each motor is read on line, according to formula:
V=wMG*π/30/i0*r*3.6 (1)
In formula, v indicates speed, unit km/h；wMGMotor speed is indicated, according to motor CAN communication agreement, unit r/
min；i0For retarder speed ratio；R indicates that tach signal is converted into corresponding speed signal by radius, unit m.
Step 4: speed algorithm for estimating is chosen
According to the driving state of the vehicle and the malfunction of each motor speed signal chooses suitable vehicle speed estimation method.
The indirect algorithm for estimating of the speed that this patent is proposed are as follows:
(1) minimum speed method: when eight motor speed signals are normal, and vehicle is in driving condition, turned using minimum
Fast method estimates speed.Currently, more wheel distributed electrical drive system drive systems share three kinds of forerunner, rear-guard and full drive drives
Dynamic model formula.When system is forerunner's mode, the four motor work of preceding axis, four motors of posterior axis do not work, therefore, using rear axle
The minimum value of four non-driving wheel speeds of line is as reference speed；When system is rear-guard mode, four motors of preceding axis do not work,
Four motor work of posterior axis, therefore, using the minimum value of preceding four non-driving wheel speeds of axis as reference speed；System is
When full drive mode, directly take the minimum value of eight motors as reference speed.
(2) maximum (top) speed method: when eight motor speed signals are normal, and driver's brake pedal, vehicle are in system
When dynamic state, speed is estimated using maximum (top) speed method.When system is forerunner's mode, the four motor work of preceding axis, after
Four motors of axis do not work, therefore, using the maximum value of four non-driving wheel speeds of posterior axis as reference speed；System is
When rear-guard mode, four motors of preceding axis do not work, four motor work of posterior axis, therefore, non-driven using four, preceding axis
The maximum value of speed is taken turns as reference speed；When system is full drive mode, the maximum value of eight motors is directly taken to be used as with reference to vehicle
Speed.
(3) mean speed method: when at least one motor speed signal is there are when failure, using mean speed method to speed
Estimated.It specifically includes:
1. HCU detects the malfunction of four motors of posterior axis when the system is forerunner's mode:
When four motors of posterior axis, at least one is normal, the reference speed of calculating is normal posterior axis motor speed
The average value of speed after conversion；When four motors of posterior axis have malfunction, before the reference speed of calculating is normal
The average value of speed after the conversion of axis motor speed；
2. when the system is rear-guard mode, the malfunction of four motors of axis before HCU is detected:
Current four motors of axis at least one it is normal when, the reference speed of calculating be it is normal before axis motor speed
The average value of speed after conversion；When current four motors of axis have malfunction, after the reference speed of calculating is normal
The average value of speed after the conversion of axis motor speed；
3. the reference speed of calculating is the flat of speed after normal motor speed converts when the system is full drive mode
Mean value；
Step 5: speed jumps filtering processing
For the stability contorting for realizing speed, the shock extent when switching of speed algorithm for estimating is reduced, is cut in speed algorithm for estimating
When changing, the disposal of gentle filter is carried out to the jump of speed.The real-time speed v that speed algorithm for estimating is estimatedestiIt is low by one
Bandpass filter.Obtain filtered speed vfinal, its calculation formula is:
In formula, T is time constant filter.
Compared with prior art the beneficial effects of the present invention are:
(1) invention estimates direct method speed in conjunction with indirect method vehicle speed estimation method, on the one hand can guarantee GPS just
Often system can obtain accurate speed when work；On the other hand, when GPS signal fails, system can also make full use of vehicle to believe
Breath can rationally estimate speed, reduce vehicle to the dependence of GPS and inertial navigation system estimation speed, guarantee the good of vehicle
Good control.
(2) invention indirect method estimation speed in, fully considered each motor speed signal malfunction and
Vehicle driving state selects different speed algorithm for estimating for different situations, realizes optimal speed estimation output.
(3) invention has carried out filtering processing to the jump of speed, can be improved when speed algorithm for estimating switches
Vehicle body stability and riding comfort.
Detailed description of the invention
The present invention will be further described below with reference to the drawings:
Fig. 1 is the distributed general flow chart for driving longitudinal vehicle speed estimation method of more wheels proposed by the present invention；
Fig. 2 is that direct method speed proposed by the present invention estimates flow chart；
Fig. 3 is that research object-of the present invention takes turns distributed drive system configuration schematic diagram more；
Fig. 4 is minimum speed method flow chart in indirect method speed proposed by the present invention estimation；
Fig. 5 is maximum (top) speed method flow chart in indirect method speed proposed by the present invention estimation；
Fig. 6 is mean speed method flow chart in indirect method speed proposed by the present invention estimation；
In figure: axis left motor 1 before 1-, axis left motor 2 before 2-, axis right motor Isosorbide-5-Nitrae-preceding axis is right before 3-
Side motor 2,5- posterior axis left motor 1,6- posterior axis left motor 2,7- posterior axis right motor 1,8- posterior axis right side electricity
Machine 2,9- battery and battery management system BMS, 10- motor of engine group.
Specific embodiment:
Finer description is done to the present invention with reference to the accompanying drawing:
The present invention proposes a kind of more wheel distributed electrical drive system longitudinal directions speed estimation side for merging direct method and indirect method
Method, as shown in Figure 1.Wherein, direct method combines the long-term high-precision of GPS with the short-term high-precision feature of inertial navigation system,
Using multisensor Data Fusion technology, high-precision speed signal is obtained；After indirect method is mainly used in GPS signal failure,
Existing vehicle data is made full use of to estimate reference speed；Specifically include the following steps:
Step 1: judge whether GPS signal is normal: when GPS is worked normally, inertial navigation system feedback GPS is normally transported
Line code, the high-precision speed signal that reference speed is GPS and inertial navigation system direct method calculates；Build in large scale when vehicle encounters height
It builds object to block, when electromagnetic interference, GPS signal failure, inertial navigation system feeds back GPS abnormal running code；At this point,
Reference speed is estimated to obtain by indirect method.
Step 2: in direct method estimation speed, what this patent was combined using both GPS and inertial navigation system signal
Mode carries out corresponding data fusion, acquisition when realizing the high-precision real of speed signal in host computer.
Direct method estimation speed process as shown in Fig. 2, the GPS signal for providing the low-frequency velocity signal of benchmark,
Rectification building-out error；GPS receiver capture, tracking satellite receive, amplification, demodulation GPS signal, obtain the data such as speed；It is described
Inertial navigation system be used to provide the signal of short-term high intensive reading；By installing inertia device on carrier, in virtual calculating
Attitude matrix, the acceleration information of accelerometer output are calculated in real time using the angular speed of gyroscope measurement on machine digital platform
By the coordinate transform of attitude matrix to navigational coordinate system, the information of navigation information is obtained by the resolving of acceleration and angular speed
Output.
The host computer data anastomosing algorithm is kalman filter method, and GPS signal and inertial navigation system are inputted
To Kalman filter, fusion treatment is carried out, optimal estimation speed is obtained.
Step 3: in indirect method estimation speed, more wheel distributed electrical drive system drive systems are analyzed first, so
It reads the tach signal and malfunction of each motor respectively afterwards, and is converted into corresponding speed；
More wheel distributed electrical drive system drive system configuration schematic diagrames that this patent is related to are as shown in figure 3, the system is
Series connection type hybrid power system, battery and battery management system BMS9 motor of engine group are the energy source of vehicle；System is shared
Eight driving motor 1-8, each driving wheel are all made of the drive form of " wheel motor+retarder ".Vehicle shares former and later two
Axis, each there are four motor on an axis, every axis upper left side includes two motors, and right side includes two motors.Wherein,
Motor 1-4 is the sequence of preceding axis from left to right, and motor 5-8 is the sequence of posterior axis from left to right.
Vehicle does not install wheel speed sensors and ABS system under the conditions of current real vehicle, and this patent is total from CAN by HCU
The tach signal that each motor is read on line, according to formula:
V=wMG*π/30/i0*r*3.6 (1)
In formula, v indicates speed, unit km/h；wMGMotor speed is indicated, according to motor CAN communication agreement, unit r/
min；i0For retarder speed ratio；R indicates that tach signal is converted into corresponding speed signal by radius, unit m.
Step 4: speed algorithm for estimating is chosen
According to the driving state of the vehicle and the malfunction of each motor speed signal chooses suitable vehicle speed estimation method.
The indirect algorithm for estimating of the speed that this patent is proposed are as follows:
(1) minimum speed method: when eight motor speed signals are normal, and vehicle is in driving condition, turned using minimum
Fast method estimates that speed, detailed process is as shown in Figure 4.More wheel distributed electrical drive system drive systems share forerunner,
Rear-guard and entirely three kinds of drive modes of drive.When system is forerunner's mode, the four motors work of preceding axis, four motors of posterior axis not work
Make, therefore, using the minimum value of four non-driving wheel speeds of posterior axis as reference speed；When system is rear-guard mode, front axle
Four motors of line do not work, therefore four motor work of posterior axis are made using the minimum value of four non-driving wheel speeds of preceding axis
For reference speed；When system is full drive mode, directly take the minimum value of eight motors as reference speed.
(2) maximum (top) speed method: when eight motor speed signals are normal, and driver's brake pedal, vehicle are in system
When dynamic state, estimate that speed, detailed process is as shown in Figure 5 using maximum (top) speed method.It is preceding when system is forerunner's mode
Four motor work of axis, four motors of posterior axis do not work, therefore, using the maximum value of four non-driving wheel speeds of posterior axis
As reference speed；When system is rear-guard mode, four motors of preceding axis do not work, therefore four motor work of posterior axis, are adopted
Use the maximum value of preceding four non-driving wheel speeds of axis as reference speed；When system is full drive mode, eight motors are directly taken
Maximum value as reference speed.
(3) mean speed method: when at least one motor speed signal is there are when failure, using mean speed method to speed
Estimated, detailed process is as shown in Figure 6.It specifically includes:
1. HCU detects the malfunction of four motors of posterior axis when the system is forerunner's mode:
When four motors of posterior axis, at least one is normal, the reference speed of calculating is normal posterior axis motor speed
The average value of speed after conversion；When four motors of posterior axis have malfunction, before the reference speed of calculating is normal
The average value of speed after the conversion of axis motor speed；
2. when the system is rear-guard mode, the malfunction of four motors of axis before HCU is detected:
Current four motors of axis at least one it is normal when, the reference speed of calculating be it is normal before axis motor speed
The average value of speed after conversion；When current four motors of axis have malfunction, after the reference speed of calculating is normal
The average value of speed after the conversion of axis motor speed；
3. the reference speed of calculating is the flat of speed after normal motor speed converts when the system is full drive mode
Mean value；
Step 5: speed jumps filtering processing
For the stability contorting for realizing speed, the shock extent when switching of speed algorithm for estimating is reduced, is cut in speed algorithm for estimating
When changing, the disposal of gentle filter is carried out to the jump of speed.The real-time speed v that speed algorithm for estimating is estimatedestiIt is low by one
Bandpass filter.Obtain filtered speed vfinal, its calculation formula is:
In formula, T is time constant filter.
Claims (1)
1. a kind of more wheel distributed electrical drive system longitudinal direction vehicle speed estimation methods, which is characterized in that this method includes following
Step:
Step 1: judge whether GPS signal is normal: when GPS is worked normally, inertial navigation system feeds back GPS and operates normally generation
Code, the high-precision speed signal that reference speed is GPS and inertial navigation system direct method calculates；When vehicle encounters high-lager building
It blocks, when electromagnetic interference, GPS signal failure, inertial navigation system feeds back GPS abnormal running code；At this point, with reference to
Speed is estimated to obtain by indirect method；
Step 2: in direct method estimation speed, in such a way that both GPS and inertial navigation system signal combine, upper
Position machine carries out corresponding data fusion, acquisition when realizing the high-precision real of speed signal；
GPS receiver capture, tracking satellite receive, amplification, demodulation GPS signal, obtain the data such as speed；Inertial navigation system
By installing inertia device on carrier, on virtual computer digit platform in real time using the angular speed of gyroscope measurement
Attitude matrix is calculated, the acceleration information of accelerometer output, to navigational coordinate system, is passed through by the coordinate transform of attitude matrix
The resolving of acceleration and angular speed obtains the information output of navigation information；GPS signal and inertial navigation system are input to karr
Graceful filter carries out fusion treatment, obtains optimal estimation speed；
Step 3: in indirect method estimation speed, more wheel distributed electrical drive system drive systems is analyzed first, are then divided
The tach signal and malfunction of each motor are not read, and are converted into corresponding speed；
More wheel distributed electrical drive system drive systems share eight motors, and each driving wheel is all made of " wheel motor+deceleration
The drive form of device "；Vehicle shares former and later two axis, and each there are four motor on an axis, every axis upper left side includes
Two motors, right side include two motors；
The tach signal for reading each motor from CAN bus by HCU, according to formula:
V=wMG*π/30/i0*r*3.6 (1)
In formula, v indicates speed, unit km/h；wMGMotor speed is indicated, according to motor CAN communication agreement, unit r/min；i0
For retarder speed ratio；R indicates that tach signal is converted into corresponding speed signal by radius, unit m；
Step 4: speed algorithm for estimating is chosen
According to the driving state of the vehicle and the malfunction of each motor speed signal chooses suitable vehicle speed estimation method；Using
The indirect algorithm for estimating of speed are as follows:
(1) minimum speed method: when eight motor speed signals are normal, and vehicle is in driving condition, using minimum speed method
Speed is estimated；Currently, more wheel distributed electrical drive system drive systems share forerunner, rear-guard and drive three kinds of driving moulds entirely
Formula；When system is forerunner's mode, the four motor work of preceding axis, four motors of posterior axis do not work, therefore, using posterior axis four
The minimum value of a non-driving wheel speed is as reference speed；When system is rear-guard mode, four motors of preceding axis do not work, rear axle
Four motor work of line, therefore, using the minimum value of preceding four non-driving wheel speeds of axis as reference speed；System is complete drives
When mode, directly take the minimum value of eight motors as reference speed；
(2) maximum (top) speed method: when eight motor speed signals are normal, and driver's brake pedal, vehicle are in braking shape
When state, speed is estimated using maximum (top) speed method；When system is forerunner's mode, the four motor work of preceding axis, posterior axis
Four motors do not work, therefore, using the maximum value of four non-driving wheel speeds of posterior axis as reference speed；System is rear-guard
When mode, four motors of preceding axis do not work, four motor work of posterior axis, therefore, using four non-driving wheel vehicles of preceding axis
The maximum value of speed is as reference speed；When system is full drive mode, directly take the maximum value of eight motors as reference speed；
(3) mean speed method: when at least one motor speed signal is there are when failure, speed is carried out using mean speed method
Estimation；It specifically includes:
1. HCU detects the malfunction of four motors of posterior axis when the system is forerunner's mode:
When four motors of posterior axis, at least one is normal, the reference speed of calculating is the conversion of normal posterior axis motor speed
The average value of speed afterwards；When four motors of posterior axis have malfunction, the reference speed of calculating is normal preceding axis
The average value of speed after motor speed conversion；
2. when the system is rear-guard mode, the malfunction of four motors of axis before HCU is detected:
Current four motors of axis at least one it is normal when, the reference speed of calculating be it is normal before the conversion of axis motor speed
The average value of speed afterwards；When current four motors of axis have malfunction, the reference speed of calculating is normal posterior axis
The average value of speed after motor speed conversion；
3. speed is averaged after the reference speed of calculating converts for normal motor speed when the system is full drive mode
Value；
Step 5: speed jumps filtering processing
The real-time speed v that speed algorithm for estimating is estimatedestiPass through a low-pass filter；Obtain filtered speed vfinal,
Its calculation formula is:
In formula, T is time constant filter.
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| CN201811416992.0A CN109572707B (en) | 2018-11-26 | 2018-11-26 | longitudinal vehicle speed estimation method for multi-wheel distributed electric drive system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329272A (en) * | 2019-06-28 | 2019-10-15 | 潍柴动力股份有限公司 | Speed adjusting method, device, equipment and computer readable storage medium |
| CN112172542A (en) * | 2020-10-12 | 2021-01-05 | 东风汽车有限公司 | Vehicle ramp sliding stop control method and electronic equipment |
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| CN103523022A (en) * | 2013-10-30 | 2014-01-22 | 吉林大学 | Hybrid electric vehicle speed estimating method |
| CN104742888A (en) * | 2015-02-06 | 2015-07-01 | 中国第一汽车股份有限公司 | Full-driven vehicle reference vehicle speed real-time detection method |
| CN106184225A (en) * | 2016-07-08 | 2016-12-07 | 中国第汽车股份有限公司 | Longitudinal automobile speedestimate method that distributed type four-wheel-driven electrical vehicular power controls |
| US20180029603A1 (en) * | 2016-07-29 | 2018-02-01 | GM Global Technology Operations LLC | Corner-Based Longitudinal Speed Estimation |
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| CN102009654A (en) * | 2010-11-12 | 2011-04-13 | 清华大学 | Longitudinal speed evaluation method of full-wheel electrically-driven vehicle |
| CN103523022A (en) * | 2013-10-30 | 2014-01-22 | 吉林大学 | Hybrid electric vehicle speed estimating method |
| CN104742888A (en) * | 2015-02-06 | 2015-07-01 | 中国第一汽车股份有限公司 | Full-driven vehicle reference vehicle speed real-time detection method |
| CN106184225A (en) * | 2016-07-08 | 2016-12-07 | 中国第汽车股份有限公司 | Longitudinal automobile speedestimate method that distributed type four-wheel-driven electrical vehicular power controls |
| US20180029603A1 (en) * | 2016-07-29 | 2018-02-01 | GM Global Technology Operations LLC | Corner-Based Longitudinal Speed Estimation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329272A (en) * | 2019-06-28 | 2019-10-15 | 潍柴动力股份有限公司 | Speed adjusting method, device, equipment and computer readable storage medium |
| CN110329272B (en) * | 2019-06-28 | 2020-11-20 | 潍柴动力股份有限公司 | Vehicle speed adjusting method, device, equipment and computer readable storage medium |
| CN112172542A (en) * | 2020-10-12 | 2021-01-05 | 东风汽车有限公司 | Vehicle ramp sliding stop control method and electronic equipment |
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| Publication number | Publication date |
|---|---|
| CN109572707B (en) | 2020-01-31 |
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